IMPLEMENTASI METODE LQR PADA PENERBANGAN QUADROTOR UNTUK BERGERAK TRANSLASI; IMPLEMENTATION LQR METHOD IN QUADROTOR FLIGHT FOR MOVING TRANSLATION

SATRIA BAGAS PRAKOSA, Andhi Dharmawan

2015 | Skripsi | FMIPA

Quadrotor is one type of UAV (Unmanned Aerial Vehicle), which has four motors as actuators. One method of control that can be applied to quadrotor is LQR (Linear Quadratic Regulator). LQR control which is implemented in quadrotor built by six state control of the angles (pitch, roll, yaw) and angular velocity (pitch, roll, yaw). IMU (Inertia Measurement Unit) using the DMP (Digital Motion Processing) is used to measure angles (pitch, roll, yaw) and angular velocity (pitch, roll, yaw). The six values from IMU form input system processes derived from the multiplication of state values and the value of the negative gain feedback. The input value is converted into pulses for controlling the brushless motor speed. Implementation LQR method for quadrotor control system is able to produce a stable system while flying, demonstrated in several tests. On the static flight testing, system produces an significant pitch and angle of 0°. The yaw angle is able to maintain 179o for positive readings -179o for negative readings. When an oscilation -15o occur, the control system is able to generate rise time on the roll angle of 0,54 seconds and on the pitch angle of 0,55 seconds. On the dynamic flight testing required flight scenarios that take-off, translational forward and landing. The result of dynamic flight testing are pitch angle when take-off and landing is able to maintain 0o, also while flying forward is -5o. Then overall roll angle is 0o. Overall yaw angles is 179o for positive readings, and -179o for negative readings.

Kata Kunci : control; stable; system; forward; pitch; roll; yaw.