PERANCANGAN DAN PENGEMBANGAN SISTEM KENDALI

BERBASIS WIRELESS PADA DRONE QUADCOPTER

TUGAS AKHIR

Diajukan Kepada

Universitas Muhammadiyah Malang

untuk Memenuhi Salah Satu Persyaratan

Memperoleh Gelar Sarjana Teknik Teknik Mesin

OLEH :

MUHAMMAD GABRIEL HURAIRAH

201510120311230

JURUSAN TEKNIK MESIN

FAKULTAS TEKNIK

UNIVERSITAS MUHAMMADIYAH MALANG

2019

vii

PERANCANGAN DAN PENGEMBANGAN SISTEM KENDALI

BERBASIS WIRELESS PADA DRONE QUADCOPTER

Oleh:

Muhammad Gabriel Hurairah

(Pembimbing I: Ir. Trihono Sewoyo, MT., Pembimbing II: Budiono, S.Si., MT.)

Jurusan Teknik Mesin Fakultas Teknik Universitas Muhammadiyah Malang,

Indonesia

JL. Raya Tlogomas No. 246 Telp. (0341) 464318-218 Fax. (0341) 460782

Contact Person : Muhammad Gabriel Hurairah

JL. Semangka Dermo No. 23 Dau, Kab. Malang

Phone : +6287783178269, E-mail: Gabrielhurairah21@gmail.com

ABSTRAK

Drone quadcopter merupakan robot terbang dengan jenis pesawat tanpa awak atau

pada umumnya biasa disebut unmanned aerial vehicle (UAV). Saat ini drone

quadcopter adalah jenis unmanned aerial vehicle (UAV) yang banyak digunakan

karena kegunaannya untuk komersil ataupun digunakan sebagai objek untuk

pengembangan drone technology di lingkup umum maupun akademisi. Salah satu

hal yang menarik untuk di kembangkan pada drone quadcopter adalah sistem

kendali pada brushless motor. Pada penelitian ini adalah untuk merancang dan

mengembangkan sistem kendali pada drone quadcopter berbasis wireless dengan

mengganti peran dari remote control pada umumnya menjadi personal computer

yang nantinya akan mengontrol kinerja gerak dari drone quadcopter tersebut.

Sistem kendali berbasis wireless ini menggunakan metode komunikasi serial yang

menggunakan radio telemetry 3DR sebagai transmitter yang terhubung pada

personal computer dan receiver yang terhubung pada arduino UNO yang dijadikan

pengganti flight controller pada drone quadcopter. Pengujian dilakukan dengan

dengan menguji setiap brushless motor quadcopter untuk mendapatkan besar nilai

kecepatannya. Data hasil pengujian didapatkan data hubungan antara persentase

duty cycle PWM dengan kecepatan (rpm) brushless motor dan data hubungan antara

input tegangan (volt) dengan kecepatan (rpm) brushless motor, besar nilai

kecepatan (rpm) pada setiap brushless motor memiliki nilai yang berbeda-beda

pada pengujian duty cycle PWM dan input tegangan. Berdasarkan data dari hasil

pengujian diatas dapat digunakan sebagai acuan dalam melanjutkan pengembangan

sistem kendali drone quadcopter ke tahap sistem kontrol pada setiap brushless

motor untuk memperoleh kinerja gerak dari drone quadcopter yang sama sengan

drone quadcopter yang ada di pasaran.

Kata Kunci: Drone Quadcopter, Brushless Motor, Wireless.

viii

WIRELESS-BASED DESIGN AND DEVELOPMENT ON DRONE

QUADCOPTER

By:

Muhammad Gabriel Hurairah

(1st Supervisor: Ir. Trihono Sewoyo, MT., 2nd Supervisor: Budiono, S.Si., MT.)

Department of Mechanical Engineering, Faculty of Engineering Science,

University of Muhammadiyah Malang, Indonesia

JL. Raya Tlogomas No. 246 Telp. (0341) 464318-218 Fax. (0341) 460782

Contact Person : Muhammad Gabriel Hurairah

Jl. Semangka Dermo No. 23, Dau, Kab. Malang

Phone : +6287783178269, e-mail: Gabrielhurairah21@gmail.com

ABSTRACT

Drone quadcopter is an automatic robot capable of self-levitation that is commonly

categorized as an unmanned aerial vehicle (UAV). Currently, drone quadcopter is

a type of unmanned aerial vehicle (UAV) which sees everday use due to its

commercial or academic use as an object of drone technology development both in

the public or academic setting. One of the most interesting aspects to be developed

in drone quadcopters is the control system on the brushless motor. This research is

designated to design and develop the wireless-based control system on drone

quadcopter by replacing the role of commonly used remote control into the personal

computer system, which will control the movement system of the drone. This

wireless-based control system utilizes the radio telemetry 3RD-based serial

communication method as a transmitter that is connected to the personal computer

and the receiver, which consequently are connected to the arduino UNO as a

replacement of flight controller in drone quadcopters. Experiments are conducted

by testing every brushless motor quadcopters to measure their exact amount of

speed. Experiments results are consisted of the relational data between the duty

cycle PWM data with the speed amount (RPM) of the brushless motor and the

relational data between the voltage input (volt) and the speed amount (RPM) of the

brushless motor, where the amount of speed (RPM) in every brushless motor has

varying values in the duty cycle PWM and voltage input experimentation.

