ABDULLAH HAJIS, . (2017) RANCANG BANGUN SISTEM MONITORING NAVIGASI QUADCOPTER. Sarjana thesis, UNIVERSITAS NEGERI JAKARTA.
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Abstract
Penelitian bertujuan untuk merancang, merealisasikan dan menguji Sistem Monitoring Navigasi Quadcopter berbasis Arduino Nano menggunakan software Processing IDE untuk memantau pergerakan dan performa sistem quadcopter ketika terbang di udara. Penelitian menggunakan metode penelitian riset dan pengembangan. Penelitian dilaksanakan di Laboratorium Mekatronika dan Robotika dan Laboratorium Bengkel Mekanik, Fakultas Teknik, Universitas Negeri Jakarta pada bulan September 2016 s.d. Juni 2017. Sistem Monitoring Navigasi Quadcopter terdiri dari subsistem monitoring pada quadcopter dan subsistem Ground Control Station (GCS). Subsistem monitoring pada quadcopter terdiri dari modul Arduino Nano, Power Module, Modul IMU (Inertial Measurement Unit) 10 DOF, modul Speed Sensor, dan modul XBee Transmitter. Sedangkan subsistem GCS terdiri dari modul Arduino Nano, modul XBee Receiver, Laptop, dan software Processing IDE. Sistem Monitoring Navigasi Quadcopter dapat memonitor 10 parameter, yaitu : 1) Arus, 2) Tegangan, 3) Sudut yaw, 4) Sudut pitch, 5) Sudut roll, 6) Altitude, 7) Kecepatan motor BLDC 1, 8) Kecepatan motor BLDC 2, 9) Kecepatan motor BLDC 3, dan 10) Kecepatan motor BLDC 4. Sistem monitoring navigasi quadcopter sudah berhasil direalisasikan, dan sudah di uji dapat mengukur parameter yang dihasilkan oleh sensor-sensor pada quadcopter dan dapat diterima dengan baik oleh sistem GCS dengan jarak jangkauan maksimal sejauh 40 meter. Sistem dapat memproses 10 data parameter secara real time dengan update 200 ms. Kemudian subsistem GCS dapat mengukur dan menampilkan parameter dengan rentang ukur dan hasil pengujian sebagai berikut : 1) Rentang ukur tegangan hingga 12,6V dengan rata-rata error 0,215%, 2) Rentang ukur arus hingga 10A dengan rata-rata error 2,65%, 3) Rentang ukur sudut yaw dari 0º hingga 360º dengan rata-rata selisih 16,87º, 4) Rentang ukur sudut pitch dari -87º hingga 88º dengan rata-rata selisih 0,28º, 5) Rentang ukur sudut roll dari -180º hingga 180º dengan rata-rata selisih 0,57º, 6) Rentang ukur altitude dari 0 mdpl hingga 50 mdpl dengan rata-rata selisih 1,58 meter, 7) Rentang ukur rpm motor BLDC hingga 13440 rpm dengan masing-masing memiliki rata-rata error, yaitu : RPM motor 1 sebesar 1,29%, 8) RPM motor 2 sebesar 0,79%, 9) RPM motor 3 sebesar 1,38%, dan 10) RPM motor 4 sebesar 0,65%. The research aims to design, realize and test the Quadcopter Navigation Monitoring System based Arduino Nano using the Processing IDE software to monitor the movement and performance of the quadcopter system when flying in the air. The research using research and development method. The research was conducted at the Mechatronics and Robotics Laboratory and Mechanical Workshop Laboratory, Faculty of Engineering, State University of Jakarta on September 2016 s.d. June 2017. The Quadcopter Navigation Monitoring System consists of a monitoring subsystem on a quadcopter and a Ground Control Station (GCS) subsystem. The quadcopter monitoring subsystem consists of Arduino Nano module, Power Module, IMU Module (Inertial Measurement Unit) 10 DOF, Speed Sensor module, and transmitter XBee module. While the GCS subsystem consists of Arduino Nano module, receiver XBee module, Laptop, and IDE Processing software. Quadcopter Navigation Monitoring System can monitor 10 parameters, namely: 1) Current, 2) Voltage, 3) Yaw angle, 4) Pitch angle, 5) Roll angle, 6) Altitude, 7) Speed of BLDC motor 1, 8) Speed of BLDC motor 2, 9) Speed of BLDC motor 3, and 10) Speed of BLDC motor 4. The Quadcopter navigation monitoring system has been succesfully realized, and tested to measure the parameters generated by the sensors on the quadcopter and can be well received by the GCS system with a maximum range of 40 meters. The system can process 10 data parameters in real time with an update of 200 ms. Then the GCS subsystem can measure and display 10 parameters with measuring ranges and test results as follows : 1) Voltage measuring range up to 12.6V with an average error of 0.215%, 2) Current measuring range up to 10A with an average error of 2.65%, 3) Yaw angle measuring range from 0º to 360º with an average error of 16.87º, 4) Pitch angle measuring range from -87 º to 88 º with an average error of 0.28 º, 5) Roll angle measuring range from -180º to 180º with an average error of 0.57º, 6) Altitude measuring range from 0 mdpl to 50 mdpl with an average error of 1.58 meters, 7) The measurement range of BLDC motor rpm up to 13440 rpm with each having an average error, namely: RPM of motor 1 by 1.29%, 8) RPM of motor 2 by 0,79%, 9) RPM of motor 3 by 1.38%, and 10) RPM of motor 4 by 0,65%.
| Item Type: | Thesis (Sarjana) |
|---|---|
| Additional Information: | 1) Drs. Wisnu Djatmiko, MT 2) Dr. Efri Sandi, MT |
| Subjects: | Teknologi dan Ilmu Terapan > Teknik Elektronika |
| Divisions: | FT > S1 Pendidikan Teknik Elektronika |
| Depositing User: | sawung yudo |
| Date Deposited: | 21 Apr 2022 05:35 |
| Last Modified: | 21 Apr 2022 05:35 |
| URI: | http://repository.unj.ac.id/id/eprint/27378 |
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