Perancangan Sistem Autonomous pada Pesawat Model UAV Jenis Glider

Azhim Asyratul Azmi, Wahyudi Wahyudi

Abstract


Abstrak

Pesawat model jenis glider merupakan pesawat yang mampu terbang dangan kecepatan rendah dan memiliki efisiensi tinggi dalam penggunaan sumber daya tenaga yang digunakan, sehingga banyak digunakan untuk misi pemantauan. Misi pemantauan menggunakan pesawat glider memiliki keterbatasan. Pilot sebagai ahli kemudi pesawat memiliki keterbatasan jarak pandang, sehingga misi pemantauan yang dilakukan hanya sebatas jarak pandang pilot itu sendiri. Untuk meningkatkan luas area pemantauan, pesawat harus dapat terbang secara mandiri atau biasa disebut dengan aotonomous. Pesawat model yang mampu terbang secara autonomous disebut dengan pesawat model Unmanned Aerial Vehicle (UAV). Paenerapan sistem autonomous pada pesawat model UAV dilakukan dengan menggunakan perangkat autonomous berupa flight controller, GPS, software GCS dan telemetri. Pemilihan perangkat autonomous disesuaikan terhadap spesifikasi pesawat model Solfix yang meripan pesawat model jenis glider untuk pemantauan titik api kebakaran hutan. Pemberian parameter atur yang merupan kontrol PID dilakukan dengan metode eksperimen uji terbang secara langsung. Nilai parameter atur diperoleh dari observasi yang dilakukan terhadap pergerakan pesawat ketika auto mode. Waypoint uji terbang berbentuk persegi dengan jarak 500m untuk setiap sisi.Pesawat model Solfix dapat terbang secara autonomous dengan stabil melewati waypointyang ditentukan.

 

Abstract

Glider model airplane is an aircraft model with low speed cruising capability and high energy efficiency, widely used for observation missions. The main problem of using glider model plane to observation missions is the limitation of pilot visibility. Glider model airplane must be able to fly autonomously that also known as Unamanned Aerial Vehicle (UAV) to increase observation area futher. Implimitation of autonomous system on glider model airplane can be carried out by applying flight controller, GPS, GCS software and telemetry. Autonomous system was applied and adjusted to glider model airplane called Solfix. Arduflyer 1.5 Flight controller was used in this topic with flight test experimental approach to reach flight setup and tuning. Rectangle shape waypoint was set up with 90 m width and 100 m long. The flying set up and tuning was reached by observed airplane movement behavior on auto mode to follow the waypoint. Solfix model airplane was successfully flown on auto mode by following the waypoint with flight tuning: RLL2SRV_P=1,5;RLL2SRV_D=0,1;PTCH2SRV_P=1,5; PTCH2SRV_D =0,12; YAW2SRV_RLL=1,0; YAW2SEV_DAMP=0,3 and Rudder Mix=0,250.       




Keywords


UAV, Glider, Arduflyer, Autonomous System

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References


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DOI: https://doi.org/10.18196/jmpm.3134

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