SISTEM KONTROL POSISI AUTONOMOUS UNDERWATER VEHICLE DENGAN MENGGUNAKAN PENGENDALI PID

ALFARINO, ALBERT MARIO and Suprapto, Bhakti Yudho (2021) SISTEM KONTROL POSISI AUTONOMOUS UNDERWATER VEHICLE DENGAN MENGGUNAKAN PENGENDALI PID. Undergraduate thesis, Sriwijaya University.

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Abstract

The area of the waters on this earth is more than the land area, it is also as in Indonesia. It can be utilized for various purposes, for an example is underwater exploration using underwater robots. It can be implemented in Underwater Vehicle . The AUV control system on underwater requires a controller to be able to move properly. PID controller is a controller that has a simple structure and yield great performance. This research was conducted to control the movement of surge, heave, and yaw of AUV on underwater. AUV modeling simulations were carried out using Simulink to determine the PID gain value. The simulation results for surge movement were Kp = 38.41, Ki = 10.8 and Kd = 58.4, heave movement were Kp = 49.13, Ki = 2.56 and Kd = 107.12 and yaw movement were Kp = 3.18, Ki = 0.18 and Kd = 12.11. The results showed that AUV could perform well and maintain the position determined by the setpoint for 12-15 seconds.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Autonomous Underwater Vehicle, PID, Sistem Kontrol, Simulink
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7885-7895 Computer engineering. Computer hardware 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.
Divisions:	03-Faculty of Engineering > 20201-Electrical Engineering (S1)
Depositing User:	Albert Mario Alfarino
Date Deposited:	02 Aug 2021 06:41
Last Modified:	02 Aug 2021 06:41
URI:	http://repository.unsri.ac.id/id/eprint/51101

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