Dionata, Ikrar (2019) Kontrol Posisi Sudut Motor DC Menggunakan Kontroler PI MRAC Pada Camera Stabilizer 3 DOF. Sarjana thesis, Universitas Brawijaya.
Abstract
Divisi FW merupakan salah satu kategori lomba pada Kontes Robot Terbang Indonesia (KRTI) yang diadakan oleh DIKTI dengan tema “Monitoring dan Mapping Area Perkebunan” yang menggunakan kamera pada pesawat tipe fixed-wing. Pesawat diharapkan mampu melakukan take off, mengirimkan data terbang, mengirim dan menayangkan secara langsung video yang diperoleh ke Ground Control Station. Kualitas live video seperti kejernihan, kontinuitas, dan fokus gambar menjadi unsur penting dalam penilaian. Aliran udara yang tidak terduga akan menyulitkan pesawat dalam proses pengambilan gambar dan video. Salah satu mekanisme yang sering digunakan untuk menjaga keseimbangan kamera yaitu camera stabilizer, dengan motor DC sebagai aktuator, rotary encoder sebagai sensor posisi sudut motor DC dan IMU sebagai sensor keseimbangan. Kontroler yang digunakan adalah Proportional Integral (PI). Motode penentuan parameter kontroler PI menggunakan teknik model reference adaptive control (MRAC) dengan aturan MIT. Dari hasil percobaan, respon sistem dengan gangguan pada motor DC 1, 2 dan 3 sebesar 27.7°, −12.56°, −14.33° serta setpoint 30° memiliki nilai
English Abstract
FW Division is one of the categories of competitions in Kontes Robot terbang Indonesia (KRTI) held by DIKTI with the theme "Monitoring and Mapping of Plantation Areas" which uses cameras on fixed-wing type aircraft. The aircraft is expected to be able to take off, send flying data, send and broadcast video directly to the Ground Control Station. The quality of live videos such as clarity, continuity, and focus on images are important elements in the assessment. Unexpected air flow will complicate the aircraft in the process of taking pictures and videos. One mechanism that is often used to maintain the balance of the camera is a camera stabilizer, with a DC motor as an actuator, a rotary encoder as a sensor for the angular position of the DC motor and the IMU as a balance sensor. The controller used is Proportional Integral (PI). The method for determining PI controller parameters using a model reference adaptive control (MRAC) technique with MIT rules. From the result of the experiment, the response of the system with interference on DC motor 1, 2 and 3 is 27.7 °, - 12.56°, -14.33° and a setpoint of 30° has value
Other obstract
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| Item Type: | Thesis (Sarjana) |
|---|---|
| Identification Number: | SKR/FT/2019/632/051905258 |
| Uncontrolled Keywords: | DC Motor, PI Controller, MRAC, MIT rules, Camera Stabilizer 3 DOF. |
| Subjects: | 600 Technology (Applied sciences) > 621 Applied physics > 621.3 Electrical, magnetic, optical, communications, computer engineering; electronics, lighting > 621.31 Generations, modification, storage, transmission of electric power > 621.317 Control devices |
| Divisions: | Fakultas Teknik > Teknik Elektro |
| Depositing User: | Budi Wahyono Wahyono |
| Date Deposited: | 26 Aug 2020 04:24 |
| Last Modified: | 26 Aug 2020 04:24 |
| URI: | http://repository.ub.ac.id/id/eprint/172752 |
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