Kendali Haluan Kapal Korvet Kelas SIGMA Menggunakan Metode Disturbance Compensating Model Predictive Control (DC-MPC)

Aulia, Giska Ayu (2018) Kendali Haluan Kapal Korvet Kelas SIGMA Menggunakan Metode Disturbance Compensating Model Predictive Control (DC-MPC). Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Kapal Korvet kelas SIGMA (Ship Integrated Geometrical Modularity Approach) adalah alat transportasi militer yang didesain untuk TNI AL dalam menjalankan salah satu misi keamanan negara yaitu misi Search and Rescue (SAR). Dalam melaksanakan misi tersebut diperlukan kontrol kendali haluan agar kapal tetap robust dan bergerak sesuai dengan tujuan yang diinginkan saat gelombang permukaan air laut mengenai sistem kapal. Sehingga dalam tugas akhir ini akan didesain kendali haluan kapal dengan menggunakan metode Disturbance Compensating Model Predictive Control (DC-MPC) dimana model matematika kapal memiliki 4 derajat kebebasan yaitu surge, sway, yaw, roll dengan gangguan berupa gelombang permukaan air laut orde 1 yang hasil penerapannya disimulasikan. Dari hasil simulasi diperoleh bahwa dengan membandingkan nilai RMSE dari 2 horizon prediksi yaitu 6 dan 7, metode DC-MPC mampu mendesain kendali haluan kapal dengan nilai RMSE terbaik yaitu dipersekitaran 0.02 pada horizon prediksi sama dengan 7 lebih konstan dibandingkan dengan nilai RMSE horizon prediksi bernilai 6 untuk 4 skenario. =================================================================================================== Corvette SIGMA (Ship Integrated Geometrical Modularty Approach) is a militer transportation designed for the Indonesian navy in running one of the country’s security mission that is Search and Rescue mission (SAR). When carrying out its mission needed heading control so that ship staying robust and moving in accordance with the intended purpose when sea water surface waves on ship’s system. So in this final assignment will be designed ship heading control by using Disturbance Compensating Model Predictive Control (DC-MPC) method where mathematics model of ship has 4 degree of freedom they are surge, sway, yaw, roll with sea water surface waves first order being its disturbance which the result of its application will be simulated. From the value of simulation obtained that by comparing value of RMSE from 2 of prediction horizon that is 6 and 7 , DC-MPC method can design ship heading control with the best of RMSE’s value that is 0.02 neighborhood in prediction horizon that is 7 more constant than the value of RMSE in prediction horizon that is 6 for 4 scenario.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: DC-MPC, Kapal Korvet Kelas SIGMA, Kendali Haluan Kapal, Gangguan Gelombang Laut
Subjects: Q Science
Q Science > QA Mathematics > QA278.3 Structural equation modeling.
Divisions: Faculty of Mathematics, Computation, and Data Science > Mathematics > 44201-(S1) Undergraduate Thesis
Depositing User: Giska Ayu Aulia
Date Deposited: 08 Aug 2021 08:59
Last Modified: 08 Aug 2021 08:59
URI: https://repository.its.ac.id/id/eprint/58644

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