IMPLEMENTASI METODE PID FUZZY PADA QUADROTOR UNTUK GERAK TERBANG MAJU; IMPLEMENTATION OF FUZZY PID METHOD ON QUADROTOR FOR FLYING FORWARD

Kusumo, Rachmawan Budi, Andi Dharmawan

2015 | Skripsi | FMIPA

Quadrotor is one type of UAV (Unmanned Aerial Vehicle) that has a fairly complex control in the motion control system of flight and so we need to keep quadrotor to remain stable. There are various control methods, one of which is a PID control system Ziegler Nichols method. Changes that occur in a system that is non linear quadrotor result needed independent tuning of the PID, which is used method of Fuzzy. Control method applied to the quadrotor to fly forward motion. This study begins with the tuning of the PID done in order to get the value of the constants Kp, Ki, and Kd. PID control on this quadrotor working with an error that occurred. The fuzzy rules are used to determine the value of the constants Kp, Ki, and Kd that adjusted independently by Fuzzy. Flying forward is controlled by determined setpoint that given to pitch angle of quadrotor. Fuzzy PID controller is doing a self tune when setpoint of quadrotor is changed. The test results in this study show the system tuning PID constants using fuzzy logic works better with a range of input error [-50 50 ], [- 0 0 ] error delta input and output range PID constants on each roll and pitch each Kp [0,248 0,268], [0,0033 0,0053] Ki, and Kd [0,0377 0,0397]. The rise time that produced from error anticipated of pitch angle for fuzzy PID is 0,1 seconds.

Kata Kunci : UAV; nonlinear; control