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DESAIN SISTEM KENDALI KETINGGIAN PADA DRONE PENGANGKAT BARANG DENGAN MENGGUNAKAN KONTROLLER ADAPTIF PID

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This study aims to design an altitude control system for a payload-lifting drone using an adaptive PID controller capable of maintaining altitude stability under varying payload masses. The drone prototype was developed using an Ardupilot APM 2.8 flight controller, IMU sensor, infrared sensor, brushless motors, ESCs, GPS, and telemetry modules, with a total mass of 1400 grams. The system dynamics were modeled using a state-space approach and simulated in MATLAB Simulink to evaluate the controller performance. Initial PID parameters obtained through the Ziegler–Nichols method (P = 12.6, I = 15.59, D = 2.54) produced an unstable response, with an overshoot of 70.97%, a rise time of 0.3062 s, and a settling time of 15.04 s, thereby necessitating further manual tuning. The optimized parameters (P = 10, I = 1, D = 15) significantly improved system performance, reducing the overshoot to 5.13% and decreasing the settling time to 2.18 s for the nominal mass condition. Simulations were carried out under four mass variations: 1400 g, +200 g, +300 g, and +400 g. Increased payload resulted in a rise time increase from 0.1571 s to 0.1999 s and an overshoot increase from 5.13% to 6.33%; however, the system consistently reached stable altitude at the 2-meter setpoint. Additionally, thrust experiments demonstrated a linear relationship between motor rotational speed, electrical current, and generated lift force. Overall, the adaptive PID controller exhibited improved performance compared to the initial Ziegler–Nichols parameters and effectively maintained drone altitude stability across varying payload conditions

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Detail Information

Series Title

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Call Number

T1892762025

Publisher

Indralaya : Prodi Teknik Mesin, Fakultas Teknik Universitas Sriwijaya., 2025

Collation

xxix, 90 hlm.; ilus.; tab.; 29 cm.

Language

Indonesia

ISBN/ISSN

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Classification

629.135 07

Content Type

Text

Media Type

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Carrier Type

-

Edition

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Subject(s)

Prodi Teknik Mesin
Sistem Kontrol Otomatis--Drone

Specific Detail Info

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Statement of Responsibility

MI

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