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SUMMARY
PERANCANGAN DAN IMPLEMENTASI SISTEM KENDALI PID UNTUK
PENGENDALIAN GERAKAN HOVER PADA UAV QUADCOPTER
DESIGN ANDA IMPLEMENTATION OF PID CONTROL SYSTEM TO MOVING CONTROL OF HOVERING ON
UAV QUADCO
Created by PRIAMBODO, ARDY SETO
Subject
: PID controller
Subject Alt
: PID controllers
Keyword :
: Quadcopter; Kontrol PID; Hover; roll; pitch
Description :
Sistem kendali banyak memegang peranan penting dalam ilmu pengetahuan, teknologi maupun industri. Penelitian yang
ditujukan untuk pengembangan sistem kendali sampai sekarang masih terus dilakukan untuk menjawab kebutuhan akan
sistem kendali yang semakin kompleks. Quadcopter merupakan salah salah satu jenis rotorcraft yang memiliki 4 buah
rotor pada ujung-ujung frame. Untuk menggerakkan quadcopter, yang harus dilakukan adalah mengatur kecepatan
putaran tiap motor. Secara teori quadcopter dapat terbang melayang pada satu titik, kegiatan ini dinamakan hover. Untuk
menghasilkan gerakan hover pada quadcopter, kecepatan motor harus dikendalikan pada daerah kecepatan nominal.
Pada tugas akhir kali ini untuk mengatur gerakan hover dari quadcopter digunakan sistem kendali PD yang memiliki
konstanta Kp dan Kd. Ada 3 buah kontroler individual yaitu kontroler PD roll, kontroler PD pitch, dan kontroler PD
ketinggian. Perancangan sistem kendali PD pada simulasi yang digunakan untuk mempertahankan posisi hover pada
quadcopter menghasilkan respon ketinggian dan sudut roll & pitch dengan besar error steady state = 0. Nilai parameter
yang didapatkan dari hasil tuning terstruktur pada simulasi adalah pada kontroler roll & pitch Kp=40, Kd=5 dan pada
kontroler ketinggian Kp=35, Kd=17. Respon hasil implementasi pada quadcopter belum sesuai pada hasil simulasi.
Masih terdapat osilasi pada respon ketinggian yang besarnya +/- 15 cm disekitar set point dikarenakan pembacaan
sensor ketinggian yang kadang tidak sesuai dengan ketinggian terukur. Selain itu koreksi sudut roll & pitch pada
kontroler rol & pitch juga masih terdapat error +/- 5.
Description Alt:
Many control systems play an important role in science, technology and industry. Research devoted to the development
of control systems today are still being conducted to answer the needs of an increasingly complex control systems.
Quadcopter is one of the rotorcraft type rotor with 4 pieces at the ends of the frame. To move quadcopter, which has to
do is set the rotation speed of each motor. In theory quadcopter be flying at one point, this activity is called a hover. To
generate movement in quadcopter hover, the motor speed must be controlled at the nominal speed. At the end of this
time the task to regulate the movement of hover quadcopter used PD control system which has a constant Kp and Kd.
There are 3 pieces of the individual controllers PD controllers roll, pitch PD controller and PD controller altitude. PD
control system design in the simulation are used to maintain a hover position to generate a response quadcopter height
and angle of roll and pitch with a large steady state error = 0. Parameter values ​​obtained from the
results of tuning simulations are structured on the roll and pitch controllers Kp = 40, Kd = 5 and at an altitude controller
Kp = 35, Kd = 17. Response to the implementation of the quadcopter not correspond to the simulation results. There are
oscillations in the magnitude of the response height + / - 15 cm around the set point due to the height sensor readings are
sometimes not in accordance with the height measured. Additionally roll and pitch angle correction on roll & pitch
controllers are also still error + / - 5 .
Contributor
: Ir. Katjuk Astrowulan, MSEE.
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Date Create
: 13/07/2012
Type
: Text
Format
: pdf
Language
: Indonesian
Identifier
: ITS-Undergraduate-22001130002161
Collection
: 22001130002161
Call Number
: RSE 629.831 2 Pri p
Source
: Undergraduate Thesis, Electrical Engineering, RSE 629.831 2 Pri p, 2013
COverage
: ITS Community
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: Copyright @2013 by ITS Library. This publication is protected by copyright and per obtained
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