perancangan dan pengembangan sistem kendali …eprints.umm.ac.id/55525/48/pendahuluan.pdf ·...
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PERANCANGAN DAN PENGEMBANGAN SISTEM KENDALI
BERBASIS WIRELESS PADA DRONE QUADCOPTER
TUGAS AKHIR
Diajukan Kepada
Universitas Muhammadiyah Malang
untuk Memenuhi Salah Satu Persyaratan
Memperoleh Gelar Sarjana Teknik Teknik Mesin
OLEH :
MUHAMMAD GABRIEL HURAIRAH
201510120311230
JURUSAN TEKNIK MESIN
FAKULTAS TEKNIK
UNIVERSITAS MUHAMMADIYAH MALANG
2019
vii
PERANCANGAN DAN PENGEMBANGAN SISTEM KENDALI
BERBASIS WIRELESS PADA DRONE QUADCOPTER
Oleh:
Muhammad Gabriel Hurairah
(Pembimbing I: Ir. Trihono Sewoyo, MT., Pembimbing II: Budiono, S.Si., MT.)
Jurusan Teknik Mesin Fakultas Teknik Universitas Muhammadiyah Malang,
Indonesia
JL. Raya Tlogomas No. 246 Telp. (0341) 464318-218 Fax. (0341) 460782
Contact Person : Muhammad Gabriel Hurairah
JL. Semangka Dermo No. 23 Dau, Kab. Malang
Phone : +6287783178269, E-mail: [email protected]
ABSTRAK
Drone quadcopter merupakan robot terbang dengan jenis pesawat tanpa awak atau
pada umumnya biasa disebut unmanned aerial vehicle (UAV). Saat ini drone
quadcopter adalah jenis unmanned aerial vehicle (UAV) yang banyak digunakan
karena kegunaannya untuk komersil ataupun digunakan sebagai objek untuk
pengembangan drone technology di lingkup umum maupun akademisi. Salah satu
hal yang menarik untuk di kembangkan pada drone quadcopter adalah sistem
kendali pada brushless motor. Pada penelitian ini adalah untuk merancang dan
mengembangkan sistem kendali pada drone quadcopter berbasis wireless dengan
mengganti peran dari remote control pada umumnya menjadi personal computer
yang nantinya akan mengontrol kinerja gerak dari drone quadcopter tersebut.
Sistem kendali berbasis wireless ini menggunakan metode komunikasi serial yang
menggunakan radio telemetry 3DR sebagai transmitter yang terhubung pada
personal computer dan receiver yang terhubung pada arduino UNO yang dijadikan
pengganti flight controller pada drone quadcopter. Pengujian dilakukan dengan
dengan menguji setiap brushless motor quadcopter untuk mendapatkan besar nilai
kecepatannya. Data hasil pengujian didapatkan data hubungan antara persentase
duty cycle PWM dengan kecepatan (rpm) brushless motor dan data hubungan antara
input tegangan (volt) dengan kecepatan (rpm) brushless motor, besar nilai
kecepatan (rpm) pada setiap brushless motor memiliki nilai yang berbeda-beda
pada pengujian duty cycle PWM dan input tegangan. Berdasarkan data dari hasil
pengujian diatas dapat digunakan sebagai acuan dalam melanjutkan pengembangan
sistem kendali drone quadcopter ke tahap sistem kontrol pada setiap brushless
motor untuk memperoleh kinerja gerak dari drone quadcopter yang sama sengan
drone quadcopter yang ada di pasaran.
Kata Kunci: Drone Quadcopter, Brushless Motor, Wireless.
viii
WIRELESS-BASED DESIGN AND DEVELOPMENT ON DRONE
QUADCOPTER
By:
Muhammad Gabriel Hurairah
(1st Supervisor: Ir. Trihono Sewoyo, MT., 2nd Supervisor: Budiono, S.Si., MT.)
Department of Mechanical Engineering, Faculty of Engineering Science,
University of Muhammadiyah Malang, Indonesia
JL. Raya Tlogomas No. 246 Telp. (0341) 464318-218 Fax. (0341) 460782
Contact Person : Muhammad Gabriel Hurairah
Jl. Semangka Dermo No. 23, Dau, Kab. Malang
Phone : +6287783178269, e-mail: [email protected]
ABSTRACT
Drone quadcopter is an automatic robot capable of self-levitation that is commonly
categorized as an unmanned aerial vehicle (UAV). Currently, drone quadcopter is
a type of unmanned aerial vehicle (UAV) which sees everday use due to its
commercial or academic use as an object of drone technology development both in
the public or academic setting. One of the most interesting aspects to be developed
in drone quadcopters is the control system on the brushless motor. This research is
designated to design and develop the wireless-based control system on drone
quadcopter by replacing the role of commonly used remote control into the personal
computer system, which will control the movement system of the drone. This
wireless-based control system utilizes the radio telemetry 3RD-based serial
communication method as a transmitter that is connected to the personal computer
and the receiver, which consequently are connected to the arduino UNO as a
replacement of flight controller in drone quadcopters. Experiments are conducted
by testing every brushless motor quadcopters to measure their exact amount of
speed. Experiments results are consisted of the relational data between the duty
cycle PWM data with the speed amount (RPM) of the brushless motor and the
relational data between the voltage input (volt) and the speed amount (RPM) of the
brushless motor, where the amount of speed (RPM) in every brushless motor has
varying values in the duty cycle PWM and voltage input experimentation.
