RANCANG BANGUN WAHANA TERBANG TANPA AWAK QUADROTOR DENGAN SISTEM KENDALI KESTABILAN ORIENTASI ROLL DAN PITCH

PRADIPTYA, Iswan and WIDAYANTO, Susilo Adi (2011) RANCANG BANGUN WAHANA TERBANG TANPA AWAK QUADROTOR DENGAN SISTEM KENDALI KESTABILAN ORIENTASI ROLL DAN PITCH. Undergraduate thesis, Mechanical Engineering Departement of Engineering Faculty, Diponegoro University.

[img]
Preview
PDF
982Kb

Official URL: http://perpus.mesin.undip.ac.id/

Abstract

Unmanned aerial vehicle (UAV) with four-rotor configuration is the development of Vertical Take-Off and Landing (VTOL) technology. This research is focused on the attitude control system design of the UAV called quadrotor. The design of the control system was initiated with developing dynamics model of the system. Proportional Integral Derivative (PID) control technique is applied with the feedback data obtained from six degrees of freedom Inertial Measurement Unit (IMU) sensor. The attitude control system is developed in two control modes, acro and auto mode. The experimental results show that the proportional parameter (Kp) value in acro mode is safe, ranging from 0.5 to 0.85 and differential parameter (Kd) value can be tuned in accordance with the pilot’s ability, which significantly affect the transient response of the system. The values of PID parameter in auto mode tend to be easier to tune than acro mode. The value of Kp in auto mode is safe, ranging from 2.5 to 4.5 and the value of Kd significantly eliminates the oscillation, the optimal value of Kd is reached at 0.0065.

Item Type:Thesis (Undergraduate)
Subjects:T Technology > TJ Mechanical engineering and machinery
Divisions:Faculty of Engineering > Department of Mechanical Engineering
Faculty of Engineering > Department of Mechanical Engineering
ID Code:28939
Deposited By:Mrs yuni nurjanah
Deposited On:05 Aug 2011 10:37
Last Modified:05 Aug 2011 10:37

Repository Staff Only: item control page