PEMODELAN DAN SIMULASI ROLL, PITCHDANYAW PADA QUADROTOR

Oka Danil Saputra; Aris Triwiyatno; Budi Setiyono

doi:10.12777/transmisi.14.4.111-118

DOI: https://doi.org/10.12777/transmisi.14.4.111-118

PEMODELAN DAN SIMULASI ROLL, PITCHDANYAW PADA QUADROTOR

*Oka Danil Saputra - Jurusan Teknik Elektro , Indonesia

Aris Triwiyatno - Jurusan Teknik Elektro , Indonesia

Budi Setiyono - Jurusan Teknik Elektro , Indonesia

Diterbitkan: 7 Des 2012.

BibTex Citation Data :

@article{Transmisi4244,
    author = {Oka Saputra dan Aris Triwiyatno dan Budi Setiyono},
    title = {PEMODELAN DAN SIMULASI ROLL, PITCHDANYAW PADA QUADROTOR},
    journal = {Transmisi: Jurnal Ilmiah Teknik Elektro},
  volume = {14},
    number = {4},
    year = {2012},
    keywords = {},
    abstract = {      Abstrak                     Penelitian ini fokus membahas tentang pengaruh input  Roll, Pitch  dan  Yaw  pada  Quadrotor . Metode Euler-Newton digunakan untuk memodelkan persamaan dinamika  Quadrotor . Pengujian pemodelan dilakukan dengan menggunakan program matlab  simulink . Dari hasil perhitungan, diperoleh nilai parameter dinamika yaitu massa  Quadrotor  m =1,2 [Kg],  momen inersia pada sumbu x I XX  = 8,3 × 10 -3  [N.m.s2],    momen inersia pada sumbu y I YY  = 8,8 × 10 -3  [N.m.s2]   , momen inersia pada sumbu z I ZZ  = 15,5 × 10 -3  [N.m.s2] , jarak pusat  Quadrotor  dengan pusat baling-baling  l  =230 ×10 -3  [m], momen inersia total sekitar sumbut motor J TP  = 2,3 × 10 -5  [N.m.s2],   konstanta elektrik motor K E  = 5,8 × 10 -3  [V.s/rad] dan hambatan motor R = 41,2 × 10 -3  [Ω].  Dari hasil simulasi, disimpulkan bahwa nilai output sudut           (phi) ditentukan oleh nilai input Roll , nilai output sudut        (theta) ditentukan oleh nilai input Pitch  dan nilai output sudut        (psi) ditentukan oleh     nilai     input  Yaw .                    Kata kunci:     Q    uadrotor,    Roll, Pitch, Yaw                              Abstract                  This research work focused on the study of  Roll ,  Pitch  and  Yaw  (Input) a  Quadrotor . The Euler-Newton formalism was used to model the dynamic system. The Matlab Simulink program was developed to test the result. From the calculation result, the value of dynamic parameter were consisting mass of the  Quadrotor  m =  1,2[Kg], body moment of inertia around the x-axis   I   XX    = 8,3   × 10 -    3    [  N.m.s 2   ], body moment of inertia around the y-axis   I   YY    = 8,8   × 10 -    3    [  N.m.s 2   ], body moment of inertia around the z-axis   I   ZZ    = 15,5   × 10 -    3    [  N.   m   .s 2   ], length center of propeller from center of  Quadrotor            l    = 230   × 10 -    3    [  m  ], total rotational moment of inertia around the propeller axis   J TP   = 2,3   × 10 -    5    [  N.m.s 2   ], electric motor constant K E  = 5,8   × 10 -    3    [V  .  s/rad] and motor resistance R = 41,2   × 10 -    3    [Ω].   From the simulation result, it can be concluded that the         (phi) angle was determined the  Roll  input, the         (theta) angle was determined the  Pitch  input and the         (psi) angle was determined the  Yaw  input.                     Keywords:     Q  uadrotor,  Roll, Pitch, Yaw   },
   issn = {2407-6422},   pages = {111--118}  doi = {10.12777/transmisi.14.4.111-118},
    url = {https://ejournal.undip.ac.id/index.php/transmisi/article/view/4244}
}

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Abstrak

Penelitian ini fokus membahas tentang pengaruh input Roll, Pitch dan Yaw pada Quadrotor. Metode Euler-Newton digunakan untuk memodelkan persamaan dinamika Quadrotor. Pengujian pemodelan dilakukan dengan menggunakan program matlab simulink. Dari hasil perhitungan, diperoleh nilai parameter dinamika yaitu massa Quadrotor m =1,2 [Kg], momen inersia pada sumbu x I_XX = 8,3 × 10^-3 [N.m.s2], momen inersia pada sumbu y I_YY = 8,8 × 10^-3 [N.m.s2], momen inersia pada sumbu z I_ZZ = 15,5 × 10^-3 [N.m.s2], jarak pusat Quadrotor dengan pusat baling-baling l =230 ×10^-3 [m], momen inersia total sekitar sumbut motor J_TP = 2,3 × 10^-5 [N.m.s2], konstanta elektrik motor K_E = 5,8 × 10^-3 [V.s/rad] dan hambatan motor R = 41,2 × 10^-3[Ω]. Dari hasil simulasi, disimpulkan bahwa nilai output sudut (phi) ditentukan oleh nilai inputRoll, nilai output sudut (theta) ditentukan oleh nilai inputPitch dan nilai output sudut (psi) ditentukan oleh nilai input Yaw.

Kata kunci: Quadrotor,Roll, Pitch, Yaw

Abstract

This research work focused on the study of Roll, Pitch and Yaw (Input) a Quadrotor. The Euler-Newton formalism was used to model the dynamic system. The Matlab Simulink program was developed to test the result. From the calculation result, the value of dynamic parameter were consisting mass of the Quadrotor m =1,2[Kg], body moment of inertia around the x-axis I_XX= 8,3 × 10^-³[N.m.s²], body moment of inertia around the y-axis I_YY= 8,8 × 10^-³[N.m.s²], body moment of inertia around the z-axis I_ZZ= 15,5 × 10^-³[N. m .s²], length center of propeller from center of Quadrotor

l = 230 × 10^-³[m], total rotational moment of inertia around the propeller axis J_TP= 2,3 × 10^-⁵[N.m.s²], electric motor constant K_E = 5,8 × 10^-³[V.s/rad] and motor resistance R = 41,2 × 10^-³[Ω]. From the simulation result, it can be concluded that the (phi) angle was determined the Roll input, the (theta) angle was determined the Pitch input and the (psi) angle was determined the Yaw input.

Keywords: Quadrotor,Roll, Pitch, Yaw

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In Vol 14, No 4 (2012): TRANSMISI