Penggunaan Metode PID Untuk Sistem Kontrol Gerak Zig-Zag Pada Pengujian Seakeeping Miniatur Kapal Cepat

  • lucky putri rahayu Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia
  • Ahmad Rifky Perdana Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia
  • Chandra Permana Balai Teknologi Hidrodinamika, Badan Pengkajian dan Penerapan Teknologi, Surabaya, Indonesia
  • Ciptian Weried Priananda Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia
  • Fauzi Imaduddin Adhim Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia
Keywords: Fast Boat Miniature, Overshoot, PID, Rudder, Seakeeping

Abstract

Pada pengujian seakeeping miniatur kapal cepat gerak zig-zag mengalami overshoot sebesar 13,5° melewati jalur yang telah ditentukan 20°, sehingga tidak terwujud konsistensi kestabilan kapal dan kemiringan arah sudut yang berakibat pada hasil pengambilan data. Pada penelitian ini berfokus pada pembuatan sistem kontrol otomatis untuk mengendalikan gerak rudder. Metode yang digunakan yaitu PID dengan tuning Ziegler-Nichols. Sistem ini menggunakan teenseyduino sebagai mikrokontroler untuk mengontrol dua servo motor sebagai rudder kapal, HWT 905 sebagai sensor dan motor DC sebagai laju kecepatan pada miniatur kapal cepat. Sensor HWT905 akan mendeteksi kemiringan arah pada badan kapal akibat gelombang. Berdasarkan hasil pengujian didapatkan parameter gain yang mampu memberikan hasil terbaik yaitu pada saat nilai Kp = 1,1, Ki = 3,3, Kd = 0,09, didapatkan nilai error steady state sebesar 15% dan overshoot sebesar 3°. Nilai rise time yang diperoleh sebesar 3 detik dan settling time diperoleh sebesar 5 detik yang menunjukkan bahwa gerak dari motor servo mulai stabil pada waktu tersebut.

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Published
2022-12-30
How to Cite
rahayu, lucky, Perdana, A., Permana, C., Priananda, C., & Adhim, F. (2022). Penggunaan Metode PID Untuk Sistem Kontrol Gerak Zig-Zag Pada Pengujian Seakeeping Miniatur Kapal Cepat. Journal of Applied Electrical Engineering, 6(2), 89-93. https://doi.org/10.30871/jaee.v6i2.4848

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