DAFTAR ISI

HALAMAN SAMPUL ........................................................................... i

LEMBAR PENGESAHAN .................................................................. ii
ABSTRAK ............................................................................................ iii
ABSTRACT .......................................................................................... iv
KATA PENGANTAR ........................................................................... v
UCAPAN TERIMA KASIH................................................................ vi
DAFTAR ISI........................................................................................ vii
DAFTAR GAMBAR ............................................................................ ix
DAFTAR TABEL ................................................................................ xi

1 PENDAHULUAN ................................................................. 1
1.1 Latar Belakang ....................................................................... 1
1.2 Tujuan Proyek Akhir .............................................................. 2
1.3 Rumusan Masalah .................................................................. 2
1.4 Batasan Masalah .................................................................... 2
1.5 Kontribusi Proyek Akhir ........................................................ 2
1.6 Metodologi Proyek Akhir ...................................................... 3
1.7 Sistematika Penulisan............................................................. 4

2 STUDI PENDAHULUAN ................................................... 7

2.1 Unmanned Aerial Vehicle (UAV) .......................................... 7
2.2 Kinematik Dan Orientasi Quadcopter .................................... 7
2.2.1 Throttle ............................................................................. 9
2.2.2 Roll ................................................................................... 9
2.2.3 Pitch ................................................................................ 10
2.2.4 Yaw ................................................................................ 11
2.3 Dinamik Quadcopter ............................................................ 11
2.4 Kontroler Quadcopter........................................................... 14
2.4.1 Kontroler Proporsional ................................................... 14
2.4.2 Kontroler Integral ........................................................... 15
2.4.3 Kontroler Derivatif ......................................................... 15
2.4.4 Kontroler Proporsional Derivatif .................................... 16
2.4.5 Kontroler PID ................................................................. 16
2.5 Proyek EQC-One (Extended Quad Copter One) .................. 17
2.6 MATLAB..............................................................................20

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3 PERANCANGAN DAN PEMBUATAN SISTEM .......... 23
3.1 Desain Sistem Kontroler EQC-ONE .................................... 23
3.1.1 Desain Kontroler PID ..................................................... 25
3.1.2 Desain PID-Altitude H ................................................... 27
3.1.3 Kontroler Roll (𝑢2 )......................................................... 28
3.1.4 Kontroler Pitch (𝑢3 ) ....................................................... 28
3.1.5 Kontroler Yaw (𝑢4 ) ........................................................ 28
3.1.6 Cara Memperoleh Konstanta 𝐾𝑃 , 𝐾𝐼 , 𝐾𝐷 ....................... 29
3.2 Perancangan Simulasi .......................................................... 29

4 PENGUJIAN DAN ANALISA SISTEM .......................... 31

4.1 PID Controller pada X-4 Flyer…..........................................33
4.2 Simulasi Kontrol Proporsional ............................................. 33
4.3 Simulasi Kontrol Proporsional Integral ................................ 35
4.4 Simulasi Kontrol Proporsional Derivatif .............................. 38
4.5 Simulasi Kontrol Proporsional Integral Derivatif ................ 40

5 PENUTUP ........................................................................... 43
5.1 Kesimpulan .......................................................................... 43
5.2 Saran .................................................................................... 43

DAFTAR PUSTAKA .......................................................................... 45

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 DAFTAR GAMBAR

Gambar 1.1 Australian National University X-4 Flyer ....................... 1

Gambar 1.2 Metodologi Proyek Akhir ............................................... 3
Gambar 2.1 Gaya-Gaya Yang Bekerja Pada Quadcopter ................... 8
Gambar 2.2 Pergerakan Throttle ........................................................ 9
Gambar 2.3 Pergerakan Sudut Roll .................................................. 10
Gambar 2.4 Pergerakan Sudut Pitch ................................................. 11
Gambar 2.5 Pergerakan Sudut Yaw.................................................. 11
Gambar 2.6 Struktur PID .................................................................. 17
Gambar 2.7 Konsep Kontrol EQC-One ............................................ 18
Gambar 2.8 Blok Diagram Navigasi Quadcopter ............................. 19
Gambar 2.9 Tampilan GUI EQC-One .............................................. 19
Gambar 2.10 EQC-One ...................................................................... 20
Gambar 2.11 Tampilan Awal Program MATLAB ............................. 21
Gambar 3.1 Blok Diagram dari Robotic Toolbox yang Belum
Terdapat Perubahan ...................................................... 23
Gambar 3.2 Blok Diagram dari Robotic Toolbox yang Sudah
Diberi Perubahan .......................................................... 24
Gambar 3.3 Struktur Kontroler PID Quadcopter .............................. 25
Gambar 3.4 Desain PID-Altitude H.................................................. 27
Gambar 3.5 Blok Diagram Sistem Kontrol Quadcopter Pada
Matlab Simulink ........................................................... 29
Gambar 4.1 Pengujian Ketinggian Quadcopter dengan Nilai
𝐾𝑃 =0.5, 𝐾𝐼 =0, dan 𝐾𝐷 =0 .............................................. 33
Gambar 4.2 Pengujian Ketinggian Quadcopter dengan Nilai
𝐾𝑃 =1.5, 𝐾𝐼 =0, dan 𝐾𝐷 =0 .............................................. 34
Gambar 4.3 Pengujian Ketinggian Quadcopter dengan Nilai
𝐾𝑃 =2, 𝐾𝐼 =0, dan 𝐾𝐷 =0 ................................................. 35
Gambar 4.4 Pengujian Ketinggian Quadcopter dengan Nilai
𝐾𝑃 =2, 𝐾𝐼 =0.001, dan 𝐾𝐷 =0 .......................................... 36
Gambar 4.5 Pengujian Ketinggian Quadcopter dengan Nilai
𝐾𝑃 =2, 𝐾𝐼 =0.01, dan 𝐾𝐷 =0 ............................................ 36
Gambar 4.6 Pengujian Ketinggian Quadcopter dengan Nilai
𝐾𝑃 =2, 𝐾𝐼 =0.1, dan 𝐾𝐷 =0 .............................................. 37
Gambar 4.7 Pengujian Ketinggian Quadcopter dengan Nilai
𝐾𝑃 =1, 𝐾𝐼 =0, dan 𝐾𝐷 =7 ................................................. 38
Gambar 4.8 Pengujian Ketinggian Quadcopter dengan Nilai
𝐾𝑃 =3, 𝐾𝐼 =0, dan 𝐾𝐷 =15 ............................................... 39

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Gambar 4.9 Pengujian Ketinggian Quadcopter dengan Nilai
𝐾𝑃 =3, 𝐾𝐼 =0, dan 𝐾𝐷 =20 ............................................... 39
Gambar 4.10 Pengujian Ketinggian Quadcopter dengan Nilai
𝐾𝑃 =3, 𝐾𝐼 =0.0001, dan 𝐾𝐷 =27 ...................................... 40
Gambar 4.11 Pengujian Ketinggian Quadcopter dengan Nilai
𝐾𝑃 =6, 𝐾𝐼 =0.0001, dan 𝐾𝐷 =28 ...................................... 41
Gambar 4.12 Pengujian Ketinggian Quadcopter dengan Nilai
𝐾𝑃 =6, 𝐾𝐼 =0.0001, dan 𝐾𝐷 =30 ...................................... 42

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 DAFTAR TABEL

Tabel 4.1 Parameter Simulasi EQC-One ........................................... 31

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