Perancangan dan Pembuatan Sistem Pengiriman Rantai Dingin Berbasis Quadcopter = Design and Construction of Quadcopter-Based Cold Chain Delivery System

Dwijanto, Andrew (2020) Perancangan dan Pembuatan Sistem Pengiriman Rantai Dingin Berbasis Quadcopter = Design and Construction of Quadcopter-Based Cold Chain Delivery System. Bachelor thesis, Universitas Pelita Harapan.

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Abstract

Penelitian ini mencakup perancangan dan pembuatan sebuah alat pengantaran sistem rantai dingin berbasis teknologi drone dengan konfigurasi quadcopter sebagai pengganti pengantaran sistem rantai dingin konvensional. Alat ini diharapkan dapat melayang dengan stabil dengan ketinggian tetap 10 m di atas tanah dengan daya angkut hingga 1 kg. Sistem ini menggunakan modul Arduino sebagai mikrokontroler, accelerometer untuk membaca kecepatan linear dan gyroscope untuk pembacaan sudut kemiringan, dan sensor ultrasonik untuk pembacaan ketinggian bidang dari alat tersebut. Mikrokontroler dari Arduino dan sensor tersebut sudah terintegrasi dalam satu mikrokontroler yang bernama ArduPilot. ArduPilot sendiri bersifat open-source untuk pembuatan pesawat tanpa awak. Terdapat empat aktuator pada alat ini yang berupa empat motor brushless DC motor. Untuk sistem kestabilan dan keseimbangan digunakan sistem kontrol proportional-integral-derivative (PID) yang algoritmanya ditulis dan diolah oleh mikrokontroler. Informasi masukan didapatkan dari sensor akselerometer dan giroskop serta sensor ultrasonik. Terdapat 4 sistem kontrol PID yang bekerja secara paralel sesuai dengan jumlah derajat kebebasan dari alat tersebut yaitu pitch, roll, yaw, dan throttle. Koefisien dari nilai PID tersebut akan didapatkan dengan metode tuning eksperimental dengan cara melihat perubahan perilaku dari sistem jika nilai koefisien PID diubah-ubah. Hasil dari keluaran sistem kontrol tersebut akan mengatur kecepatan 4 motor brushless DC yang terhubung dengan baling-baling. / This research covers the design and construction of a cold chain delivery system in the form of a drone-based with quadcopter configuration which can be used as a replacement for conventional cold chain delivery system. This device is expected to be stabilized in a 10 m hover with the lifting capacity of up to 1 kg. This system uses the Arduino model as microcontroller, accelerometer to measure the linear velocity and gyroscope to measure the tilt angle, and ultrasonic sensor to measure the height of the basket from the ground. These sensors and the microcontroller from Arduino have been integrated into one microcontroller called ArduPilot. ArduPilot is an open-source software for unmanned vehicle. There are four actuators on this basket in the form of four brushless DC motors. A PID controller, in which the algorithm has been programmed and processed by the microcontroller, is used for the stability and the balancing of the basket. The input information is obtained from the accelerometer, gyroscope, as well as the ultrasonic sensor. There are four PID controllers that work in parallel and correspond to the sum of the basket’s degree of freedom. These four PID controllers are pitch, roll, yaw, and throttle. The coefficient of the PID value is obtained through experimental tuning method. This is done by observing the changes of the system’s behavior when the value of PID coefficient are changed. The output from these controllers will adjust the speed of the four brushless DC motors that are connected with the propellers.

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