Hasil Pencarian  ::  Simpan CSV :: Kembali

"Autonomous Underwater Vehicle (AUV) adalah kapal selam tanpa awak yang beroperasi di bawah permukaan air dengan ukuran mini. AUV sangat penting kegunaannya terutama di negara Indonesia yang merupakan negara kepulauan. Selain untuk kepentingan militer juga dibutuhkan untuk keperluan sipil. Untuk itu, pengembangan teknologi AUV sangat diperlukan dan bernilai strategis. Salah satu yang harus dikembangkan adalah teknologi kendali dinamik AUV. Pada tesis ini telah didesain model kendali AUV dengan pengendali Linear Quadratic Regulator (LQR), Proporsional Integral Derivatif (PID) dan Fractional Order PID (FOPID). Langkah pertama yang dilakukan adalah menurunkan model matematika AUV menjadi dua model yaitu depth model dan steering model. Langkah selanjutnya merancang pengendali stabilisasi sistem dengan metode pole placement dikarenakan model AUV tidak stabil. Kemudian mendesain model kendali LQR, PID dan FOPID. Untuk melakukan evaluasi perancangan ketiga pengendali tersebut dilakukan simulasi menggunakan MATLAB. Hasil dari simulasi ketiga pengendali telah berhasil didesain untuk mengendalikan stabilitas dan performansi keluaran model dengan baik. Pada depth model dapat dilihat dari steady state error-nya, dimana pengendali LQR sebesar 0.000067, pengendali PID sebesar 0.0039 dan FOPID sebesar 0.0079. Sedangkan pada steering model steady state error pengendali LQR sebesar 0.0011, pengendali PID sebesar 0.0019 dan FOPID sebesar 0.0085. Jika dibandingkan dari ketiga pengendali tersebut, pengendali LQR yang memberikan stabilitas dan performansi paling baik dalam menstabilkan sistem.

---

Autonomous Underwater Vehicle (AUV) is an unmanned submarine with a mini size which is very important, especially in Indonesia as an archipelagic country. Apart from military aims, it is also needed for civilian purposes. For this reason, the development of AUV technology is necessary and has a strategic value. One that should be developed is an AUV dynamic control technology. In this paper, an AUV control model has been designed with linear quadratic regulator (LQR), proportional integral derivative (PID), and Fractional Order PID (FOPID) controllers. The first step is to reduce the AUV mathematical model into two models, the depth model and the steering model. The next step is to design a system stabilization controller using the pole placement method because the AUV model is not stable. And then design the LQR, PID and FOPID control models. To evaluate the design of the three controllers a simulation has been done using MATLAB. The three controllers have been designed and the results are in accordance with the desired specifications. In the depth model, the steady state error for the LQR controller is 0.000067, the PID controller is 0.0039 and the FOPID is 0.0079. While in the steering model steady state error LQR controller is 0.0011, PID controller is 0.0019 and FOPID is 0.0085. LQR controller provides the best stability and performance in stabilizing the system compared to PID and FOPID."

"This encyclopedia adopts a wider definition for the concept of ocean engineering. Specifically, it includes (1) offshore engineering: fixed and floating offshore oil and gas platforms; pipelines and risers; cables and moorings; buoy technology; foundation engineering; ocean mining; marine and offshore renewable energy; aquaculture engineering; and subsea engineering; (2) naval architecture: ship and special marine vehicle design; intact and damaged stability; technology for energy efficiency and green shipping; ship production technology; decommissioning and recycling; (3) polar and Arctic Engineering: ice mechanics; ice-structure interaction; polar operations; polar design; environmental protection; (4) underwater technologies: AUV/ROV design; AUV/ROV hydrodynamics; maneuvering and control; and underwater-specific communicating and sensing systems for AUV/ROVs.It summarizes the A–Z of the background and application knowledge of ocean engineering for use by ocean scientists and ocean engineers as well as nonspecialists such as engineers and scientists from all disciplines, economists, students, and politicians. Ocean engineering theories, ocean devices and equipment, ocean design and operation technologies are described by international experts, many from industry and each entry offers an introduction and references for further study, making current technology and operating practices available for future generations to learn from. The book also furthers our understanding of the current state of the art, leading to new and more efficient technologies with breakthroughs from new theory and materials.As the land resources approach the exploitation limit, ocean resources are becoming the next choice for the sustainable development. As such, ocean engineering is vital in the 21st century."