Asfihani, Tahiyatul (2019) Panduan dan Kendali Kapal Perang Menggunakan Pengembangan Model Predictive Control (MPC) dengan Gangguan Gelombang. Doctoral thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Kapal perang extended Korvet SIGMA merupakan kapal baru yang dibuat mandiri oleh Indonesia. Oleh karena itu, kapal tersebut memerlukan beberapa kajian untuk melengkapi sistem. Salah satu sistem yang diperlukan adalah panduan dan kendali. Berdasarkan pada hal tersebut, dilakukan penelitian mengenai panduan dan kendali kapal perang extended Korvet SIGMA. Panduan kapal bertujuan untuk memberikan jalan kapal dari posisi tertentu ke posisi yang dituju. Panduan kapal menggunakan metode Dubins dalam membangkitkan lintasan optimal yang memandu kapal menuju pada targetnya. Metode Dubins merupakan metode yang waktu komputasinya sangat kecil.
Kendali yang digunakan adalah kendali tracking lintasan Dubins. Metode kendali yang paling populer dan sangat handal dalam menentukan kendali optimal adalan metode Model Predictive Control (MPC). Metode MPC berbasis model matematika dalam menentukan kendali optimalnya. Oleh karena itu, disusun terlebih dahulu pemodelan matematika gerak kapal extended Korvet SIGMA. Parameter model atau koefisien hidrodinamika ditentukan berdasarkan pada data uji Free Running Model (FRM). Dari data hasil uji diestimasi nilai gaya dan momen hidrodinamika dengan metode Unscented Kalman Filter (UKF). Parameter model diperoleh dengan metode Recursive Least Square (RLS) berdasarkan pada hasil estimasi UKF. Pemodelan matematika yang didapat dengan mempertimbangkan 4 dof yaitu surge, sway, yaw, roll.
Metode kendali tracking yang digunakan adalah standar MPC, modifikasi MPC-KF dan DMPCKF. Ketiga metode tersebut disusun agar kendali mampu menghilangkan faktor gangguan stokastik dan gangguan deterministik. Berdasarkan hasil simulasi bahwa kendali standar MPC belum bisa mengatasi gangguan, metode modifikasi MPC-KF dan DMPCKF mampu menghilangkan efek adanya gangguan pada sistem dengan memperhatikan semua kendala. Performansi modifikasi MPC-KF dan DMPCKF hampir sama terlihat pada nilai RMSE dan waktu pencapaian kapal pada output yang diinginkan. Waktu komputasi modifikasi MPC-KF lebih cepat dari pada DMPCKF.=================================================================================================================
The warship extended SIGMA Corvette is a new ship that was made independently by Indonesia. Therefore, the ship requires several studies to complete the system. One of the systems needed is a guidance and control. Based on this, a study was conducted on the guidance and control of the extended SIGMA Corvette. The guidance of the ship aims to provide the ship’s path from a certain position to the intended position. The guidance of the ship uses the Dubins method in generating optimal paths that guide the ship towards its target. The Dubins method is a method whose computation time is very small.
The control used is the tracking control of the Dubins path. The most popular and very reliable control method in determining optimal control is the Model Predictive Control (MPC) method. The MPC method is based on a mathematical model in determining optimal control. Therefore, the mathematical modeling of ship motion the extended Corvette SIGMA was first arranged. Model parameters or hydrodynamic coefficients are determined based on Free Running Model Test(FRM) test data. From the test data, it is estimated the value of force and moment of hydrodynamics with the Unscented Kalman Filter (UKF) method. Model parameters are obtained by the Recursive Least Square (RLS) method based on the UKF estimation results. Mathematical modeling is obtained by considering 4 dof namely surge, sway, yaw, roll.
The tracking control method used is the MPC standard, MPC-KF modification, and DMPCKF. The three methods are arranged so that the control is able to eliminate the factors of stochastic disturbance and deterministic interference. Based on the simulation results that the MPC standard control has not been able to overcome the disturbance, the MPC-KF and DMPCKF modification method are able to eliminate the effects of interference on the system by taking into account all obstacles. The modification performance of MPC-KF and DMPCKF is almost the same as seen in the RMSE value and the time of the vessel’s achievement on the desired output. Modified MPC-KF computing time is faster than DMPCKF.
| Item Type: | Thesis (Doctoral) |
|---|---|
| Uncontrolled Keywords: | kapal, model matematika, kendali, tracking lintasan, gangguan |
| Subjects: | T Technology > T Technology (General) > T57.62 Simulation T Technology > TJ Mechanical engineering and machinery > TJ217.2 Robust control T Technology > TJ Mechanical engineering and machinery > TJ217.6 Predictive Control V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM161 Ships--Hydrodynamics V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering > VM365 Remote submersibles. Autonomous vehicles. |
| Divisions: | Faculty of Marine Technology (MARTECH) > Ocean Engineering > 38001-(S3) PhD Thesis |
| Depositing User: | Tahiyatul Asfihani |
| Date Deposited: | 10 Oct 2023 04:34 |
| Last Modified: | 10 Oct 2023 04:34 |
| URI: | http://repository.its.ac.id/id/eprint/70732 |
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