PENGATURAN GERAKAN HOVER PADA QUADCOPTER DENGAN MENGGUNAKAN METODE PI ZIEGLER-NICHOLS

Huda Ubayal, Bambang Tutuko

Abstract


Abstract—Quadcopter is a flying robot that moves using its four motors and has four basic movements. One of the movements is hover movement. The hover movement is influenced by all of the rotational speed of the motors simultaneously, then it produces a bottom-up movement and vice versa. In order to smooth the movement, quadcopter needs a controller. PI controller was used in this research. PI controller is formulated with proportional gain 𝑲𝒑 and integral gain 𝑲𝒊. To approach the correct value of the proportional gain 𝑲𝒑 and the integral gain 𝑲𝒊 , this research uses Ziegler-Nichols tuning method. It’s obtained the proportional gain 𝑲𝒑 of 5.66914408 and the integral gain 𝑲𝒊 of 0.05281733959, so it exhibits a transient response graph with overshoot of 16%, rise time of 3.75 seconds, and settling time of 8 seconds. The average altitude error is 0.26 m when moving up and 0.23 m when moving down.
Intisari—Quadcopter merupakan jenis robot terbang yang bergerak dengan menggunakan empat buah motor dan memiliki empat gerakan dasar. Salah satu dari gerakan tersebut adalah gerakan hover. Gerakan hover dipengaruhi oleh kecepatan putar seluruh motor secara bersamaan sehingga menghasilkan gerakan berpindah tempat dari bawah ke atas dan sebaliknya. Agar quadcopter dapat melakukan pergerakan tersebut dengan baik, dibutuhkan sebuah pengendali, dan pengendali yang digunakan pada penelitian ini adalah pengendali PI. Pengendali PI terdiri dari proportional gain𝑲𝒑 dan integral gain 𝑲𝒊. Untuk menentukan nilai proportional gain𝑲𝒑 dan integral gain 𝑲𝒊, pada penelitian ini digunakan metode tuning Ziegler-Nichols. Didapatkan nilai pengendali dengan nilai proportional gain𝑲𝒑 sebesar 5,66914408 dan nilai integral gain 𝑲𝒊 sebesar 0,05281733959 sehingga menghasilkan grafik respon transient dengan overshoot 16%, rise time 3,75 detik, dan settling time 8 detik. Error ketinggian rata-rata yang dihasilkan sebesar 0,26 m ke atas dan 0,23 m ke bawah.
Kata Kunci— Quadcopter, hover, pengendali PI, Ziegler-Nichols.


Full Text:

A91 PDF

References


[1] P. Hithesan, M. K. Anand, and Sreekumar A., “Design and Implementation of the Closed Loop Control of a Quad Rotor UAV for Stability,” Amrita School of Engineering, Coimbatore, 2011. [26] [2] K. H. Ang, G. Chong, S. Member, and Y. Li, “PID Control System Analysis , Design , and Technology,” IEEE, vol. 13, no. 4, pp. 559–576, 2005. [27] [3] T. Bresciani, “Modelling , Identification and Control of a Quadrotor Helicopter,” Lund University, 2008. [28] [4] Z. He and L. Zhao, “A Simple Attitude Control of Quadrotor Helicopter Based on Ziegler-Nichols Rules for Tuning PD Parameters,” Hindiawi Publ. Corp. Sci. World J., vol. 2014, p. 13, 2014. [29] [5] M. De Oliveira, “Modeling, Identification and Control of a Quadrotor Aircraft,” Czech Technical University, 2011. [30] [6] B. L. Stevens, F. L. Lewis, and E. N. Johnson, Aircraft Control and Simulation, 3rd ed. Hoboken: John Wiley, 2016. [31] [7] S. Sekalala, “Performance of a Three-Phase Permanent Magnet Motor Operating as a Synchronous Motor and a Brushless DC Motor,” Louisiana State University, 2006. [32] [8] O. J. Oguntoyinbo, PID Control of Brushless DC Motor and Robot Trajectory Planning and Simulation With Matlab/Simulink. 2009. [33] [9] K. Ogata, Modern Control Engineering, 5th ed. New Jersey: Pearson, 1997.


Refbacks

  • There are currently no refbacks.



Konferensi Nasional Teknologi Informasi & Aplikasinya
Jurusan Sistem Informasi | Fakultas Ilmu Komputer
Universitas Sriwijaya