Optimal Tracking Control Pada Kapal Tangker Tangguh Towuti Berbasis Logika Fuzzy Di Pelabuhan Arun

Cahyoko, Adip Tri (2016) Optimal Tracking Control Pada Kapal Tangker Tangguh Towuti Berbasis Logika Fuzzy Di Pelabuhan Arun. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Kapal tanker Tangguh Towuti adalah kapal tanker pengangkut LNG yang secara rutin memasuki pelabuhan Arun. Kapal tanker harus mengikuti jalur pelayaran yang telah ditetapkan oleh pelabuhan, meskipun terdapat gangguan berupa hembusan angin yang cukup kencang. Penelitian ini melakukan kajian rancangan sistem kendali terhadap trajectory kapal tanker. Sistem kendali yang digunakan adalah kendali optimal yang dibangun oleh sistem logika fuzzy dan diterapkan pada kapal tanker Tangguh Towuti untuk mendapatkan jalur optimal dengan error lintasan yang kecil serta mampu menanggulangi efek gangguan hembusan angin. Logika fuzzy yang diterapkan sebagai pengendali menggunakan error heading dan yaw rate sebagai masukan, dan sudut rudder sebagai keluaran. Serta diterapkan pula filter Kalman untuk mendapatkan error yang optimal. Hasil simulasi tanpa menggunakan filter Kalman menunjukkan nilai error lintasan yang fluktuatif dan lebih dari standard yang ditetapkan oleh IMO. Penggunaan filter Kalman memberikan hasil error maksimal sebesar 22 meter, dan nilai error yang stabil pada sekitar 1,28 meter. ================================================================================================================== Tangguh Towuti LNG tanker is the vessel that routinely entering the port of Arun. The tanker should follow the cruise line that has been set by the port regulator, although there is a disruption in the form of fairly strong wind gusts. The objective on this research is to developing control system of the ship trajectory. The control system used in this research is optimal control that based on fuzzy logic applied to the Tangguh Towuti tanker to get optimal paths with a small trajectory error and is able to cope with the effects of wind gusts disorders. Fuzzy logic is applied as the controller using the error heading and yaw rate as inputs, and the rudder angle as output. As well as the Kalman filter was applied also to obtain the error to be optimum. The simulation results without using a Kalman filter shows fluctuating trajectory error value and more than standards set by IMO. The use of Kalman filter resulting 22 meter maximum error, and the error value steady at about 1.28 meters.

Item Type: Thesis (Undergraduate)
Additional Information: RSF 629.892 Cah o
Uncontrolled Keywords: Tangguh Towati; logika fuzzy; rudder; filter kalman; optimal tracking control
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control.
Divisions: Faculty of Industrial Technology > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User: ansi aflacha
Date Deposited: 02 Jun 2020 06:44
Last Modified: 02 Jun 2020 06:44
URI: https://repository.its.ac.id/id/eprint/76069

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