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ITS » Undergraduate Theses » S1 Teknik Elektro
Posted by aprill@is.its.ac.id at 23/06/2015 18:11:46  •  744 Views


PERANCANGAN DAN IMPLEMENTASI KONTROLER NONLINIER QUADRATIC REGULATOR UNTUK KESTABILAN HOVER PADA QUADCOPTER

DESIGN AND IMPLEMENTATION NONLINEAR QUADRATIC REGULATOR CONTROLLER FOR HOVER STABILITY ON THE QUADCOPTER

Author :
PRISMANTO, SONNY ( 2212105075 )




ABSTRAK

Kontrol hover merupakan prioritas utama dalam setiap upaya pengendalian quadcopter baik pada pengendalian fase take-off landing dan trajectory hal ini dikarenakan kesalahan yang kecil saja yang terjadi pada sudut dan atau ketinggian quadcopter dapat menyebabkan quadcopter bergerak baik terhadap sumbu x y maupun z. Dalam Tugas Akhir ini dibahas desain sistem kontrol pada quadcopter agar dapat melakukan proses hover secara otomatis dengan stabil dan metode yang digunakan adalah kontroler Nonlinier Quadratic Regulator NQR. Pada Tugas Akhir ini didapatkan nilai parameter kontrol NQR dari hasil tuning diperoleh parameter R1 dan Q untuk gerak translasi berbentuk matriks diagonal bernilai 9000 dan untuk rotasi bernilai 1000 yang pada simulasi dapat terbang hover pada ketinggian 3 m dan dapat mengatasi gangguan.


ABSTRACT

Hover control is a top priority in any effort to control both the control phase quadcopter take-off landing and the trajectory this is because a small error that occurs at an angle or height and can cause quadcopter moving either to the axes x y and z. Discussed in this Final design of control systems in order to make the process quadcopter automatically with stable hover and the method used is the controller of Nonlinear Quadratic Regulator NQR. At this final project NQR control parameter values obtained from the results by tuning the parameter R 1 and Q for translation movement with falua a diagonal matriks is 9000and the falue of the rotation movement is 1000 that the simulation can fly hover at a height of 3 meter and the controller can be solve the noise.



KeywordsHover; NQR; Optimal Kontrol; Quadcopter
 
Subject:  Komunikasi data gelombang ultrasonik
Contributor
  1. Ir. Rusdhianto Effendie A.K., MT.
Date Create: 23/06/2015
Type: Text
Format: Undergraduate Theses of Chemical Engineering, RSK 004.6 Pri p, 2015
Language: Indonesian
Identifier: ITS-Undergraduate-22101150007412
Collection ID: 22101150007412
Call Number: RSK 004.6 Pri p


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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-Undergraduate-38070-2212105075-abstract_id.pdf - 257 KB
  2.  ITS-Undergraduate-38070-2212105075-abstract_en.pdf - 251 KB
  3.  ITS-Undergraduate-38070-2212105075-Conclusion.pdf - 255 KB




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