Fajar, Shaffiani Nurul (2016) Desain Dan Simulasi Sistem Kendali Linear Quadratic Gaussian (Lqg) Untuk Kestabilan Gerak Pitch Lsu-05. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Lapan Surveillance UAV (LSU)-05 merupakan salah
satu jenis Unmanned Aerial Vehicle (UAV) yang
dikembangkan oleh LAPAN sejak tahun 2013. LSU-05
memiliki empat jenis kendali permukaan, salah satunya adalah
elevator yang berfungsi mengendalikan gerak sudut pitch.
Agar sudut pitch pada UAV stabil dan mengikuti setpoint,
maka dibutuhkan perancangan sistem kendali. Langkah
pertama adalah mengkaji penurunan persamaan model gerak
longitudinal pesawat. Langkah kedua adalah melakukan
perancangan kendali LQG. Kendali LQG dipilih karena
mampu memperbaiki keluaran sistem dari gangguan yang
bersifat stokastik. Selain itu, juga ditambahkan kendali integral
agar keluaran sudut pitch sesuai dengan input yang
dimasukkan. Setelah kendali LQG dan kendali integral
diterapkan, maka dilakukan pengamatan hasil simulasi untuk
mendapatkan respon keluaran sistem. Dari hasil pengamatan,
diperoleh waktu stabil sudut pitch adalah 0,435 s, yang berarti
ketika LSU-05 melakukan gerak pitch sebesar 0,2 rad, maka
untuk mencapai 0,2 rad dibutuhkan waktu sebesar 0,435 s.
Selain itu diperoleh nilai overshoot sebesar 10% yang berarti
saat nilai masukkan sudut pitch sebesar 0,2 rad, LSU-05
melakukan gerak pitch sebesar 0,22 rad.
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Lapan Surveillance UAV (LSU)-05 is an unmanned
aircraft developed by LAPAN since 2013. LSU-05 consists of
four kinds of control surface, and one of them is the elevator
which is used to control pitch angular motion. To make the
pitch angular motion stable and followed the setpoint, a
control system design that can be applied to LSU-05
mathematical model of longitudinal motion is required. The
first step is reviewing the mathematical model’s equation of
longitudinal motion. The second step is designing LQG control
system. LQG control system was selected in this study to avoid
stochastic disturbance from the system outcome. Integral
control was also added so that pitch angle match the setpoint
value. After LQG control system and integral control was
applied, simulation results were observed to see the system
response. The results showed that the time required to
stabilize the pitch angle was 0.435 s, which means LSU-05
needs 0.435 s to make 0.2 rad pitch motion. Futhermore,
overshoot value was obtained to be 10%, which means when
input value of pitch is 0.2 rad, the actual pitch motion of
LSU-05 is 0.22 rad.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSMa 511.8 Faj d-1 |
| Uncontrolled Keywords: | LSU-05, gerak longitudinal, sudut pitch, LQG |
| Subjects: | Q Science > QA Mathematics > QA274.7 Markov processes--Mathematical models. |
| Divisions: | Faculty of Mathematics and Science > Mathematics > 44201-(S1) Undergraduate Thesis |
| Depositing User: | EKO BUDI RAHARJO |
| Date Deposited: | 18 Nov 2019 10:30 |
| Last Modified: | 18 Nov 2019 10:30 |
| URI: | http://repository.its.ac.id/id/eprint/71865 |
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