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ANALISIS KESTABILAN DAN PERANCANGAN SISTEM KENDALI AUTONOMOUS UNDERWATER VEHICLE PADA MATRA LONGITUDINAL

Undergraduate Theses from JBPTITBPP / 2017-10-09 10:33:27
Oleh : AGUS SUGAMA (NIM 13601006), S1 - Department of Aerospace Engineering
Dibuat : 2008, dengan 8 file

Keyword : AUV (automous Underwater Vehicle), analisis kestabilan, pitch attitude hold

Sotong AUV (Autonomous Underwater Vehicle) adalah salah satu dari 6 underwater vehicle yang sedang dikembangkan oleh ITB dan BPPT. Sotong AUV dirancang untuk misi surveillance di bawah permukaan laut. Untuk mendukung misi tersebut, pemahaman tentang karakteristik dinamik wahana sepanjang operasinya sangat penting. Atas dasar pemahaman tersebut, perancangan sistem kendali dapat dilakukan dengan baik guna menyukseskan misi Sotong AUV yang telah ditentukan.

Dalam tugas akhir ini, analisis kestabilan dilakukan setelah membangun model dinamik berdasarkan persamaan gerak AUV dalam 6 derajat kebebasan. Model dinamik yang diperoleh berupa persamaan state space hasil penurunan dari persamaan yang telah dilinearkan pada bidang gerak longitudinal. Selanjutnya analisis kestabilan di lakukan pada berbagai kondisi operasi wahana berdasarkan kecepatan dan kedalaman. Dari hasil analisis tersebut, kemudian diketahui titik-titik operasi wahana yang kurang stabil bahkan tidak stabil. Pada titik-titik operasi ini, selanjutnya dirancang sistem kendali pitch damper untuk memperbaiki kualitas kestabilannya. Setelah itu, lalu dirancang sistem pitch attitude hold berdasarkan model dinamik yang telah ditambahkan SAS (Stability Augmentation System) berupa pitch damper di atas.

Metode perancangan yang digunakan adalah metode klasik dengan proportional gain. Perancangan ini dinyatakan berhasil jika memenuhi kriteria perancangan yang telah ditentukan.

Deskripsi Alternatif :

Sotong AUV (Autonomous Underwater Vehicle) is one of six underwater vehicle which has developed under joined ITB and BPPT. Sotong AUV was designed for underwater surveillance mision. To support that mission, understanding about the vehicle's dynamic characteristic along it's operation is very important. According to this understanding, control system can be well designed to get successful mision.

In this final project, stability analysis has done after build the dynamic model based on AUV equation of motion in six degree of freedom. The dynamic model is state space equation as a result of linearization in vertical plane equation of motion. Stability analysis has done in several vehicle's operation condition involve velocity and depth. From stablity analysis, some point of operation that have low stability and unstable operation point have known. The next step was pitch damper control system design for both low stability and unstable point. After that, pitch attitude hold syatem was designed based on the dynamic model which has added pitch damper SAS (stability augmentation system) above.

The control design methode was classical methode with proportional gain. The design result were successful if fulfill design criterion which has determined.

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  • Pembimbing: Prof. Said D. Jenie Sc.D. dan Dr. Ir. Agus Budiyono SM-AA, E.A.A., Editor: Vika A. Kovariansi

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