Purwarupa Sistem Kendali Kestabilan Pesawat Tanpa Awak Sayap Tetap Menggunakan Robust PID

https://doi.org/10.22146/ijeis.15260

Dwitiya Bagus Widyantara(1*), Raden Sumiharto(2), Setyawan Bekti Wibowo(3),

(1) 
(2) Departemen Ilmu Komputer dan Elektronika, FMIPA UGM, Yogyakarta
(3) Program Diploma Teknik Mesin, Sekolah Vokasi UGM
(*) Corresponding Author

Abstract


 This study has implemented stability control system of Unmanned Aerial Vehicle (UAV) using  robust PID. The aircraft stability refers to wind against in glidding condition with straight movement. Robust PID used to control aircraft motion system. Control parameters obtained from the IMU sensor roll, pitch and yaw. IMU data are computed using DCM algorithm that produces Eulerian angles. Type PID control is determined by Ziegler-Nichols methods theory of oscillations. Control system are varied three types, there are P, PI, and PID.

The results have the best type of PID control with D constant value = 0 for each motion systems. PID constant value used for the aileron Kp = 2,93, Ki = 2,808  and Kd = 0, elevators Kp = 2,02, Ki = 1,731 and Kd = 0 and rudder Kp = 1,35, Ki = 0,9 and Kd = 0. Robust method using ISE (Integral Squared Error) which replaces integral PID control error. The system was tested using two mode. Mode A (Manual-PID-RobustPID) and mode B (Manual-RobustPID-PID). The result of robust PID methods is able to make the system response to disturbances better than regular PID that increase the settling time of aileron 63.67% , elevator 41.42% and rudder 57.33%.


Keywords


PID, UAV, Robust PID

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References

[1]   Widodo, H.S., K, R.E.A. & Susila, J., 2012. Perancangan dan Implementasi Kontroler PID untuk Pengaturan Heading dan Pengaturan Arah pada Fixed-Wing Unmanned Aerial Vehicle ( UAV ). Institut Teknologi Sepuluh November. Surabaya.

[2]   Adi, Gelang.G., 2014. Purwarupa Sistem Kestabilan Pesawat Tanpa Awak Menggunakan Algoritma Fusion Sensor Kalman Filter Dan Sistem Kendali PID, Skripsi, Jurusan Ilmu Komputer dan Elektronika, Fakultas Matematika dan Ilmu Pengetahuan Alam, Universitas Gadjah Mada, Yogyakarta.

[3]   Biyanto, T.R., 2005. Sistem Pengendalian Web Tension Menggunakan Kontroler Robust PID. Jurnal teknik mesin, vol 7, hal 2. Institut Teknologi Sepuluh November. Surabaya.

[4]   Tan, W. dkk., 2006. Comparison of some well-known PID tuning formulas, Computers and Chemical Engineering, vol 30, hal.1416–1423.



DOI: https://doi.org/10.22146/ijeis.15260

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Indonesian Journal of Electronics and Instrumentations Systems
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