Purwarupa Sistem Integrasi Quadcopter dan Mobile Robot

https://doi.org/10.22146/ijeis.2344

Andi Dharmawan(1*), Christian Antonia Lusiarta Putera(2)

(1) 
(2) 
(*) Corresponding Author

Abstract


Abstrak

Quadcopter, juga dikenal sebagai quadrotor, adalah helikopter dengan empat motor yang dilengkapi dengan  empat buah propeller pada masing-masing motornya yang digunakan untuk terbang dan bermanuver. Pada quadcopter terdapat 3 variabel sudut yang menjadi element utama dalam pengendaliannya yaitu roll, pitch, dan yaw yang diperoleh dari penggabungan sensor accelerometer, gyroscope dan magnetometer dengan metode Direction Cosine Matrix. Pada sistem integrasi mobile robot dan quadcopter, digunakan kontroler jenis Proporsional–Integral–Derivatif (PID Controller) untuk meminimalisir nilai error dari sudut roll, pitch, dan yaw  quadcopter dengan cara mengatur keluaran dari proses kontrol agar quadcopter dapat terbang stabil saat membawa mobile robot.

Pada sistem ini, quadcopter selain juga digunakan sebagai pengendali mobile robot, dimana quadcopter akan mengirim karakter dengan menggunakan komunikasi serial melalu RF YS1020 kemudian mobile robot membaca data yang dikirim oleh quadcopter yang masuk secara serial melalui RF Transceiver YS1020, kemudian menentukan kecepatan motor mobile robot dengan menggunakan cara membandingkan data berupa karakter ASCII yang masuk untuk melakukan mode gerak.  

 

Kata kunciDirection Cosine Matrix, Kontroler PID, integrasi, quadcopter, mobile robot

 

Abstract

Quadcopter, also known as the quadrotor, helicopter with four motors are equipped with four propellers on each bike that used to fly and maneuver. In Quadcopter there are 3 variable angles to the main element in the control roll, pitch, and yaw that derived from combining sensor accelerometer, gyroscope and magnetometer methods Direction Cosine Matrix. In the mobile robot system integration and Quadcopter, use the Proportional-Integral controller type-Derivative (PID Controller) to minimize the error value from the point of roll, pitch, and yaw Quadcopter by regulating the output of the control process in order to fly Quadcopter stabilized when carrying a mobile robot.

In this system, as well Quadcopter used as a mobile robot controller, which sends the character Quadcopter using serial communication through mobile robot RF YS1020 then read the data sent by the incoming serial Quadcopter via RF Transceiver YS1020, and then determines the motor speed mobile robot with use by comparing the data in the form of ASCII characters that go to make a motion mode.

 

KeywordsDirection Cosine Matrix, PID controllers, integration, quadcopter, mobile robot

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DOI: https://doi.org/10.22146/ijeis.2344

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