LAMPIRAN A PEMODELAN DINAMIKA KAPAL

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Glenna Irawan
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1 LAMPIRAN A PEMODELAN DINAMIKA KAPAL Dinamika kapal dimodelkan berdasar dari spesifikasi kapal. Kapal yang digunakan adalah kapal PKR KRI Diponegoro Kelas SIGMA. Berikut spesifikasi umum dari kapal PKR KRI Diponegoro Kelas SIGMA: L pp = m B = 13.0 m T = 3.75 m = 1818 ton U = 14 m/s C B = 0.41 X G =.5 A δ = 3.14 m r = 1.8 m m = Pemodelan dilakukan berdasarkan model matematik ysng diturunkan Nomoto: Y v ( T / L) C B T B B L Y r B B ( T / L) L T N B B v ( T / L) L T N C B B r 1 B T L T 33 ( / ) 1 L

2 Y ( T / L) v CBB T Y 1 B B r ( T / L) L T N v 1 T. 4 ( T / L) L N 1 B B r ( T / L) 4 T L Berdasar spesifikasi yang diketahui, koefisien-koefisien tak berdimensi dengan notasi ( ) dapat diketahui. Y v Y r N v N r Y v Y r N v N r Y N I z I r Kemudian dapat dibentuk menjadi matrik sebagai berikut: M'= m Y v m. X G N v m. X G Y r I z N r M'= N'= Y v m u Y r N v m. X G. u N r N'=

3 Matrik di atas dilinierisasi menjadi M= m'11 x L/U^ m'1 x L^/U^ m'1 x L/U^ m' x L^/U^ M= N= n'11 /U n'1 x L/U n'1/ U n' x L/U N= Determinan dari matrik M dan N adalah sebagai berikut: det(m) det(n) Persamaan di bawah ini digunakan untuk mencari fungsi transfer kapal berdasar pada pehitungan di atas. K R 1 T3s s R s1 T1 s1 Ts detm T1T detn n11m nm11 n1m1 n1m1 T1 T det( N) n1b1 n11b K R det( N) m1b1 m11b K R T3 det( N) T 1 T T 1 + T K R K R T Sehingga dapat diperoleh model dinamika kapal Ferry:

4 R s s s 5.907s s

5 LAMPIRAN B PEMODELAN GANGGUAN KAPAL Gangguan yang digunakan pada tugas akhir ini adalah gelombang laut state satu sampai tujuh. Gangguan gelombang laut bersifat mendorong kapal saat berlayar di lautan. Pemodelan gangguan gelombang lau state satu sampai tujuh adalah sebagai berikut: Kode Deskripsi Ketinggian (m) 0 Calm (glassy) 0 1 Calm (rippled) Smooth (wavelest) Sligth Moderate Rough Very rough High Very High Phenomenal >14

7 Gangguan Gelombang Sea State 1, Calm Water (0-0,1m) dan Gangguan Gelombang Sea State, Smooth Water (0,1-0,5m) ω 0 = π = (3,14) T,5 Kω =,51 = ω 0 m = (0,1)(,51)(3,16) = 1,8086 Kωs s + ω0s + ω 0 1,8086s s + 0,1 (,51)s + (,51) 1,8086s s + 0,504s + 6,31 Gangguan Gelombang Sea State 3, Slight Water (0,5 1,5m) dan Gangguan Gelombang Sea State 4, Moderate Water (1,5,5m) ω 0 = π = (3,14) T 6,5 Kω = 0,966 = ω 0 m = (0,1)( 0,6105)(3,16) = 0,6105 Kωs s + ω0s + ω 0 0,6105s s + 0,1 (0,966)s + (0,966) 0,6105s s + 0,193s + 0,933 Gangguan Gelombang Sea State 5, Rought Water (,5 4m) ω 0 = π = (3,14) = 0,738 T 8,5 Kω = ω 0 m = (0,1)( 0,738)(3,16) = 0,4664

8 Kωs s + ω0s + ω 0 0,4664s s + 0,1 (0,738)s + (0,738) 0,4664s s + 0,1476s + 0,544 Gangguan Gelombang Sea State 6, Very Rought Water (4 6m) dan Gangguan Gelombang Sea State 7, high Water (6 9m) ω 0 = π = (3,14) T 10,5 Kω = 0,598 = ω 0 m = (0,1)( 0,598)(3,16) = 0,3779 Kωs s + ω0s + ω 0 0,3779s s + 0,1 (0,598)s + (0,598) 0,3779s s + 0,1196s + 0,346

