IMPLEMENTASI METODE PID FUZZY PADA SISTEM PENERBANGAN QUADROTOR UNTUK PENELUSURAN LORONG; IMPLEMENTATION OF FUZZY PID ON QUADROTOR FOR PATH FOLLOW

DESCA TRI PAULUS, Andhi Dharmawan

2015 | Skripsi | FMIPA

Quadrotor requires a control system for flight systems. If a quadrotor fly in a indoor lane, it will increase the risk of collisions with the walls. So, we need an control system addition to help quadrotor's position keep hold on center, that is PID control. PID control system is a linear control, but the quadrotor's system is non-linear, so its require self-tuning method with fuzzy, so can handle nonlinear optimal state. In this research, the fuzzy method is used to tune PID constants on quadrotor flight system, and the constant PI to search the path way. Fuzzy system works by getting input from the error and delta error value, this value are grouped into 5 sets of linguistics as a fuzzy input. And the fuzzy outputs are also grouped into five sets of linguistic. This system have 5 sets of input and output, then design fuzzy rules as many as 25 pieces. The test results showed that the PID-fuzzy methods have a better response than the PID method. PID-fuzzy on the pitch and roll has an error input range [-50 50], delta error [-10 10] and output Kp [0.058 0.062], Ki [0.01 0.02], Kd [0.023 0.033]. While the PI-fuzzy has an input range [-60 60], delta error [-12 12] and output Kp [2.75 2.95], Ki [0,8 1,2]. Where the pitch and roll response speed of 0.5 seconds and speed of response to searches aisle of 3.6 seconds.

Kata Kunci : fuzzy; PID; quadrotor; path follow