PURWARUPA SISTEM KENDALI KESTABILAN PESAWAT TANPA AWAK SAYAP TETAP MENGGUNAKAN ROBUST PID; PROTOTYPE OF UNMANNED AERIAL VEHICLE STABILITY CONTROLLER USING ROBUST PID

Widyantara, Dwitiya Bagus, Sumihartono, Raden

2015 | Skripsi | FMIPA UGM

In this study has implemented a stability control system of Unmanned Aerial Vehicle (UAV) using a robust PID. The aircraft stability refers to wind against glidding condition with straight movement. Robust PID used to control aircraft motion system on the aileron, elevator and rudder. Control parameters obtained from the IMU sensor in the form of data 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 based on the theory of the Ziegler-Nichols method of oscillation are varied three types, there are P, PI, and PID. The results obtained by Ziegler-Nichols theory 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 testing using ISE (Integral Squared Error) which replaces integral PID control error in the formula that has been common. The system was tested using two test mode is 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%

Kata Kunci : PID; UAV; Robust PID