vii Universitas Internasional Batam

DAFTAR ISI

Halaman

HALAMAN JUDUL

LEMBAR PENGESAHAN .................................................................................... ii

LEMBAR PERNYATAAN ANTI PLAGIAT ...................................................... iii

KATA PENGANTAR ........................................................................................... iv

UCAPAN TERIMA KASIH .................................................................................... v

DAFTAR ISI ......................................................................................................... vii

DAFTAR TABEL .................................................................................................... x

DAFTAR GAMBAR ............................................................................................. xi

DAFTAR LAMPIRAN ........................................................................................ xiii

ABSTRAK ........................................................................................................... xiv

ABSTRACT ............................................................................................................. xv

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

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

1.2.Perumusan Masalah ..................................................................................... 2

1.3.Batasan Masalah........................................................................................... 2

1.4.Tujuan dan Manfaat Penelitian .................................................................... 3

1.5.Metodelogi Penelitian .................................................................................. 3

1.6.Sistematika Penelitian .................................................................................. 4

BAB II KAJIAN PUSTAKA ................................................................................... 7

2.1. Penelitian Terkait ...................................................................................... 7

2.2. Jenis Crane ............................................................................................... 9

2.2.1. Mobil Crane ................................................................................... 9

2.2.2. Tower Crane ................................................................................ 10

2.2.3. Overhead Crane ........................................................................... 11

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2.3. Crane Ganty ............................................................................................ 12

2.4. Metode Fuzzy Logic ................................................................................ 15

2.4.1. Logika Fuzzy .................................................................................. 15

2.4.2. Himpunan Fuzzy............................................................................. 16

2.4.3. Fizzifikasi ....................................................................................... 16

2.4.4. Inferencing (Rule Base).................................................................. 16

2.4.5. Deffuzifikasi ................................................................................... 17

2.5. Sensor Sudut ............................................................................................. 18

2.6. Sensor Jarak .............................................................................................. 19

2.7. Jenis Motor DC ......................................................................................... 20

2.7.1. Motor Stepper .................................................................................. 24

2.7.2. Motor Servo ..................................................................................... 24

2.7.3. Brushed DC Motor ........................................................................... 25

BAB III METODOLOGI PENELITIAN ............................................................. 26

3.1. Perancangan Perangkat Keras Prototype Crane Gantry .......................... 26

3.1.1. Perancangan Kerangka Prototype Crane Gantry ........................... 27

3.1.2. Perancangan Trolley Prototype Crane Gantry .............................. 28

3.1.3. Perancangan Beban Prototype Crane Gantry .............................. 29

3.2. Perancangan Perangkat Keras Elektronik Prototype Crane Gantry ........ 29

3.2.1. Perancangan Motor dan Rotary Encoder ...................................... 30

3.2.2. Perancangan Sensor Accelerometer dan Gyroscope ...................... 31

3.2.3. Perancangan EMS H-Bridge Driver Motor DC ............................ 32

3.3. Perancangan Perangkat Lunak Prototype Crane Gantry .......................... 33

3.3.1. Fuzzifikasi ..................................................................................... 34

3.3.2. Rule Evaluation .............................................................................. 40

3.3.3. Defuzzifikasi .................................................................................. 43

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3.4. Perancangan Pengujian ............................................................................. 43

BAB IV PENGUJIAN DAN ANALISA .............................................................. 44

4.1. Pengujian Sensor Jarak (Rotary Encoder) ................................................ 44

4.2. Pengujian Sensor Sudut (Accelerometer and Gyroscope) ........................ 47

4.3. Pengujian Prototype Crane Gantry Tanpa Metode FLC dan Dengan

Metode FLC ............................................................................................. 48

4.4.Hasil Dari Pengujian Yang Telah Dilakukan ............................................ 57

BAB V KESIMPULAN DAN SARAN ................................................................. 58

5.1. Kesimpulan ............................................................................................... 58

5.2. Saran .......................................................................................................... 58

DAFTAR PUSTAKA ............................................................................................ 59

LAMPIRAN