Kajian Eksperimen Teknik Kontrol Penerbangan Posisi Tinggal Landas Drone Bikopter dengan Metode PID

Pengembangan teknik kontrol penerbangan (flight control) untuk drone tidaklah sederhana disebabkan oleh nonlinearitas, ketidakpastian, dan karakteristik dinamis udara. Bahkan, ini lebih rumit dari sistem kontrol yang memiliki hanya satu input dan satu output, diakibatkan kendali penerbangan drone dapat memiliki lebih dari satu input dan output. Fasilitas 3 degree of freedom (DOF) helikopter dapat mengimplementasikan teknik penerbangan drone jenis bikopter yang memiliki dua rotor secara eksperimen. Posisi tinggal landas (take off) drone sangatlah penting berkaitan dengan keselamatan awal penerbangan. Metode kontrol Proportional Integral Derivatif (PID) merupakan teknik populer yang tidak hanya dipelajari di dunia pendidikan tetapi juga telah diterapkan oleh industri untuk mengontrol plant-nya. Tujuan penelitian ini adalah untuk mempelajari teknik kontrol penerbangan posisi take off drone bikopter dengan menerapkan metode PID baik kajian teori maupun eksperimennya. Hasil eksperimen menunjukkan bahwa koefisien penguatan (gain) berpengaruh terhadap kesalahan dan lineraritas posisi drone. Variasi komponen gain kendali proportional integral lebih buruk dari proportional derivatif. Untuk mendapatkan respon posisi yang paling akurat dan linear, seluruh koefisien PID harus diaplikasi pada teknik kontrol penerbangan posisi tinggal landas drone bikopter.

Wire Extensometer Based on Optical Encoder for Translational Landslide Measurement

A landslide is a natural disaster mostly accompanied by heavy rains, earthquakes, or volcanic eruptions. Due to its significant incurred losses, several studies have been conducted to develop a landslide monitoring system. In this report, we built and implemented optical-based wire-extensometers to measure and monitor a translational landslide in a prone area. This extensometer was built of an optical rotary encoder (whose shaft bonded to a spiral spring and sling rope) interfaced to a low-cost microcontroller as a principal component and subsequently linked to a GSM-based wireless network. The working principle of the employed sensor described in this paperwork is to count optical pulse signal and convert it into a length unit. This sensor can provide much better signal stability and show high resolution for a wide-range measurement than voltage- or current-based sensors. The specification of the engaged optical encoder provides 2000 pulses per rotation, leading to a length resolution of 0.011 ± 0.0083 mm with a speed limit of about 36 mm/s. Furthermore, the wire extensometer was examined in a remote place near a double-track train road to assess its performance in an actual field. A solar cell system was applied as its main power supply. An example of transmitted data shows a land shift from 12 mm to 150 mm, which is mainly triggered by high rainwater infiltration. This result demonstrates that the developed extensometer is deserved to be promoted for landslide monitoring in the geological research-work area