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ITS » Undergraduate Theses » S1 Teknik Elektro
Posted by aguss at 17/12/2009 00:19:16  •  4814 Views

Author :
DARWIS ( 3100006027553 )


Helikopter adalah alat transportasi udara yang mempunyai kemampuan untuk terbang secara vertikal dan mampu untuk melayang pada ketinggian konstan atau disebut dengan hover agar helikopter bisa bergerak dengan lincah dan stabil maka diperlukan kontroler untuk mengatur gerakan roll oleng pitch angguk dan yaw dari helikopter. Kontroler ini akan mengatur kecepatan sudut dari baling-baling utama dan ekor sesuai dengan gerakan yang ingin dilakukan. Untuk mensimulasikan keadaan seperti diatas didesain sebuah plant yang yang memiliki karakteristik seperti helikopter yang sebenarnya yaitu memiliki baling-baling utama yang bisa diatur sudut dan kecepatannya baling-baling ekor yang bisa diatur kecepatannya. Dengan jumlah input plant adalah 3 dan output juga 3. Sebagai kontrolernya digunakan kontroler fuzzy MIMO Multiple Input Multiple Output dengan koordinator fuzzy untuk mendapatkan kontrol gerakan yang stabil. Parameter koordinator fuzzy didapatkan melalui learning secara offline dengan menggunakan model matematis plant. Dari beberapa kali uji coba diketahui kontroler yang didesain mampu untuk menggerakkan helikopter model dengan stabil.


Helicopter is air vehicle which has ability to fly vertically and flying in constant height or hovering in order to fly with stable and agile there is need a controller to control roll pitch and yaw movement from helicopter. This controller will control velocity and angle from main and tail blade according to desired movement. To simulate this condition then we design a plant which has characteristic like real helicopter i.e has controllable velocity and angle main blade and controllable velocity tail blade. With 3 inputs and 3 outputs plant we design a MIMO Multiple Input Multiple Output fuzzy controller with fuzzy coordinator to achieve stable control movement. From offline learning by using plants characteristic model we get fuzzy coordinator parameters. From several test controller that we designed was able to control helicopter model with stable movement.

Keywordsfuzzy MIMO; fuzzy coordinator; roll; pitch; yaw
Subject:  Kontrol otomatis
  1. Ir. Ali Fatoni, MT.
    Ir. Rusdhianto Effendi AK, MT.
Date Create: 17/12/2009
Type: Text
Format: pdf
Language: Indonesian
Identifier: ITS-Undergraduate-3100006027553
Collection ID: 3100006027553
Call Number: RSE 629.801 511 313 Dar p

Undergraduate Theses, Electrical Engineering, RSE 629.801 511 313 Dar p, 2007

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  1.  ITS-Undergraduate-6225-2201100024-abstract_id.pdf - 230 KB
  2.  ITS-Undergraduate-6225-2201100024-abstract_en.pdf - 210 KB
  3.  ITS-Undergraduate-6225-2201100024-conclusion.pdf - 630 KB

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