Perancangan Sistem Kendali Tracking Object Berbasis Dynamic Waypoint Pada Quadcopter

Putra, Dili Kurniawan (2016) Perancangan Sistem Kendali Tracking Object Berbasis Dynamic Waypoint Pada Quadcopter. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

UAV (Unmanned Aerial Vehicle) adalah wahana tanpa awak yang memiliki sistem kendali jarak jauh menggunakan remote control ataupun ground station. UAV digunakan untuk berbagai keperluan antara lain pengintaian, surveillance, pengambilan gambar/video (Aerialphotography) dan lain-lain. UAV dengan tipe multirotor memiliki banyak varian antara lain tricopter, quadcopter, hexacopter dan octocopter. Perbedaan mendasar tipe multirotor tersebut adalah jumlah lengan motor. Quadcopter memiliki 4 lengan yang masing-masing terintegrasi dengan motor dan propeller. Pada penelitian ini, dirancang quadcopter dengan kendali tracking object menggunakan GPS (Global Positioning System) sebagai alat untuk memberikan data lokasi dari obyek. Perancangan dimulai dengan mendesain quadcopter menggunakan software Solidworks untuk mendapatkan data fisik quadcopter seperti massa dan inersia. Simulasi open loop dilakukan dengan menggunakan sofware Matlab. Pada proses simulasi, pemodelan matematis quadcopter dibuat linier dengan pendekatan Single Input Single Output. Setelah mendapatkan respon transien pada sistem open loop, proses simulasi dilanjutkan dengan memberikan sistem kendali PID (Proportional Integral Derivative) pada masing-masing pemodelan gerak pitch, roll, yaw, ======================================================================================================== UAV (Unmanned Aerial Vehicle) is unmanned vehicle that has long-range control system by using either remote control or ground station. UAV can be used for various purposes, such as, reconnaissance, surveillance, video recording and aerial photography. There are several types of UAV multirotor, such as tri-copter, quad-copter, hexa-copter and octo-copter. The main difference among those type of multirotor is the number of motor arm. Quadcopter has 4 arms which each of the arm are integrated with motor and propeller. On this research, a quadcopter is developed having tracking object controller by using GPS as equipment to hand-over current data location from the object. Moreover in the designation, I started with designing the quadcopter by using software called, Solidworks. This software is used for obtaining physical data of the quadcopter like mass and inertia. Open loop simulation executed by using software named, Matlab. In simulation process, the mathematical model are made linearly with single input single output approach. Next, after receiving a transient’s response in the open loop system, simulation process was continued by giving PID controller to each of them pitch, roll, yaw,

Item Type: Thesis (Undergraduate)
Additional Information: RSM 629.831 2 Put p
Uncontrolled Keywords: Quadcopter; UAV; Controller; PID; Stabil
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control.
T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers
Divisions: Faculty of Industrial Technology > Mechanical Engineering > 21201-(S1) Undergraduate Thesis
Depositing User: Yeni Anita Gonti
Date Deposited: 16 Jun 2020 08:22
Last Modified: 16 Jun 2020 08:22
URI: https://repository.its.ac.id/id/eprint/76169

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