Pengembangan Flight Controller Pixhawk 1 Dengan Fitur Backflip

Putra, Joan Andria (2021) Pengembangan Flight Controller Pixhawk 1 Dengan Fitur Backflip. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Manuver immelmann (backflip) adalah kombinasi dari loop dan aileron roll. UAV melakukan manuver setengah loop 180º, lalu dilanjutkan dengan manuver Roll 180º, sehingga pesawat terbang ke arah yang berlawanan. Manuver backflip merupakan gerakan aerobatik yang dilakukan oleh pesawat untuk menghasilkan putar balik arah yang cepat. Manuver backflip membutuhkan seorang pilot yang cukup handal, namun dalam perlombaan hampir semua kendali UAV dilakukan secara autonomous tanpa campur tangan pilot. Tugas akhir ini mengembangkan UAV yang dapat melakukan manuver backflip. Manuver backflip ini bertujuan untuk menghasilkan manuver putar balik yang lebih cepat di bandingkan manuver putar balik normal. Pada UAV yang dikembangkan terdapat 2 kontroler yaitu, Pixhawk (kontroler utama / Main flight controller) dan Arduino Nano (kontroler tambahan / additional controller). Kontroler tambahan dilengkapi dengan sensor IMU. Sensor IMU berfungsi sebagai penentu orientasi arah UAV. Kontroler tambahan inilah yang berfungsi sebagai pengendali UAV dalam melakukan manuver backflip. Telah dilakukan beberapa uji coba untuk mengukur kemampuan manuver backflip yang di rancang. Pada pengujian didapatkan hasil bahwa backflip membutuhkan waktu tempuh 6 detik. Manuver backflip lebih cepat dibandingkan dengan manuver putar balik normal yang membutuhkan waktu tempuh lebih dari 10 detik. Lamanya waktu tempuh putar balik normal tergantung pada besarnya radius putar UAV. ===================================================================================================== The immelmann maneuver (backflip) is a combination of a loop and aileron roll. The UAV performs a 180 ° half-loop maneuver, then continues with a 180 ° Roll maneuver, causing the aircraft to fly in the opposite direction. The backflip maneuver is an aerobatic motion performed by the aircraft to produce a fast reverse turn. The backflip maneuver requires a sufficiently reliable pilot, but in competitions almost all UAV control is carried out autonomously without pilot intervention. This final project is developing a UAV that can perform backflip maneuvers. This backflip maneuver aims to produce a reverse maneuver that is faster than the normal reverse maneuver. In the developed UAV, there are 2 controllers, namely, Pixhawk (main controller) and Arduino Nano (additional controller). Additional controllers are equipped with IMU sensors. The IMU sensor functions as a determinant of the orientation of the UAV direction. This additional controller functions as a UAV controller in backflip maneuvers. Several trials have been conducted to measure the maneuverability of the designed backflip. In testing, the results show that the backflip takes 6 seconds. The backflip maneuver is faster than the normal reverse maneuver which takes more than 10 seconds to travel. The length of time it takes for a normal turnaround depends on the size of the UAV's turning radius.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: UAV, backflip maneuver, Pixhawk, misi autonomous, akselerometer, giroskop, KRTI, racing plane, backflip maneuver, Pixhawk, autonomous mission, accelerometer
Subjects: T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles.
U Military Science > U Military Science (General) > UG Military Engineering > UG1242.D7 Unmanned aerial vehicles. Drone aircraft
Divisions: Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User: Joan Andria Putra
Date Deposited: 26 Feb 2021 09:53
Last Modified: 26 Feb 2021 09:56
URI: https://repository.its.ac.id/id/eprint/82940

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