Analisa Dinamis dan Kendali Narrow Tilting Three-Wheeled Vehicle

Adhim, Muhammad Fadlil (2018) Analisa Dinamis dan Kendali Narrow Tilting Three-Wheeled Vehicle. Masters thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Kemacetan dan polusi kendaraan menjadi masalah besar terutama di kota-kota besar. Masalah ini disebabkan oleh bertambahnya jumlah kendaraan. Penggunaan mobil dengan hanya 1-2 pengendara/penumpang menjadi salah satu sumber masalah utama kemacetan dan polusi. Penggunaan sepeda motor memang lebih efisien dalam memanfaatkan ruas jalan namun memiliki tingkat keamanan yang rendah. Salah satu solusinya adalah Narrow Tilting Three-Wheeled Vehicle (NTTWV). Kendaraan ini memiliki 3 roda dengan 2 roda di depan sebagai kemudi dan 1 roda di belakang sebagai penggerak. Sistem active tilting digunakan untuk memberikan sudut roll φ yang berfungsi untuk melawan gaya sentrifugal agar kendaraan tidak guling ketika berbelok. Tujuan dari penelitian ini adalah membuat model dinamis dari NTTWV ketika berbelok serta mendesain sistem kendali torsi tilting agar mampu memberikan kesetabilan dan keamanan terbaik. Semua parameter kendaraan disesuaikan pada data model 3D di Autodek Inventor Student. Model kontak antara roda dan jalan yang digunakan adalah model Dugof. Model dinamis telah berhasil divalidasi agar mampu mewakili kondisi NTTWV ketika berbelok. Nilai cornering stiffness dari model dinamis ini diambil dari rata-rata cornering stiffness model Dugoff yaitu Kf = 4208.92 N/deg dan Kr = 6635.33 N/deg. Sistem kendali didesain dengan menggunakan roll gain Kφ = 0.76. Nilai tersebut mampu memenuhi batas dari sambungan A-arm dan kinerja dalam menjaga kendaraan untuk tidak guling. Peningkatan kecepatan kritis sesaat sebelum roda terangkat dibandingkan dengan kendaraan 3 roda non-tilting pada δ = 5 derajat dan δ = 10 derajat adalah 193% dan 171%. ============ Congestion and pollution become major problem in urban road. The problem is caused by the increase of vehicle number. The use of vehicle with only 1-2 passenger becomes one of the most significant cause of congestion and pollution. In the other hand, motorcycle has better efficiency in using road area, but it has low level of safety. The proposed solution for this problem is Narrow Tilting Three-Wheeled Vehicle (NTTWV). It has 3 wheels with 2 front wheels as steering and single rear wheel as traction wheel. Active tilting system is used to generate roll angle φ that can resist the centrifugal force to stabilize the vehicle during cornering. The goals of this research are to design the dynamic model of the NTTWV during cornering and to design its control for tilting torque to give best safety and comfort. All parameters of the vehicle are based on 3D model in Autodesk Inventor Student. Contact model between tire and road surface use Dugoff model. The dynamic model is validated to represent the NTTWV condition during cornering. Cornering stiffness value of this dynamic model is generated by averaging the cornering stiffness in Dugoff model: 퐾푓=4208.92푁/푑푒푔 dan 퐾푟=4208. 92푁/푑푒푔. The control system is design ed by using rollgain 퐾휑=0.76. the roll gain can maintain the A-arm joint limit and performance to prevent the vehicle from rollout. The improvement of critical speed compared to non-tilting three-wheeled vehicle at δ=50and δ=100 are 193% and 171%.

Item Type: Thesis (Masters)
Uncontrolled Keywords: Active Tilting, NTTWV, LQG, PID, Dugoff model
Subjects: T Technology > TJ Mechanical engineering and machinery
T Technology > TJ Mechanical engineering and machinery > TJ230 Machine design
T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers
Divisions: Faculty of Industrial Technology > Mechanical Engineering > 21101-(S2) Master Thesis
Depositing User: Muhammad Fadlil Adhim
Date Deposited: 16 Mar 2018 07:24
Last Modified: 16 Mar 2018 07:24
URI: http://repository.its.ac.id/id/eprint/50026

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