DAFTAR ISI SKRIPSI ............................................................................................................... i SKRIPSI .............................................................................................................. ii PERNYATAAN ................................................................................................. iii HALAMAN PENGESAHAN ............................................................................. iv KATA PENGANTAR ......................................................................................... v DAFTAR ISI ..................................................................................................... vii DAFTAR GAMBAR .......................................................................................... ix DAFTAR TABEL .............................................................................................. xi INTISARI .......................................................................................................... xii ABSTRACT ..................................................................................................... xiii BAB I PENDAHULUAN ................................................................................. 1 1.1 Latar Belakang ...................................................................................... 1 1.2 Rumusan Masalah.................................................................................. 2 1.3 Batasan Masalah .................................................................................... 2 1.4 Tujuan Penelitian ................................................................................... 2 1.5 Metodologi Penelitian ............................................................................ 2 1.6 Sistematika Penulisan ............................................................................ 3 BAB II TINJAUAN PUSTAKA ..................................................................... 5 BAB III DASAR TEORI ................................................................................. 8 3.1 Kapal ..................................................................................................... 8 3.2 Mikrokontroler ...................................................................................... 8 3.3 Sensor Kompas ...................................................................................... 9 3.4 Kendali PID ........................................................................................... 9 3.4.1 Aturan Proporsional ............................................................................. 10 3.4.2 Aturan Integral .................................................................................... 10 3.4.3 Aturan Derivatif................................................................................... 11 3.5 Metode Tuning PID ............................................................................. 12 BAB IV RANCANGAN SISTEM ................................................................. 14 4.1 Rancangan Sistem Keseluruhan ........................................................... 14 4.2 Rancangan Elektronik .......................................................................... 16 4.2.1 Rancangan Catu Daya .......................................................................... 16 4.2.2 Rancangan Slave Sensor Kompas ........................................................ 17 4.3 Rancangan Mekanik ............................................................................ 18 4.4 Rancangan Perangkat Lunak ................................................................ 19 4.5 Rencana Pengujian .............................................................................. 19 BAB V IMPLEMENTASI ............................................................................ 21 5.1 Implementasi Elektronik ...................................................................... 21 5.2 Implementasi Mekanik ........................................................................ 23 5.3 Implementasi Peletakan Sensor Kompas .............................................. 24 5.4 Implementasi Perangkat Lunak ............................................................ 25 5.4.1 Implementasi Pembacaan Sensor ......................................................... 25 5.4.2 Implementasi Aktuator ........................................................................ 25 5.4.3 Implementasi Kendali PID ................................................................... 26
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BAB VI HASIL DAN PEMBAHASAN ........................................................ 28 6.1 Pengujian sistem kestabilan sumbu X .................................................. 28 6.1.1 Penentuan Ku pada posisi sensor tengah kapal ..................................... 29 6.1.2 Penentuan Ku pada posisi sensor 3/4 kapal .......................................... 36 6.1.3 Penentuan Ku pada posisi sensor ujung kapal ...................................... 43 6.2 Pengujian sistem kendali dengan menaikkan PWM.............................. 50 BAB VII KESIMPULAN DAN SARAN ..................................................... 53 7.1 Kesimpulan ......................................................................................... 53 7.2 Saran ................................................................................................... 53 DAFTAR PUSTAKA ........................................................................................ 54 LAMPIRAN ...................................................................................................... 55
