Perancangan Sistem Kendali Trayektori Dan Sandar Kapal Otomatis Berbasis Sistem Logika Fuzzy Di Pelabuhan Tanjung Perak Surabaya

Setiawan, Deaz Indra (2020) Perancangan Sistem Kendali Trayektori Dan Sandar Kapal Otomatis Berbasis Sistem Logika Fuzzy Di Pelabuhan Tanjung Perak Surabaya. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Tugas akhir yang dilakukan berkaitan dengan perancangan simulasi pengendalian trayektori dan sandar kapal otomatis dengan jenis kapal ferry KMP (Kapal Motor Penumpang) Legundi Surabaya. Sistem autopilot yang digunakan menggunakann kontrol logika fuzzy Sugeno-Takagi yang digunakan untuk mengontrol rudder, bow thruster, dan stern thruster. Simulasi menggunakan data spesifikasi kapal dengan pendekatan Nomoto orde II. Agar hasil simulasi mendekati keadaan sebenarnya, maka diberikan variasi gangguan arus laut 1; 1,5; dan 2 knot. Hasil penelitian menunjukkan bahwa perancangan sistem pengendalian kapal otomatis berbasis logika fuzzy dapat memberikan hasil yang jauh lebih baik dan menghasilkan performansi sistem menjadi lebih baik dengan cara kapal dapat berlayar maupun bersandar sesuai dengan lintasan yang telah ditentukan dengan error lintasan maksimum sebesar 11,5 m dan minimum sebesar 0,085 m. Selain itu, jenis kontroler logika fuzzy yang digunakan jauh lebih baik dibanding konvensional PID, hal ini dikarenakan jenis kontroler tersebut memiliki semua nilai parameter yang lebih kecil/singkat. =================================================================== The final project that is carried out relates to the design of the simulation of trajectory control and automatic ship berth with the type of KMP ferry (Ship Passenger Motor) Legundi Surabaya. The auto pilot system used Sugeno-Takagi fuzzy logic control which is used to control the rudder, bow thruster, and stern thruster. The simulation uses ship specification data with the Nomoto II order approach. So that the simulation results close to the actual state, then variations in sea current disturbance are given 1; 1,5; and 2 knots. The results show that the design of automatic ship control systems based on fuzzy logic can provide much better results and results in better system performance by the way the ship can sail or lean in accordance with a predetermined path with a maximum trajectory error of 11.5 m and a minimum amounting to 0.085 m. In addition, the type of fuzzy logic controller used is far better than conventional PID, this is because the type of controller has all the parameter values ​​that are smaller / shorter.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: Kontrol logika fuzzy, Trayektori, Sandar kapal otomatis, Fuzzy logic controller, trajectory, automatic berthing ship.
Subjects: Q Science > QA Mathematics > QA9.64 Fuzzy logic
T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers
V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering
Divisions: Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User: Deaz Indra Setiawan
Date Deposited: 21 Aug 2020 03:51
Last Modified: 21 Aug 2020 03:51
URI: https://repository.its.ac.id/id/eprint/78850

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