IMPLEMENTASI METODE PID FUZZY UNTUK TERBANG DAN MENGHINDARI TUMBUKAN PADA QUADROTOR; PID FUZZY METHOD IMPLEMENTATION FOR FLYING AND COLLISION AVOIDANCE ON QUADROTOR

Putra, Prasetya Aditama S, Andhi Dharmawan

2015 | Skripsi | FMIPA

Quadrotor is one type of UAV (unmanned aerial vehicle) who can fly and controlled by pilot using remote control. In fact, pilots often not aware if there are objects in front of quadrotor, and the distance between quadrotor with the objects. This study was done to make a control system so that quadrotor can make the flight without collision with an object in front of quadrotor. Control system made in this study as an alternative pilot in controlling quadrotor in indoors. Quadrotor requires optimal control system in order to avoid collision and well controlled. One of control system that can be used is PID control system. PID used in linear condition, while interference at quadrotor is non linear. So, it needs self-tuning of the PID by fuzzy method. This study used fuzzy method for tuning a proportional constant value in avoid collision and PID constant on the fly motion quadrotor based on error and delta error that occured. The test results in this study showed fuzzy PID control method produced a better response when compared to PID control method only. The range of value on input error and delta error in avoid collision is from -30 cm until 30 cm and -20 cm until 20 cm, while on the fly motion quadrotor is from -50° until 50° dan -10° until 10°. The range of value on Kp output in avoid collision is start from 0,9 until 1,67 and the range of value on the fly motion quadrotor at pitch and roll angle is Kp 0.0682 until 0.0722, Ki 0.011 until 0.015, and Kd 0.018 until 0.022]. Speed of response at pitch and roll angle is 0,2 seconds, and motion speed to avoid collision is 0,5 seconds.

Kata Kunci : UAV; quadrotor; PID; fuzzy; collision avoidance