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ITS » Paper and Presentation » Disain Sistem Mekanikal
Posted by aprill@is.its.ac.id at 08/01/2015 21:19:41  •  1540 Views


KAJIAN NUMERIK DESAIN KENDALI KEMUDI DENGAN CROSS-COUPLED KAPAL CEPAT MENGGUNAKAN RUDDER DAN PROPELLER

NUMERICAL STUDY OF STEERING CONTROL DESIGN WITH CROSS-COUPLED OF HIGH SPEED SHIP USING RUDDER AND PROPELLER

Author :
RAZI, MUHAMMAD ( 2111205004 )




ABSTRAK

Steering control memegang peranan penting dalam menjaga dan mempertahankan posisi kecepatan dan orientasi kapal. kemampuan maneuver yang baik bisa dicapai melalui desain kapal yang baik dan dalam setiap tahapan desain dan sistem kontrol gerak kapal selama operasi harus benar-benar diperhatikan. Kemampuan maneuver kapal selalu menjadi pertimbangan kritis dalam melakukan proses desain terutama untuk kapal berkebutuhan khusus seperti kapal perang atau kapal cepat lainnya. Untuk mendapatkan desain kapal yang baik maka beberapa aspek penting menjadi perhatian utama diantaranya permodelan matematik gerak kapal permodelan gerak manuveuring kapal permodelan rudder dan propeller yang menjadi komponen utama dalam mendesain dan merakit sistem steering pada kapal. dalam penelitian ini model gerak kapal yang ditinjau hanya tiga derajat kebebasan dengan permodelan linear yaitu sway surgey dan yaw dengan mengadopsi hukum Newton dua tentang gerak dan dengan mengaplikasikan permodelan steering yang telah dikembangkan oleh Nomoto dan kawan-kawan maka sudut heading kapal bisa ditentukan dengan memberikan input berupa sudut rudder dan kecepatan rudder. Permodelan sistem rudder mengadopsi sistem permodelan rudder yang telah dikembangkan oleh Van Amorongen Sedangkan untuk sistem permodelan propeller kami mengadopsi model propeller yang dikembangkan oleh Horigome dan kawan-kawan. Parameter kapal yang digunakan dalam simulasi ini menggunakan parameter kapal perang modern yang real. Dengan memanfaatkan software Simulink-Matlab model maneuvering dibuat dalam empat model yaitu uji turning dengan hambatan dan tanpa hambatan uji turning circle uji zig-zag dan uji full stop. Cross Coupled antara input propeller dan output rudder dikontrol menggunakan PID controller mengacu pada Root Locus stabilization. Sedangkan untuk analisa kontrol kecepatan mesin diesel analisa dilakukan dengan simulasi Matlab-Simulink menggunakan dead zone kompensator penambahan sinyal dither dan apliksi feedforward dan Cascade controller pada sistem mesin diesel bertujuan menolak pengaruh disturbance. Dari hasil simulasi untuk turning circle test zig-zag test dan full stop menunjukkan bahwa hasil penelitian ini untuk semua pengujian yang dilakukan sangat memenuhi standar yang ditetapkan IMO. Yaitu 5Lpp untuk turning circle dan 200 overshoot pada semua puncak untuk pengujian zig-zag. Pada simulasi control kecepatan mesin didapatkan error steady sebesar 0.01 ini menunjukkan PID kontrol yang diterapkan pada sistem telah bekerja dengan sempurna.


ABSTRACT

Steering control plays an important role in protecting and maintaining the position velocity and orientation of the ship. Good maneuver capability can be achieved through good ship design and in every stage of design and motion control system for operating the vessel must be properly addressed. Ship maneuver capability has always been a critical consideration in the design process especially for ships with special needs such as warships or other fast ship. To get a good ship design then some important aspects of major concern such as mathematical modeling of ship motion maneuverings ship motion modeling modeling rudder and propeller are key component in designing and assembling the steering system on the ship. In this study ship motion models are reviewed only three degrees of freedom with the linear modeling namely sway surgey and yaw by adopting second Newtons laws of motion and by applying steering modeling that has been developed by Nomoto et al then ship heading angle can be determined by provide input in the form of rudder angle and rudder speed. Rudder system model adopted rudder system modeling that has been developed by Van Amorongen while for systems modeling we adopt propeller models developed by Horigome et al. Ship parameters used in this simulation using the parameters of a real modern warships. By utilizing Simulink-Matlab software maneuvering model is made in four models namely turning test with constraints and without constraints turning circle test zig-zag test and full-stop test. Cross coupled between propeller input and rudder output is controlled using PID controller refers to the Root Locus stabilization. As for the analysis of diesel engine speed control simulation analysis was carried out with Matlab-Simulink using the dead zone compensator dither signal addition and feedforward and cascade controller application on diesel engine systems aimed at resisting the influence of disturbance. From turning circle test zig-zag test and full stop it was indicated that the results of this study for all the tests performed meet the IMO standard. Ie 5Lpp for turning circle and 200 overshoot at all peak for zig-zag test. From control engine speed simulation steady error of 0.01 was obtained this shows the PID control is applied to the system has been working perfectly.



KeywordsManeuvering; steering control; Rudder; Propulsion; Turning circle; PID; Cascade; controller; error tracking; Cross Coupled; zig-zag test
 
Subject:  Baling-baling pesawat kapal propulsi PID controller
Contributor
  1. Hendro Nurhadi, Dipl.-Ing, Ph.D
Date Create: 08/01/2015
Type: Text
Format: pdf
Language: Indonesian
Identifier: ITS-paper-21121150006800
Collection ID: 21121150006800
Call Number: RTM 623.873 Raz k


Source
Paper and Presentations, Mechanical Engineering, RTM 623.873 Raz k, 2014

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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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ITS-paper-21121150006800-35343.pdf




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