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All Journal IT JOURNAL RESEARCH AND DEVELOPMENT Jurnal SOLMA Jambura Journal of Electrical and Electronics Engineering Jurnal Elkolind : Jurnal Elektronika dan Otomasi Industri Journal of Computer, Electronic, and Telecommunication (COMPLETE) Journal of Applied Smart Electrical Network and System (JASENS) Jurnal 7 Samudra Politeknik Pelayaran Surabaya
Riananda, Dimas Pristovani
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Computer Science & IT Control & Systems Engineering Education Electrical & Electronics Engineering Energy Engineering Transportation Other

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IMPLEMENTASI KONTROL PID ZIEGLER – NICHOLS UNTUK PENGENDALIAN PENYELAMAN PADA ROBOT BAWAH AIR OTONOM HYDROSHIPS Sobirin, Ihwanul; Endrasmono, Joko; Riananda, Dimas Pristovani; Asri, Purwidi; Jami'in, Mohammad Abu; Munadhif, Ii
Jurnal Elektronika dan Otomasi Industri Vol. 11 No. 2 (2024): Vol. 11 No.2 (2024) : Jurnal Elkolind Vol.11, No. 2, 2024 (Juli 2024)
Publisher : Program Studi Teknik Elektronika Politeknik Negeri Malang

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.33795/elkolind.v11i2.5344

Abstract

Robot bawah air beroperasi dan dikendalikan dalam air untuk berbagai tugas seperti penelitian, operasi SAR, dan perlindungan infrastruktur. Terdapat dua jenis utama: Remotely Operated Vehicle (ROV), yang dikendalikan manual, dan Autonomous Underwater Vehicle (AUV), yang beroperasi secara otomatis. Tim HYDROships dari Politeknik Perkapalan Negeri Surabaya mengembangkan AUV untuk mendeteksi korban kecelakaan dan objek bawah air. Stabilitas AUV di bawah permukaan laut sangat penting untuk mencegah kecelakaan. Kontrol PID Ziegler - Nichols digunakan untuk menjaga kestabilan penyelaman AUV. Pada pengujian, kendali penyelaman prototipe AUV dengan parameter PID Kp = 9,269; Ki = 5,65; Kd = 8,55 mampu untuk mendapatkan respon yang baik dengan nilai respon terbaik, rise time sebesar 1,35 detik, settling time sebesar 3,2 detik dan overshoot sebesar 7,4%. Hasil penelitian menunjukkan parameter PID Ziegler-Nichols memberikan rise time cepat, tetapi overshoot besar, sedangkan fine-tuning PID memberikan respon lebih baik secara keseluruhan.
Design of Attitude Holding System for Prototype Autonomous Surface Vehicle Using the ANFIS Method Cahyadi, Nurahmad Hadi; Endrasmono, Joko; Putra, Zindhu Maulana Ahmad; Khumaidi, Agus; Adhitiya, Ryan Yudha; Riananda, Dimas Pristovani
Jambura Journal of Electrical and Electronics Engineering Vol 6, No 2 (2024): Juli - Desember 2024
Publisher : Electrical Engineering Department Faculty of Engineering State University of Gorontalo

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.37905/jjeee.v6i2.26023

Abstract

Autonomous Surface Vehicle (ASV) is surface-controlled vessel without a crew, designed to explore waters autonomously without direct human intervention. In its development, ASV ships often experience waypoint navigation problems such as ship speed controls, ship steering angle direction, and ship holding attitude systems. This research aims to design an attitude control system for an ASV that focuses on a position control system for changes due to waves, currents and wind when the ASV is carrying out a mission. In developing an intelligent attitude control system, two controls are implemented, namely rotation control and translation control. This system uses a CMPS14 sensor to determine the ship's orientation and rotational speed which is used as a rotational control variable and is then synchronized with Zed F9P GNSS RTK GPS data readings to predict the ASV position when it encounters external disturbances for translational control variables which are processed using the ANFIS (Adaptive Neuro) algorithm. Fuzzy Inference System) to predict the actuator response in maintaining ASV heading and position. The ANFIS model designed in this research is able to predict the bowthruster speed for guarding the post with an RMSE of 1.6169%, while the ANFIS model for predicting ship Vx and Vy has an RMSE of 0,1857%. Although influenced by non-linear data variations and the choice of MF data type, the Vx and Vy prediction value produced by the ANFIS model is close to precise.
Co-Authors Abu Jami’in, Mohammad Abu Jami’in, Mohammad Abu Jami’in Achmad, Vandy Adhitiya, Ryan Yudha Adhitya, Ryan Yudha Adianto Adiatmoko, Mohammad Fajar Agus Khumaidi Ahmada, Ezra Adillafasyah Alfitra, Muhammad Dhifa Almunawar, Deni Anggara Trisna Nugraha Anto, Dwi Rizky Arfianto , Afif Zuhri Arfianto, Afif Zuhri Arvi, Muhammad Indrastata Iftitana Asmara, I Putu Sindhu Asri, Purwidi Burjulius, Renol C. I. Sutrisno Cahyadi, Nurahmad Hadi Didik Sukoco Dwi Sasmita Aji Pambudi Endrasmono, Joko Hasin, Muhammad Khoirul Ii Munadhif, Ii Jami'in, Mohammad Abu Lena, Sonty Munadhif, Ii’ Nugraha, Anggara Trsina Prayoga, Yusma'el Khammi Putra, Zindhu Maulana Ahmad Rehardendi, Dimas Afif Rinanto, Noorman Ryan Yudha Adhitya Santosa, Anisa Fitri Sobirin, Ihwanul Sugeng Santoso Washfil Hasin, Muhammad Dzi Yuda Irawan Yuniati, R.A. Norromadani Zindhu Maulana Ahmad Putra