PERANCANGAN KONTROL POSISI AUTONOMOUS BUOY PADA SISTEM KERAMBA JARING APUNG MENGGUNAKAN PENGENDALI PID

RACHMATULLAH, MUHAMMAD TERANGGONO and Suprapto, Bhakti Yudho (2023) PERANCANGAN KONTROL POSISI AUTONOMOUS BUOY PADA SISTEM KERAMBA JARING APUNG MENGGUNAKAN PENGENDALI PID. Undergraduate thesis, Sriwijaya University.

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Abstract

Floating net cage (KJA) is one of the ways to utilize Indonesia's aquatic potential. KJA has numerous advantages however, it also comes with some issues. The problems encountered in fish farming using KJA are often resolved by relocating the fish cages. Nevertheless, this relocation gives rise to new challenges, such as increased fish mortality and higher costs during the process. To address these issues, a system called the Autonomous Buoy-based Floating Net Cage System is designed. This Autonomous Buoy incorporates sensors to help maintain its position effectively. However, it encounters challenges with its movements, particularly in maintaining its desired position. This research aims to solve this problem by designing an Autonomous Buoy based on the Proportional-Integral-Derivative (PID) control system. The direct system testing begins with the PID Controller, using trial and error tuning and Ziegler-Nichols tuning. The study shows that the best results are achieved using the PID Controller with Ziegler-Nichols tuning with kp is 3.162, ki is 3.162, and kd is 0.79 with generate in average distance error of 0.78m for buoy1, 0.85m for buoy2, 0.88m for buoy3, and 0.81m for buoy4, which is further supported by the visualization of the route and the obtained error heading. Keywords: Keywords: autonomous buoy, PID Controler, floating net cage, ziegler-nichols, trial and error, positioning control.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	autonomous buoy, PID controler, keramba jaring apung, ziegler-nichols, trial and error, kontrol posisi
Subjects:	T Technology > T Technology (General) > T351-385 Mechanical drawing. Engineering graphics > T375 General works Mechanical drawing. Engineering graphics -- Continued Drawing instruments and materials T Technology > TC Hydraulic engineering. Ocean engineering > TC1501-1800 Ocean engineering T Technology > TC Hydraulic engineering. Ocean engineering > TC401-506 River, lake, and water-supply engineering (General) T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL1-4050 Motor vehicles. Aeronautics. Astronautics > TL221.13.D43 Electric vehicles--Power supply. Electric automobiles--Power supply. Fuel cells--Costs. Fuel cells--Government policy--United States. Electric vehicle industry. Fuel cell vehicles. T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL1-484 Motor vehicles. Cycles > TL221.13.D43 Electric vehicles--Power supply. Electric automobiles--Power supply. Fuel cells--Costs. Fuel cells--Government policy--United States. Electric vehicle industry. Fuel cell vehicles. T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL1-484 Motor vehicles. Cycles > TL221.13.H65 Electric vehicles--Power supply. Fuel cells
Divisions:	03-Faculty of Engineering > 20201-Electrical Engineering (S1)
Depositing User:	Muhammad Teranggono Rachmatullah
Date Deposited:	02 Aug 2023 01:28
Last Modified:	02 Aug 2023 01:28
URI:	http://repository.unsri.ac.id/id/eprint/123354

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