According to the results above, these results can be utilized as the base for the

continuation of the development of control system in drone quadcopters to the

control system stage in every brushless motor to earn the similar motion

performance of drone quadcopters with the ones that are already available in the

general market.

Keywords: Drone quadcopter, brushless motor, wireless.

xi

DAFTAR ISI

LEMBAR JUDUL............................................................................................................i

POSTER...........................................................................................................................ii

LEMBAR PENGESAHAN............................................................................................iii

LEMBAR KONSULTASI/ASISTENSI........................................................................iv

LEMBAR SURAT PERNYATAAN TIDAK PLAGIAT.............................................vi

ABSTRAKSI INDONESIA..........................................................................................vii

ABSTRAKSI BAHASA INGGRIS.............................................................................viii

KATA PENGANTAR....................................................................................................ix

DAFTAR ISI...................................................................................................................xi

DAFTAR TABEL.........................................................................................................xiv

DAFTAR GAMBAR......................................................................................................xv

BAB I PENDAHULUAN.................................................................................................1

1.1.Latar Belakang................................................................................................... 1

1.2.Rumusan Masalah...............................................................................................3

1.3.Tujuan Penulisan.................................................................................................3

1.4.Manfaat Penulisan...............................................................................................4

1.5.Batasan Masalah.................................................................................................4

BAB II TINJAUAN PUSTAKA......................................................................................5

2.1. Penelitian Terdahulu..........................................................................................5

2.2.Drone Quadcopter..............................................................................................5

2.3.Instrumentasi Drone Quadcopter........................................................................9

2.3.1. Flight Controller.......................................................................................9

2.3.2. Motor Brushless......................................................................................10

2.3.3. Propeller.................................................................................................10

2.3.4. Electronic Speed Controller (ESC).........................................................11

2.3.5. Frame......................................................................................................12

2.3.6. Battery.....................................................................................................13

2.4. Mikrokontroler.................................................................................................14

xii

2.5. Arduino............................................................................................................15

2.5.1. Jenis-Jenis Arduino.................................................................................16

2.6. Arduino UNO...................................................................................................19

2.6.1. Arduino IDE............................................................................................20

2.6.2. Pulse Width Modulation (PWM).............................................................22

2.6.3. Komunikasi Serial...................................................................................23

2.7. Radio Telemetry...............................................................................................24

2.8. Microsoft Visual Studio....................................................................................25

2.9. Metode Perancangan........................................................................................26

BAB III METODOLOGI PENELITIAN.....................................................................30

3.1. Studi Literatur..................................................................................................30

3.2. Analisis Permasalahan.....................................................................................30

3.3. Perancangan.....................................................................................................30

3.3.1. Daftar Persyaratan Desain.......................................................................30

3.3.2. Identifikasi Masalah................................................................................34

3.3.3. Struktur Fungsi........................................................................................36

3.3.4. Prinsip Kerja............................................................................................37

3.3.5. Kombinasi Dan Susunan Konsep............................................................38

3.3.6. Pemilihan Konsep Varian........................................................................41

3.4. Desain Perangkat Keras....................................................................................42

3.4.1. Desain Frame Drone Quadcopter...........................................................44

3.4.2. Rangkaian Elektronika............................................................................44

3.5. Proses Pengerjaan.............................................................................................45

3.5.1. Alat Yang Digunakan .............................................................................45

3.5.2. Bahan Yang Digunakan ..........................................................................45

3.5.3. Proses Pengerjaan Dan Perancangan Drone Quadcopter........................46

BAB IV ANALISA DAN PEMBAHASAN..................................................................50

4.1. Perancangan Sistem Kendali Berbasis Wireless...............................................50

4.1.1. Fast PWM Mode Pada Arduino UNO ATMega 328.................................50

4.2. Pengujian Brushless Motor..............................................................................51

4.2.1. Pengujian Persentase Duty Cycle Pulse Width Modulation (PWM).........52

xiii

4.2.2. Pengujian Perbandingan Tegangan Dengan Kecepatan Motor................56

4.3. Analisa Dan Pembahasan.................................................................................60

BAB V PENUTUP..........................................................................................................63

