DESAIN SENTRY GUN USING PID CONTROL WITH BALICISTIC SISTEMS AND FIRING CONTROL SISTEMS

• Main Author: Febrianto Asmoro, Firman
• Format: Theses
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/70025
• Institution: Institut Teknologi Bandung

This research discusses the desain of the Sentry Gun sistem, which is a weapon desained to monitor national borders automatically without requiring an operator. This research is more about the response of the sistem and the manufacture of a ballistic sistem calculator for firing. In making the Sentry Gun sistem, mathematical modeling is carried out using the black box method to determine the transfer function of the plan or sistem to be controlled. The Sentry Gun is a 1:5 model compared to the original which is made of Aluminum and Steel. Image processing is used as an object sensor tracking Sentry Gun. As feedback, an incremental rotary encoder is used to detect the rotation of the DC motor. LRF 2D is used to determine the distance of the target. Due to limitations in the manufacture of mechanical sistems so that at the azimuth angle using helical gear there is a backless which makes the sistem unstable and takes a long time to reach the settling time. The motor movement control used is PID which is based on the intelligent control of the genetic algorithm so that the movement of the tool is precise, smooth and on target. The Ballistics Calculator sistem is also desained so that the sistem can represent the original Sentry Gun sistem which can fire up to 1 km. The caliber of the weapon calculated by the ballistics calculator is 12.7 mm. Wind, Gravity, Temperature, Humidity, Rafling of the gun barrel are the parameters that are taken into account in making the ballistics calculator sistem. The values of Kp 245, Ki 180 and Kd 215 were obtained. PID tuning based on genetic algorithm intelligent control can produce a more optimal step response sistem. Namely Rise Time Produced 0.96s, Overshoot 5%, Settling Time 5.29s and steady state error 0%. The results of the angle correction generated by the Balsitic Calculator at the closest distance of 50 meters and the farthest 1000 meters, namely on the azimuth axis, which is 0.012 to 0.113 and the elevation axis is 0.1 to 0.38.