Perancangan Sistem Autopilot Dan Pemanduan Kapal Tanpa Awak Menggunakan PID Robust

Mairuma, Peter Stephen (2021) Perancangan Sistem Autopilot Dan Pemanduan Kapal Tanpa Awak Menggunakan PID Robust. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Unmanned Surface Vehicle (USV) atau Kapal Tanpa Awak adalah kapal yang dapat dioperasikan melalui jarak jauh maupun secara otomatis. USV dapat bergerak karena adanya gaya dorong dari mesin thruster dan sudut defleksi kemudi. Sistem autopilot USV pada saat ini masih banyak yang semi otomatis atau membutuhkan operator untuk mengawasi karena gangguan laut yang tidak dapat diprediksi. Agar kapal dapat beroperasi secara otomatis di laut dibutuhkan sebuah sistem. PID Robust digunakan sebagai kontroler karena dapat memanfaatkan sifat robust dari USV yang memiliki gangguan tidak tentu, dan mengubah sistem menjadi kriteria yang diinginkan. Selain itu juga USV akan diberi sistem navigasi yaitu navigasi waypoint. Navigasi waypoint akan menentukan arah jalan kapal sesuai dengan yang diinginkan. Dengan menggunakan kontroler PID Robust diharapkan sistem autopilot dan navigasi dari kapal tanpa awak dapat sesuai dengan keinginan. Hasil simulasi dilakukan pada kondisi dengan gagguan dan juga navigasi waypoint.
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Unmanned Surface Vehicle (USV) is a ship that can be operated remotely or automatically. The USV can move because of the thrust from the thruster engine and the steering deflection angle. Many USV autopilot systems are still semi-automatic or require an operator to monitor due to unpredictable sea disturbances. In order for ships to operate automatically at sea, a system is needed. PID Robust is used as a controller because it can take advantage of the robust nature of the USV which has indeterminate interference, and change the system to the desired criteria. By using the PID Robust Controller, it is hoped that the autopilot and navigation systems of the USV can be as desired. The simulation results are carried out in conditions with disturbances and also waypoint navigation.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Unmanned Surface Vehicle, Gangguan Laut, PID Robust, Navigasi Waypoint, Autopilot, Unmanned Surface Vehicle, Sea Disturbances, PID Robust, Waypoint Navigation, Autopilot
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Peter Stephen Mairuma
Date Deposited:	20 Aug 2021 07:15
Last Modified:	20 Aug 2021 07:15
URI:	http://repository.its.ac.id/id/eprint/88130

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