5.1. Kesimpulan......................................................................................................63

5.2. Saran................................................................................................................64

DAFTAR PUSTAKA.....................................................................................................66

LAMPIRAN...................................................................................................................68

xiv

DAFTAR TABEL

Tabel 2.1. Spesifikasi Arduino UNO ATMega 328....................................................................20

Tabel 3.1. Daftar Persyaratan Spesifikasi Desain......................................................................31

Tabel 3.2. Kombinasi Sub-Fungsi Yang Didasarkan Pada Diagram Blok Sub-Fungsi..............39

Tabel 4.1. Duty Cycle Sinyal Pulse Width Modulation (PWM)..................................................51

Tabel 4.2. Pengujian Persentase Duty Cycle (PWM) Menggunakan Arduino UNO...................54

Tabel 4.3. Pengujian Persentase Duty Cycle (PWM) Menggunakan Arduino Nano...................55

Tabel 4.4. Konversi Input Tegangan Dengan Persentase Duty Cycle PWM...............................58

Tabel 4.5. Pengujian Perbandingan Tegangan (V) Dengan Kecepatan Motor (rpm).................59

Tabel 4.6. Persentase Duty Cycle PWM-Arduino Uno...............................................................60

Tabel 4.7. Persentase Duty Cycle PWM-Arduino Nano.............................................................60

xv

DAFTAR GAMBAR

Gambar 1.1. Drone Quadcopter..................................................................................................2

Gambar 2.1. Desain Quadcopter.................................................................................................6

Gambar 2.2. Gerakan Quadcopter Berdasarkan Kecepatan Setiap Motornya.............................7

Gambar 2.3. Flight Controller Drone Quadcopter......................................................................9

Gambar 2.4. Brushless Motor Drone Quadcopter.....................................................................10

Gambar 2.5. Propeller Drone Quadcopter................................................................................11

Gambar 2.6. Electronic Speed Controller (ESC) Drone Quadcopter........................................12

Gambar 2.7. Frame Drone Quadcopter.....................................................................................13

Gambar 2.8. Battery Lithium Polymer (LiPo)............................................................................14

Gambar 2.9. Arduino USB.........................................................................................................16

Gambar 2.10. Arduino Serial.....................................................................................................17

Gambar 2.11. Arduino Mega.....................................................................................................17

Gambar 2.12. Arduino Fio.........................................................................................................18

Gambar 2.13. Arduino Lilypad..................................................................................................18

Gambar 2.14. Arduino BT..........................................................................................................19

Gambar 2.15. Arduino Nano dan Arduino Mini.........................................................................19

Gambar 2.16. Arduino UNO ATMega 328.................................................................................20

Gambar 2.17. Perintah Pada Arduino IDE.................................................................................21

Gambar 2.18.Ilustrasi Pulse Width Modulation (PWM)............................................................23

Gambar 2.19. Kabel USB Serial Arduino..................................................................................24

Gambar 2.20. Radio Telemetry..................................................................................................25

Gambar 2.21. Tampilan Awal Visual Studio..............................................................................26

Gambar 2.22. Diagram Alir Perancangan Menurut Pahl And Beitz...........................................29

Gambar 3.1. Diagram Blok Fungsi Keseluruhan.......................................................................36

Gambar 3.2. Aliran Energi Pada Diagram Blok Sub Fungsi......................................................37

Gambar 3.3. Flowchart Prinsip Kerja Sistem Kendali Drone Quadcopter................................38

Gambar 3.4. Layout Sistem Kendali Drone Quadcopter Berbasis Wireless..............................42

xvi

Gambar 3.5. Desain Frame Drone Quadcopter.........................................................................44

Gambar 3.6. Rangkaian Elektronika Sistem Kendali Berbasis Wireless....................................45

Gambar 3.7. Assembly Komponen Elektronika .........................................................................47

Gambar 3.8. Assembly Komponen Elektronika.........................................................................48

Gambar 3.9. Assembly Komponen Mekanik..............................................................................49

Gambar 4.1. Tachometer...........................................................................................................52

Gambar 4.2. Avometer...............................................................................................................52

Gambar 4.3. Pengujian Duty Cycle PWM..................................................................................53

Gambar 4.4. Grafik Perbandingan Duty Cycle PWM Dengan Kecepatan Motor (rpm).............55

Gambar 4.5. Grafik Perbandingan Duty Cycle PWM Dengan Kecepatan Motor (rpm).............56

Gambar 4.6. Pengujian Perbandingan Tegangan dengan Kecepatan Motor..............................56

Gambar 4.7. Grafik Perbandingan Tegangan (V) Dengan Kecepatan Motor (rpm)...................59

Gambar 4.8. Grafik Perbandingan Duty Cycle PWM Arduino UNO-Arduino Nano..................61

66

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