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DESAIN SISTEM KONTROL PENJEJAK WAYPOINT PADA QUADCOPTER DENGAN MENGGUNAKAN KONTROLER PID

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Quadcopter is a type of UAV (Unmanned Aerial Vehicle) that is often used today and is better known by public as a drone. The drone can be controlled automatically using a remote control or software that has been configured with a quadcopter system. One of the control systems that is often used is the PID controller. This study aims to obtain variations in PID parameter values at roll, pitch, and yaw angles that are most suitable for quadcopter design so as to obtain system responses with the smallest error values. The determination of the value of this PID parameter is called tuning. One of the tuning methods is the ziegler-nichols method which relies on the Ku value so that it makes the system response ocilated. The test was carried out in a simulation using the Python programming code with parameters that have been adjusted to the quadcopter design. The PID parameters used in the first test used a variation of the frequently used. In subsequent testing, the PID parameters are set using the characteristics of each PID constant. The quadcopter is simulated with a 4-point trajectory that forms a square with a distance between points of 3 meters and a height of 5 meters. The results of the test were in the form of variations in PID parameters with the smallest error values. Increasing the Kp and Kd values, and decreasing the Ki values periodically, shows that the system response has an error of less than 5% so that the system becomes more stable. Keywords: Quadcopter, PID controller, PID parameter variation.

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Detail Information

Series Title

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Call Number

T1909722025

Publisher

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

Collation

xxii, 473 hlm.; ilus.; tab.; 29 cm.

Language

Indonesia

ISBN/ISSN

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Classification

629.807

Content Type

Text

Media Type

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Carrier Type

-

Edition

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Subject(s)

Prodi Teknik Mesin
Sistem kendali otomatis

Specific Detail Info

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Statement of Responsibility

TUTI

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