9 LAMPIRAN C PEMODELAN ROLL DAMPER Mv + Nv + Gη = Bu Dimana v = v, p, r T dan η = y, φ, ψ T adalah keadaan dan u = α, δ T adalah vektor kontrol M = m Y v mz G Y p mx G Y r mz G Y v I x K p mx G K r mx G N v mx G N p I z N r N = G = Y v Y p mu o Y r K v K p mz G u o K r N v N p mx G u o N r WGM T B = Y α K α N α Y δ K δ N δ Y v Y r N v N r Y v Y r N v N r Y δ N δ I z I r K δ Y p K p N p K α Y α N α K v K p

10 Y p N p K v M = N = G = B = φ s = 0.07δ s α s 0.8r s 0.001s s+.94

11 LAMPIRAN D PEMODELAN SIMULINK SISTEM STABILISASI RUDDER ROLL TANPA GANGGUAN

12 Pemodelan Subsistem Rudder Pemodelan subsistem Roll Damper

13 LAMPIRAN E RULE BASE KONTROL LOGIKA FUZZY 1. If (e is NB) and (r is PB) then (Rudder is NB) (1). If (e is NB) and (r is PM) then (Rudder is NB) (1) 3. If (e is NB) and (r is PS) then (Rudder is NB) (1) 4. If (e is NB) and (r is Z) then (Rudder is NB) (1) 5. If (e is NB) and (r is NS) then (Rudder is NM) (1) 6. If (e is NB) and (r is NM) then (Rudder is NS) (1) 7. If (e is NB) and (r is NB) then (Rudder is Z) (1) 8. If (e is NM) and (r is PB) then (Rudder is NB) (1) 9. If (e is NM) and (r is PM) then (Rudder is NB) (1) 10. If (e is NM) and (r is PS) then (Rudder is NB) (1) 11. If (e is NM) and (r is Z) then (Rudder is NM) (1) 1. If (e is NM) and (r is NS) then (Rudder is NS) (1) 13. If (e is NM) and (r is NM) then (Rudder is Z) (1) 14. If (e is NM) and (r is NB) then (Rudder is PS) (1) 15. If (e is NS) and (r is PB) then (Rudder is NB) (1) 16. If (e is NS) and (r is PM) then (Rudder is NB) (1) 17. If (e is NS) and (r is PS) then (Rudder is NB) (1) 18. If (e is NS) and (r is Z) then (Rudder is NS) (1) 19. If (e is NS) and (r is NS) then (Rudder is Z) (1) 0. If (e is NS) and (r is NM) then (Rudder is PS) (1) 1. If (e is NS) and (r is NB) then (Rudder is PM) (1). If (e is Z) and (r is PB) then (Rudder is NB) (1) 3. If (e is Z) and (r is PM) then (Rudder is NM) (1) 4. If (e is Z) and (r is PS) then (Rudder is NS) (1) 5. If (e is Z) and (r is Z) then (Rudder is Z) (1) 6. If (e is Z) and (r is NS) then (Rudder is PS) (1) 7. If (e is Z) and (r is NM) then (Rudder is PM) (1) 8. If (e is Z) and (r is NB) then (Rudder is PB) (1) 9. If (e is PS) and (r is PB) then (Rudder is NM) (1) 30. If (e is PS) and (r is PM) then (Rudder is NS) (1) 31. If (e is PS) and (r is PS) then (Rudder is Z) (1)

14 3. If (e is PS) and (r is Z) then (Rudder is PS) (1) 33. If (e is PS) and (r is NS) then (Rudder is PM) (1) 34. If (e is PS) and (r is NM) then (Rudder is PB) (1) 35. If (e is PS) and (r is NB) then (Rudder is PB) (1) 36. If (e is PM) and (r is PB) then (Rudder is NS) (1) 37. If (e is PM) and (r is PM) then (Rudder is Z) (1) 38. If (e is PM) and (r is PS) then (Rudder is PS) (1) 39. If (e is PM) and (r is Z) then (Rudder is PM) (1) 40. If (e is PM) and (r is NS) then (Rudder is PB) (1) 41. If (e is PM) and (r is NM) then (Rudder is PB(1) 4. If (e is PM) and (r is NB) then (Rudder is PB) (1) 43. If (e is PB) and (r is PB) then (Rudder is Z) (1) 44. If (e is PB) and (r is PM) then (Rudder is PS) (1) 45. If (e is PB) and (r is PS) then (Rudder is PM) (1) 46. If (e is PB) and (r is Z) then (Rudder is PB) (1) 47. If (e is PB) and (r is NS) then (Rudder is PB) (1) 48. If (e is PB) and (r is NM) then (Rudder is PB) (1) 49. If (e is PB) and (r is NB) then (Rudder is PB) (1)

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