Implementasi Sistem Kontrol Cascaded – Discrete PID pada Sumbu Roll dan Pitch Quadcopter

AJENG WARDA PERTIWI, Jans Hendry, S.T., M.Eng.

2025 | Tugas Akhir | D4 Teknologi Rekayasa Instrumentasi dan Kontrol

Quadcopter  merupakan Unmanaed Aerial Vehicle (UAV) yang perkembangan teknologinya terus melesat. Quadcopter memiliki gerakan rotasi tiga sumbu yaitu roll, pitch, dan yaw. Dalam pengendalian gerak sumbu roll dan pitch memerlukan pendekatan sistem kontrol cascade – discrete PID. Proses perancangan sistem kontrol menggunakan hasil pembacaan sensor MPU6050 yang telah melalui proses filter menggunakan Kalman filter. Kontrol cascade – discrete PID. Hasil pemodelan sistem MATLAB menunjukkan  sistem memiliki settling time sebesar 0 detik dan overshoot 1,54%. Hal ini mengindikasikan sistem dapat mencapai steady state dengan cepat dan stabil. Hasil implementasi sistem kontrol menunjukkan respons sistem yang baik pada sumbu roll dan pitch  ketika mendapat gangguan dan tanpa gangguan untuk menuju stabil.

Quadcopter is an Unmanned Aerial Vehicle (UAV) whose technological development continues to advance rapidly. The quadcopter exhibits rotational movement along three axes: roll, pitch, and yaw. Controlling the roll and pitch axes requires a control system approach using cascaded discrete PID. The control system design process utilizes sensor data from the MPU6050, which has been processed through a Kalman filter. The cascaded discrete PID control system, modeled in MATLAB, shows a settling time of 0 seconds and an overshoot of 1.54%. This indicates that the system can quickly and stably reach steady-state conditions. The implementation results demonstrate good system response for roll and pitch axes under both disturbed and undisturbed conditions in achieving stability

Kata Kunci : Quadcopter, Cascade, Discrete, PID, Roll, Pitch