Pengembangan Sistem Pengatur Kedalaman Otomatis Menggunakan Kontrol Ballast pada Robot Bawah Air Pada Kapal Selam
DOI:
https://doi.org/10.54259/satesi.v4i1.3203Keywords:
Modern Warship, Corrosion, Heating, Ventilation, Air Conditioning, Electrical System, Nvivo, SWOT AnalysisAbstract
Stability and depth control are crucial aspects of Autonomous Underwater Vehicle (AUV) operations. Conventional ballast systems often face efficiency constraints due to time-consuming manual calculation procedures and the risk of human error. This study aims to design and develop an automatic ballast control system using a microcontroller integrated with an MPU-6050 gyroscope sensor and a water flowmeter. The research method employed is experimental, implementing a Proportional-Integral-Derivative (PID) algorithm to regulate precise well-trim orientation. The test results demonstrate that the automated system significantly reduces the time required to achieve stability, from an average of 100 minutes in the manual system to 50 minutes and 30 seconds. This time efficiency of 49 minutes and 30 seconds enhances operational readiness and optimizes the vehicle's energy consumption. The use of automatic control is proven to provide higher accuracy in buoyancy management compared to manual methods. This study recommends further development in integrating pressure sensors to improve the vehicle's depth dynamics autonomously.
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