Desain dan Implementasi Sistem Kendali pada Wahana Bawah Air dengan Buoyancy Engine - Dalam bentuk buku karya ilmiah

MUHAMMAD AUSHAF AL FARRAS

Informasi Umum

Kode

25.04.5391

Klasifikasi

000 - General Works

Jenis

Karya Ilmiah - Skripsi (S1) - Reference

Subjek

Control System

Dilihat

34 kali

Informasi Lainnya

Abstraksi

Water quality degradation threatens ecosystems and human health, but traditional monitoring methods are inefficient and prone to inaccuracies. This study addresses this challenge by designing and implementing a PID-controlled Autonomous Underwater Vehicle (AUV) with a buoyancy engine for precise depth specific water quality measurements in shallow reservoirs (1–4 m depth). The system replaces manual sampling with automated, real-time monitoring of key parameters (temperature, dissolved oxygen, pH, turbidity), overcoming limitations like transport delays and infrequent data collection. The AUV integrates a pressure sensor for depth feedback and a motorized syringe mechanism for buoyancy adjustment. A cascaded PID control architecture enables precise depth regulation: an inner loop controls motor position via magnetic encoder feedback, while an outer loop adjusts depth using pressure sensor data. Critical hardware refinements, including neutral buoyancy calibration with 49.7g counterweights and a tuned proportional gain (Kp=450), achieved stable vertical positioning despite hydrodynamic disturbances. Testing in a pool environment validated the system’s performance, with depth accuracy exceeding 97% across all setpoints (1–3 m). The pressure sensor demonstrated high reliability (>97% agreement with theoretical hydrostatic calculations), while the buoyancy engine enabled smooth depth transitions. Although near-surface turbulence slightly reduced stability, the system consistently settled within ±0.2 m of targets, confirming its efficacy for autonomous monitoring in calm/deeper waters. This work provides a foundation for energy efficient AUVs in environmental sensing, though future studies should address deeper waters and integral gain tuning to eliminate residual steady-state error.