Desain Kontrol Linear Quadratic Tracking untuk Pendaratan dan Lepas Landas Vertikal pada Pesawat Tanpa Awak Coaxial Trirotor

Nanda, Cut Maulidia (2018) Desain Kontrol Linear Quadratic Tracking untuk Pendaratan dan Lepas Landas Vertikal pada Pesawat Tanpa Awak Coaxial Trirotor. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

UAV Tricopter juga disebut helikopter Tri-rotor atau Tricopter merupakan sebuah multicopter yang diangkat dan didorong oleh tiga rotor atau 6 rotor dengan membentuk tiga sumbu. UAV Tricopter diklasifikasikan pesawat rotor yang bertentangan dengan pesawat sayap tetap karena digerakkan oleh satu set propeller. Trirotor banyak digunakan dalam berbagai tujuan, maka kestabilan Trirotor sangat penting dan dimiliki untuk penggunaan Trirotor secara maksimal. Oleh sebab itu, masalah pertama pada Trirotor yaitu kestabilan sudut roll, pitch dan yaw pada saat terbang dan permasalahan kedua adalah tracking Trirotor mengikuti sinyal referensi untuk lepas landas dan pendaratan vertikal. Pada Tugas Akhir ini digunakan Linear Quadratic Tracking (LQT) untuk merepresentasikan nonlinearitas sistem serta struktur tracking dari Trirotor. Metode optimal secara umum ditujukan untuk memilih input plant u dengan indeks performansi yang minimum. Hasil pengujian kontroler menunjukkan bahwa sistem hasil desain dapat mengatur gerak Trirotor sesuai dengan lintasan untuk lepas landas dan pendaratan vertikal dengan RMSE sangat kecil sekitar 0,0000267042 dengan penyimpangan sebesar 0,001m. ===================================================================================================== UAV-Tricopter or known as Trirotor or Tricoper is one of Unmanned Aerial Vehicle type of multicopter that lifted by three or six rotors which formed in three corners. UAV Tricopter is classified as rotary wing aircraft contrary to fixed wing aircraft as it is driven by a set of propellers. In the use of Trirotor used for various purposes, the stability of the Trirotor to get to the reference point is very important and must be owned Trirotor for maximum utilization. Therefore, the first problem of Trirotor is the stability of the roll, pitch and yaw angles during flight and the second problem is the Trirotor tracking following the reference signal for Vertical Take-off and Landing (VTOL). In this Final Project used Linear Quadratic Tracking to represent nonlinearitas system from Trirotor. Tracking structure use optimal method. The optimum method is generally intended to select the plant input u with a minimum performance index. The result of the controller test shows that the system of design results can adjust the Trirotor for Vertical Take-off and Landing motion according to its path. The value of RMSE on VTOL is 0.0000267042 and deviation from the reference is 0.001 m.

Item Type: Thesis (Undergraduate)
Additional Information: RSE 629.832 Nan d-1
Uncontrolled Keywords: Trirotor, Tracking, Linear Quadratic Optimal, Lepas Landas Vertikal, Pendaratan Vertikal.
Subjects: U Military Science > UG1242 Drone aircraft--Control systems. (unmanned vehicle)
Divisions: Faculty of Electrical Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User: Cut Maulidia Nanda
Date Deposited: 17 Jun 2021 07:08
Last Modified: 17 Jun 2021 07:08
URI: https://repository.its.ac.id/id/eprint/54311

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