Kendali Lepas Landas Otomatis Pada Pesawat Tanpa Awak Sayap Tetap

EKO PUTRA WIJAYA, Dr. Andi Dharmawan, S.Si., M.Cs

2020 | Skripsi | S1 ELEKTRONIKA DAN INSTRUMENTASI

Pesawat tanpa awak sayap tetap atau fixed wing dalam melakukan fase lepas landas dibagi menjadi beberapa tahapan yaitu taxing, climb, dan cruise. Lepas landas dapat dilakukan secara otomatis apabila ada kendali yang mampu mengatur sistem wahana tersebut. Kendali wahana harus mampu mempertahankan nilai sudut serang atau angle of attack (AoA) saat tahap climbing agar wahana tidak mengalami kehilangan daya angkat (stall). Kendali lepas landas otomatis pada penelitian ini menggunakan fullstate feedback gain K yang nilainya diperoleh menggunakan metode Linear Quadratic Regulator (LQR) dan logika fuzzy. Nilai gain K digunakan sebagai nilai masukan sistem pada wahana yang dikonversi terlebih dahulu menjadi sinyal Pulse Width Modulation (PWM). Sinyal PWM tersebut digunakan untuk mengatur kecepatan putar motor brushless dan nilai sudut defleksi servo. Pada saat mode auto, wahana akan mempertahankan sudut serang agar berada di sudut serang kritisnya. Nilai acuan sudut pitch didapatkan dari hubungan antara gaya angkat dan sudut serang kritis wahana. Berdasarkan penelitian ini, wahana telah mampu mempertahankan sudut serang pada nilai sudut serang kritis. Selain itu, didapatkan respon sistem untuk risetime sebesar 0,4 detik, steadystate error sebesar 1,38 derajat, dan tidak ditemukan adanya overshoot.

Unmaned aerial vehicle or fixed wing in the take-off phase are divided into several stages, there are taxing, climbing, and cruise. Takeoff can be done automatically if there is a control that is able to regulate the vehicle system. Vehicle control must be able to maintain the value of the angle of attack (AoA) during the climbing stage so that the vehicle does not experience loss of lift (stall). The automatic takeoff control in this study uses K fullstate feedback gain whose value is obtained using the Linear Quadratic Regulator (LQR) method and fuzzy logic. The gain value K is used as the system input value on the vehicle which is first converted into a Pulse Width Modulation (PWM) signal. The PWM signal is used to regulate the brushless motor rotational speed and servo deflection angle value. During auto mode, the vehicle will maintain the angle of attack so that it is in the critical angle of attack. The pitch angle reference value is obtained from the relationship between lift force and the vehicle's critical attack angle. Based on this research, the vehicle has been able to maintain the angle of attack at the value of the critical angle of attack. In addition, the system response for research was 0.4 seconds, a steadystate error of 1.38 degree, and no overshoot was found.

Kata Kunci : Linear Quadratic Regulator, Logika fuzzy, Sudut serang, Full-state-feedback