According to the results above, these results can be utilized as the base for the
continuation of the development of control system in drone quadcopters to the
control system stage in every brushless motor to earn the similar motion
performance of drone quadcopters with the ones that are already available in the
general market.
Keywords: Drone quadcopter, brushless motor, wireless.
xi
DAFTAR ISI
LEMBAR JUDUL............................................................................................................i
POSTER...........................................................................................................................ii
LEMBAR PENGESAHAN............................................................................................iii
LEMBAR KONSULTASI/ASISTENSI........................................................................iv
LEMBAR SURAT PERNYATAAN TIDAK PLAGIAT.............................................vi
ABSTRAKSI INDONESIA..........................................................................................vii
ABSTRAKSI BAHASA INGGRIS.............................................................................viii
KATA PENGANTAR....................................................................................................ix
DAFTAR ISI...................................................................................................................xi
DAFTAR TABEL.........................................................................................................xiv
DAFTAR GAMBAR......................................................................................................xv
BAB I PENDAHULUAN.................................................................................................1
1.1.Latar Belakang................................................................................................... 1
1.2.Rumusan Masalah...............................................................................................3
1.3.Tujuan Penulisan.................................................................................................3
1.4.Manfaat Penulisan...............................................................................................4
1.5.Batasan Masalah.................................................................................................4
BAB II TINJAUAN PUSTAKA......................................................................................5
2.1. Penelitian Terdahulu..........................................................................................5
2.2.Drone Quadcopter..............................................................................................5
2.3.Instrumentasi Drone Quadcopter........................................................................9
2.3.1. Flight Controller.......................................................................................9
2.3.2. Motor Brushless......................................................................................10
2.3.3. Propeller.................................................................................................10
2.3.4. Electronic Speed Controller (ESC).........................................................11
2.3.5. Frame......................................................................................................12
2.3.6. Battery.....................................................................................................13
2.4. Mikrokontroler.................................................................................................14
xii
2.5. Arduino............................................................................................................15
2.5.1. Jenis-Jenis Arduino.................................................................................16
2.6. Arduino UNO...................................................................................................19
2.6.1. Arduino IDE............................................................................................20
2.6.2. Pulse Width Modulation (PWM).............................................................22
2.6.3. Komunikasi Serial...................................................................................23
2.7. Radio Telemetry...............................................................................................24
2.8. Microsoft Visual Studio....................................................................................25
2.9. Metode Perancangan........................................................................................26
BAB III METODOLOGI PENELITIAN.....................................................................30
3.1. Studi Literatur..................................................................................................30
3.2. Analisis Permasalahan.....................................................................................30
3.3. Perancangan.....................................................................................................30
3.3.1. Daftar Persyaratan Desain.......................................................................30
3.3.2. Identifikasi Masalah................................................................................34
3.3.3. Struktur Fungsi........................................................................................36
3.3.4. Prinsip Kerja............................................................................................37
3.3.5. Kombinasi Dan Susunan Konsep............................................................38
3.3.6. Pemilihan Konsep Varian........................................................................41
3.4. Desain Perangkat Keras....................................................................................42
3.4.1. Desain Frame Drone Quadcopter...........................................................44
3.4.2. Rangkaian Elektronika............................................................................44
3.5. Proses Pengerjaan.............................................................................................45
3.5.1. Alat Yang Digunakan .............................................................................45
3.5.2. Bahan Yang Digunakan ..........................................................................45
3.5.3. Proses Pengerjaan Dan Perancangan Drone Quadcopter........................46
BAB IV ANALISA DAN PEMBAHASAN..................................................................50
4.1. Perancangan Sistem Kendali Berbasis Wireless...............................................50
4.1.1. Fast PWM Mode Pada Arduino UNO ATMega 328.................................50
