Darwis, Fadl Sadiq (2024) Rancang Bangun Dan Pengendalian Sistem Penyeimbang (Self-Balancing) Sepeda Dengan Roda Inersia. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Sepeda merupakan kendaraan yang banyak digunakan sebagai aktivitas sehari – hari. Kelebihan dari sepeda seperti ramah lingkungan, ringan, dapat bergerak di daerah sempit hingga aktivitas olahraga yang digunakan berbagai kalangan. Sepeda memiliki karakteristik tidak stabil. Penelitian ini berfokus mendesain sistem penyeimbang sepeda agar dapat seimbang ketika ada ganguan gaya dari luar. Sistem penyeimbang sepeda menggunakan prinsip kekekalan momentum angular. Pertama-tama, model dinamika nonlinier sepeda dengan roda inersia diturunkan dari persamaan gerak Euler-Lagrange. Kemudian model nonlinier dilinearisasikan ke posisi tegak dan digabungkan dengan model motor BLDC untuk mendapatkan model dinamika linearisasi lengkap. Pada tugas akhir ini metode kontrol yang digunakan adalah sistem kontrol full state feedback dengan menggunakan metode Linear Quadratic Regulator (LQR). Kontrol sistem yang sudah dibuat sebelumnya akan diimplementasikan ke prototipe. Dua jenis BLDC motor yaitu GM4108-12 dan GM5208-12 dianalisa kemampuanya dalam menyeimbangkan sepeda. Hasil analisis motor GM4108-12 mampu menyeimbangkan sepeda dengan simpangan maksimum yaitu 0,037473° terhadap posisi vertikal keatas. GM5208-12 mampu menyeimbangkan sepeda dengan simpangan maksimum yaitu 0,048168° terhadap posisi vertikal keatas. Percobaan yang dilakukan pada sistem sepeda dengan mencari gain yang didapat menggunakan metode LQR untuk mengembalikan sistem sepeda ke posisi vertikal ke atas.
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Bicycles are vehicles that are widely used for daily activities. The advantages of bicycles are that they are environmentally friendly, light, can move in narrow areas and are sports activities that are used by various groups. Bicycles have unstable characteristics. This research focuses on designing a bicycle balancing system so that it can balance when there is interference from external forces. The bicycle balancing system uses the principle of conservation of angular momentum. First of all, a nonlinear dynamic model of a bicycle with inertial wheels is derived from the Euler-Lagrange equations of motion. Then the nonlinear model is linearized to the vertical position and combined with the BLDC motor model to obtain a complete linearized dynamics model. In this final project, the control method used is a full state feedback control system using the Linear Quadratic Regulator (LQR) method. The system controls that have been created previously will be implemented into the prototype. Two types of BLDC motors, namely GM4108-12 and GM5208-12, were analyzed for their ability to balance the bicycle. The results of the analysis of the GM4108-12 motorbike are able to balance the bicycle with a maximum deviation of 0.037473° in the vertical and upward position. The GM5208-12 is able to balance the bicycle with a maximum deviation of 0.048168° in the vertical and upward position. Experiments were carried out on the bicycle system by looking for the gain obtained using the LQR method to return the bicycle system to a vertical upwards position.
| Item Type: | Thesis (Other) |
|---|---|
| Uncontrolled Keywords: | LQR, Penyeimbang sepeda, Roda inersia. Inertia wheel, LQR, Self-balancing bicycle |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ541 Flywheels. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK2681.O85 Electric motors, Brushless. T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL410 Bicycles and bicycling--Design and construction |
| Divisions: | Faculty of Industrial Technology and Systems Engineering (INDSYS) > Mechanical Engineering > 21201-(S1) Undergraduate Thesis |
| Depositing User: | Fadl Sadiq Darwis |
| Date Deposited: | 13 Feb 2024 02:18 |
| Last Modified: | 13 Feb 2024 02:18 |
| URI: | http://repository.its.ac.id/id/eprint/106961 |
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