Perbandingan Metode Smc Dan PID Pada Rancangan Sistem Kontrol Gerak Autonomous Surface Vehicle (ASV) Terhadap Pengaruh Faktor Lingkungan

Cahyani, Nurdia Dwi (2019) Perbandingan Metode Smc Dan PID Pada Rancangan Sistem Kontrol Gerak Autonomous Surface Vehicle (ASV) Terhadap Pengaruh Faktor Lingkungan. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Autonomous Surface Vehicle atau ASV merupakan sebuah kapal tanpa awak yang mampu menyusuri perairan secara otomatis. Dikarenakan ASV tidak memiliki awak maka dibutuhkan sistem kontrol gerak. Sistem kontrol tersebut berguna untuk menjaga agar kapal bergerak sesuai dengan setpoint dan mendapatkan respon yang diinginkan. Metode sistem kontrol yang dapat digunakan yaitu dengan metode Sliding Mode Control (SMC) dan Proportional Integral Derivative (PID). Pada Tugas Akhir ini, dilakukan perbandingan antara metode SMC dan PID pada rancangan sistem kontrol gerak ASV terhadap pengaruh faktor lingkungan. Faktor lingkungan yang dimaksud adalah kecepatan angin dan tinggi gelombang pada model nonlinear dan disturbance pada model linear. Gerak yang ditinjau hanya 3 DOF yaitu surge, sway dan yaw. Dari hasil penelitian menunjukkan bahwa rancangan sistem kontrol gerak dengan metode PID lebih baik yaitu menghasilkan settling time kurang dari 1 detik, steady state error kurang dari 7% dan overshoot 0%. ================================================================================================ An Autonomous Surface Vehicle or ASV is an unmanned ship that is able to navigate the waters automatically. Because the ASV does not have a crew, a motion control system is needed. The control system is useful for keeping the ship moving in accordance with the setpoint and getting the desired response. The control system method that can be used is by the method of Sliding Mode Control (SMC) and Proportional Integral Derivative (PID). In this Final Project, do comparison SMC and PID method on control system design of AV motion towards environment factor effect. The environmental factors in question are wind speed and wave height in nonlinear models and disturbances in linear models. The movements reviewed are only 3 DOF, namely surge, sway and yaw. The results showed that the design of the control system with the PID method be better, which resulted in settingt time under 1 second, steady state error under 7% and overshoot of 0%.

Item Type: Thesis (Undergraduate)
Additional Information: RSMa 629.8 Cah p-1 2019
Uncontrolled Keywords: Autonomous Surface Vehicle (ASV), Proportional Integral Derivative (PID), Sliding Mode Control (SMC).
Subjects: Q Science > QA Mathematics > QA402 System analysis.
T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers
Divisions: Faculty of Science and Data Analytics (SCIENTICS) > Mathematics > 44201-(S1) Undergraduate Thesis
Depositing User: Nurdia Dwi Cahyani
Date Deposited: 30 Dec 2021 08:32
Last Modified: 30 Dec 2021 08:32
URI: https://repository.its.ac.id/id/eprint/61916

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