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DAFTAR GAMBAR Gambar 1.1 Lintasan Speed Test (Roboboat,2013) ............................................... 1 Gambar 3.1 Kapal Katamaran UGM .................................................................... 8 Gambar 3.2 Nuvoton Nuc140C (Adijarto, 2012) .................................................. 8 Gambar 3.3 Cmps10 (Robot-electronics, 2012) .................................................... 9 Gambar 3.4 Tuning Ziegler-Nichols metode osilasi (Ogata, 2010) ..................... 12 Gambar 4.1 Diagram Blok Sistem Secara Keseluruhan ...................................... 14 Gambar 4.2 Diagram Alir Rancangan Sistem Secara Keseluruhan ..................... 15 Gambar 4.3 Skema Rangkaian Elektronik .......................................................... 16 Gambar 4.4 Rangkaian Catu Daya ..................................................................... 16 Gambar 4.5 Skema Rangkaian Slave Sensor Kompas ......................................... 17 Gambar 4.6 Kapal Tampak Samping .................................................................. 18 Gambar 4.7 Kapal Tampak Atas ........................................................................ 18 Gambar 4.8 Diagram Blok Pengendali PID yang digunakan............................... 19 Gambar 5.1 Board elektronik catu daya dan slave sensor kompas ...................... 21 Gambar 5.2 Posisi motor dan ESC pada lambung kapal ..................................... 22 Gambar 5.3 Posisi elektronik pada kapal ............................................................ 22 Gambar 5.4 Rangka Mekanik Kapal................................................................... 23 Gambar 5.5 Mekanik Kapal Penuh ..................................................................... 24 Gambar 5.6 Peletakan Sensor Kompas pada kapal ............................................. 24 Gambar 5.7 Program Pembacaan Sensor Kompas .............................................. 25 Gambar 5.8 Program Kalibrasi ESC ................................................................... 26 Gambar 5.9 Program untuk PWM ...................................................................... 26 Gambar 5.10 Program Kendali PID.................................................................... 27 Gambar 6.1 Grafik arah vs waktu Kp = 5 ........................................................... 29 Gambar 6.2 Grafik arah vs waktu Kp = 10 ......................................................... 30 Gambar 6.3 Grafik arah vs waktu Kp=8 ............................................................. 30 Gambar 6.4 Grafik arah vs waktu tanpa sistem kendali PID ............................... 31 Gambar 6.5 Grafik kendali P simpangan kiri ...................................................... 32 Gambar 6.6 Grafik kendali P simpangan kanan .................................................. 32 Gambar 6.7 Grafik kendali PI simpangan kiri .................................................... 33 Gambar 6.8 Grafik kendali PI simpangan kanan................................................. 34 Gambar 6.9 Grafik perbandingan kendali PID simpangan kiri ............................ 35 Gambar 6.10 Grafik perbandingan kendali PID simpangan kanan ...................... 35 Gambar 6.11 Grafik arah vs waktu Kp = 5 sensor 3/4 kapal ............................... 36 Gambar 6.12 Grafik arah vs waktu Kp = 10 sensor 3/4 kapal ............................. 37 Gambar 6.13 Grafik arah vs waktu Kp=8 sensor 3/4 kapal ................................. 37 Gambar 6.14 Grafik arah vs waktu tanpa sistem kendali PID sensor 3/4 kapal ... 38 Gambar 6.15 Grafik kendali P simpangan kiri sensor ¾ kapal ............................ 39 Gambar 6.16 Grafik kendali P simpangan kanan sensor ¾ kapal ........................ 39 Gambar 6.17 Grafik kendali PI simpangan kiri sensor ¾ kapal........................... 40 Gambar 6.18 Grafik kendali PI simpangan kanan sensor ¾ kapal ....................... 41 Gambar 6.19 Grafik kendali PID simpangan kiri sensor ¾ kapal ........................ 42 Gambar 6.20 Grafik kendali PID simpangan kanan sensor ¾ kapal .................... 42
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Gambar 6.21 Grafik arah vs waktu Kp = 5 sensor ujung kapal ........................... 43 Gambar 6.22 Grafik arah vs waktu Kp = 13 ujung kapal .................................... 44 Gambar 6.23 Grafik arah vs waktu Kp=10 ujung kapal ...................................... 44 Gambar 6.24 Grafik arah vs waktu tanpa sistem kendali PID ujung kapal .......... 45 Gambar 6.25 Grafik kendali P simpangan kiri ujung kapal ................................. 46 Gambar 6.26 Grafik kendali P simpangan kanan ujung kapal ............................. 46 Gambar 6.27 Grafik kendali PI simpangan kiri sensor ujung kapal ..................... 47 Gambar 6.28 Grafik kendali PI simpangan kanan sensor ujung kapal ................. 48 Gambar 6.29 Grafik kendali PID simpangan kiri sensor ujung kapal .................. 49 Gambar 6.30 Grafik kendali PID simpangan kanan sensor ujung kapal .............. 49 Gambar 6.31 Grafik perbandingan letak sensor kompas ..................................... 50 Gambar 6.32 Grafik sistem dengan nilai duty ratio 6%....................................... 51 Gambar 6.33 Grafik sistem dengan nilai duty ratio 6,25 % ................................. 52 Gambar 6.34 Grafik sistem dengan nilai duty ratio 6,5 % ................................... 52
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DAFTAR TABEL Tabel 2.1 Perbandingan penelitian sebelumnya dengan penelitian ini ................... 6 Tabel 2.2 Perbandingan penelitian sebelumnya dengan penelitian ini (lanjutan) ... 7 Tabel 3.1 Model penalaan parameter PID dengan metode Ziegler-Nichols (Ogata, 2010) ................................................................................................................. 13 Tabel 4.1 Rencana Pengujian ............................................................................. 20
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