IMPLEMENTASI SISTEM KENDALI PADA HEXAROTOR UNTUK TERBANG MELAYANG; IMPLEMENTATION OF CONTROL SYSTEM IN HEXAROTOR FOR HOVERING

DHIMAS HARDY PUTRA, Bakhtiar Alldino

2015 | Skripsi | FMIPA

Hexarotor is unmanned aereal vehicle (UAV) which has the ability to take off vertical and hover above the target. But without a good control system causes hexarotor not easy to controlled. Therefore, this research aims to design and create a system that can stabilize hexarotor flights on float condition which can maintain the orientation angles (roll, pitch, and yaw) to the axis of the Earth by using PID. PID control system requires tuning process used to determine the constants Kp, Ki, and Kd. Process PID tuning constants can use Ziegler Nichols tuning method. The acquisition of such methods must comply with the control system hexarotor. The results of the adjustment will be applied to the PID control system simulation hexarotor. If as expected, it will be tested on the real system. The test results showed that the value of the constants Kp, Ki, and Kd is worth the roll angle constant Kp = 0.168, Ki = 0.015, and Kd = 0.0825, while the pitch angle of the constants Kp = 0.267, Ki = 0.01, and Kd = 0, 0229, and the yaw angle constants Kp = 0.234, Ki = 0.01, and Kd = 0.061.

Kata Kunci : PID; Ziegler Nichols; UAV