Rancang Bangun Kontrol Arah pada Seaglider Menggunakan Metode PID

Nofa Riyanto, Muhammad Taufiqurrohman, Arif Winarno

Abstract


Along with the development of increasingly sophisticated robot technology, especially underwater robot technology and more and more attention is being paid to the Autonomous Underwater Vehicle (AUV) robot. A robot that can work without any assistance from the operator with the motion system controlling the direction of the seaglider. So we need how to control the direction of the seaglider. This research will design and build a seaglider robot by determining the maneuvering direction of the robot itself. By using one activator and to set the specified direction. PID control is used to meet the desired loop criteria. By testing the rudder angle of 20°, a percentage of 80% is obtained, a rudder angle of 30° is obtained, a percentage of 60%, and a rudder angle of 35°, a percentage of 50%. Then the results of the overall test obtained a total percentage of success of 63% from each angle that was tested.

Dengan seiring perkembangan teknologi robot yang makin canggih khususnya teknologi robot bawah air dan semakin banyak juga perhatian pada robot Autonomous Underwater Vehicle (AUV). Robot yang dapat berkerja tanpa ada bantuan kendali dari operator dengan sistem gerak mengendalikan arah seaglider. Sehingga diperlukan bagaimana cara menggendalikan arah pada seaglider. Penelitian ini akan merancang dan membuat sebuah robot seaglider dengan menentukan arah manuver dari robot itu sendiri. Dengan menggunakan satu buah penggerak dan untuk mengatur arah yang ditentukan. Kendali PID digunakan untuk memenuhi kriteria loop yang dinginkan.dengan dilakukannya uji coba sudut rudder 20° didapat presentase 80%, sudut rudder 30° didapat presntase 60%, dan sudut rudder 35° didapat presentase 50%. Maka hasil keseluruhan pengujian didapatkan nilai total presentase keberhasilan 63% dari setiap sudut yang dilakukan uji coba.


Keywords


Autonomous Underwater Vehicle (AUV), Kendali Proportional-Intergal-Derivattive (PID), Seaglider

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References


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DOI: https://doi.org/10.35334/jbit.v3i2.4248

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