4.2. Pengujian Brushless Motor..............................................................................51
4.2.1. Pengujian Persentase Duty Cycle Pulse Width Modulation (PWM).........52
xiii
4.2.2. Pengujian Perbandingan Tegangan Dengan Kecepatan Motor................56
4.3. Analisa Dan Pembahasan.................................................................................60
BAB V PENUTUP..........................................................................................................63
5.1. Kesimpulan......................................................................................................63
5.2. Saran................................................................................................................64
DAFTAR PUSTAKA.....................................................................................................66
LAMPIRAN...................................................................................................................68
xiv
DAFTAR TABEL
Tabel 2.1. Spesifikasi Arduino UNO ATMega 328....................................................................20
Tabel 3.1. Daftar Persyaratan Spesifikasi Desain......................................................................31
Tabel 3.2. Kombinasi Sub-Fungsi Yang Didasarkan Pada Diagram Blok Sub-Fungsi..............39
Tabel 4.1. Duty Cycle Sinyal Pulse Width Modulation (PWM)..................................................51
Tabel 4.2. Pengujian Persentase Duty Cycle (PWM) Menggunakan Arduino UNO...................54
Tabel 4.3. Pengujian Persentase Duty Cycle (PWM) Menggunakan Arduino Nano...................55
Tabel 4.4. Konversi Input Tegangan Dengan Persentase Duty Cycle PWM...............................58
Tabel 4.5. Pengujian Perbandingan Tegangan (V) Dengan Kecepatan Motor (rpm).................59
Tabel 4.6. Persentase Duty Cycle PWM-Arduino Uno...............................................................60
Tabel 4.7. Persentase Duty Cycle PWM-Arduino Nano.............................................................60
xv
DAFTAR GAMBAR
Gambar 1.1. Drone Quadcopter..................................................................................................2
Gambar 2.1. Desain Quadcopter.................................................................................................6
Gambar 2.2. Gerakan Quadcopter Berdasarkan Kecepatan Setiap Motornya.............................7
Gambar 2.3. Flight Controller Drone Quadcopter......................................................................9
Gambar 2.4. Brushless Motor Drone Quadcopter.....................................................................10
Gambar 2.5. Propeller Drone Quadcopter................................................................................11
Gambar 2.6. Electronic Speed Controller (ESC) Drone Quadcopter........................................12
Gambar 2.7. Frame Drone Quadcopter.....................................................................................13
Gambar 2.8. Battery Lithium Polymer (LiPo)............................................................................14
Gambar 2.9. Arduino USB.........................................................................................................16
Gambar 2.10. Arduino Serial.....................................................................................................17
Gambar 2.11. Arduino Mega.....................................................................................................17
Gambar 2.12. Arduino Fio.........................................................................................................18
Gambar 2.13. Arduino Lilypad..................................................................................................18
Gambar 2.14. Arduino BT..........................................................................................................19
Gambar 2.15. Arduino Nano dan Arduino Mini.........................................................................19
Gambar 2.16. Arduino UNO ATMega 328.................................................................................20
Gambar 2.17. Perintah Pada Arduino IDE.................................................................................21
Gambar 2.18.Ilustrasi Pulse Width Modulation (PWM)............................................................23
Gambar 2.19. Kabel USB Serial Arduino..................................................................................24
Gambar 2.20. Radio Telemetry..................................................................................................25
Gambar 2.21. Tampilan Awal Visual Studio..............................................................................26
Gambar 2.22. Diagram Alir Perancangan Menurut Pahl And Beitz...........................................29
Gambar 3.1. Diagram Blok Fungsi Keseluruhan.......................................................................36
Gambar 3.2. Aliran Energi Pada Diagram Blok Sub Fungsi......................................................37
Gambar 3.3. Flowchart Prinsip Kerja Sistem Kendali Drone Quadcopter................................38
Gambar 3.4. Layout Sistem Kendali Drone Quadcopter Berbasis Wireless..............................42
xvi
Gambar 3.5. Desain Frame Drone Quadcopter.........................................................................44
Gambar 3.6. Rangkaian Elektronika Sistem Kendali Berbasis Wireless....................................45
Gambar 3.7. Assembly Komponen Elektronika .........................................................................47
Gambar 3.8. Assembly Komponen Elektronika.........................................................................48
Gambar 3.9. Assembly Komponen Mekanik..............................................................................49
Gambar 4.1. Tachometer...........................................................................................................52
Gambar 4.2. Avometer...............................................................................................................52
Gambar 4.3. Pengujian Duty Cycle PWM..................................................................................53
Gambar 4.4. Grafik Perbandingan Duty Cycle PWM Dengan Kecepatan Motor (rpm).............55
Gambar 4.5. Grafik Perbandingan Duty Cycle PWM Dengan Kecepatan Motor (rpm).............56
Gambar 4.6. Pengujian Perbandingan Tegangan dengan Kecepatan Motor..............................56
Gambar 4.7. Grafik Perbandingan Tegangan (V) Dengan Kecepatan Motor (rpm)...................59
Gambar 4.8. Grafik Perbandingan Duty Cycle PWM Arduino UNO-Arduino Nano..................61
66
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