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ITS » Master Theses » Manajemen Asset - S2
Posted by dee@its.ac.id at 25/02/2015 19:19:19  •  1134 Views


PENDARATAN OTOMATIS QUADCOPTER PADA PLATFORM YANG BERGERAK MENGGUNAKAN NEURO FUZZY

AUTO LANDING QUADCOPTER ON MOVING PLATFORM USING NEURO FUZZY

Author :
HANAFI, NOFRIA ( 2210202201 )




ABSTRAK

Perkembangan teknologi UAV khususnya pesawat rotary wing yaitu pesawat sayap berputar semakin pesat. Quadcopter merupakan pesawat yang memiliki empat buah motor yang dikendalikan secara terpisah. UAV quadcopter dirancang untuk dikendalikan dari jarak jauh dengan atau tanpa pilot. Pada penerbangan fase landing merupakan fase paling kritis dimana resiko terjadinya kecelakaan sangat besar terlebih pendaratan pada tempat yang bergerak ritmik. Permasalahan muncul karena banyak kendala seperti struktur rangka yang kecil peningkatan beban dan kecepatan angin yang berubah sehingga menjadikannya sulit untuk dikendalikan. Penggunaan algoritma kontrol neuro fuzzy yang mengolah sinyal kesalahan untuk digunakan mendarat pada tempat pendaratan yang bergerak ritmik tepat pada posisi platform landing mendatar. Untuk mempertahankan sudut roll dan pitch quadcopter dalam kisaran 08304 diperlukan kontroler PD. Parameter kontroler PD PD pitch dan roll dari tuning terstruktur simulasi diperoleh konstanta Kp500 dan Kd30. Kendali pendaratan di tempat bergerak menggunakan neuro fuzzy pada simulasi quadcopter mampu landing dalam waktu 10 detik dari awal ketinggian 4 meter. Pada implementasi pendaratan lebih cepat dalam waktu 5 detik dari ketinggian 4 meter dengan fuzzy controller.


ABSTRACT

The development of UAV technology especially rotary wing aircraft a wing spins aircraft is going more rapidly. Quadcopter is an aircraft with four motors that are controlled separately. Quadcopter UAV is designed to be controlled remotely with or without pilots. The landing phase of flight is the most critical phase where the risk of acciddent is bigger especially landing on rhythmic moving place. Problem arise because many constraints like small frame structure the increase in load and the change in wind speed so that it makes it difficult to be controlled. Neuro fuzzy control algorithm is used to land on the landing ground while moving rhythmically on a precise position on the state of the flat landing pad. To maintain the roll and pitch angles in the range 08304 quadcopter required PD controller. PD controller parameters pitch and roll of PD structured tuning constants can be simulated in Kp 500 and Kd 30. Full landing place on the move using neuro fuzzy simulation quadcopter is capable of landing within 10 seconds of the initial height of 4 meters. On the landing implementation it is faster within 5 seconds from a height of 4 meters with fuzzy controller.



KeywordsQuadcopter; Autolanding; Moving Platform 0.1Hz dan Neuro Fuzzy Controller
 
Subject:  Fuzzy logika
Contributor
  1. DR. Ir. Mochammad Rameli
  2. Ir. Rusdianto Effendi AK, MT
Date Create: 01/03/2014
Type: Text
Format: pdf
Language: Indonesian
Identifier: ITS-Master-22103140000855
Collection ID: 22103140000855
Call Number: RTE 629.135 2 Han p


Source
Master Thesis of Electrical Engineering, RTE 629.135 2 Han p, 2015

Coverage
ITS Community

Rights
Copyright @2015 by ITS Library. This publication is protected by copyright and per obtained from the ITS Library prior to any prohibited reproduction, storage in a re transmission in any form or by any means, electronic, mechanical, photocopying, reco For information regarding permission(s), write to ITS Library




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  1.  ITS-Master-36150-2210202201-abstract_id.pdf - 434 KB
  2.  ITS-Master-36150-2210202201-conclusion.pdf - 427 KB




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