Perancangan Active Fault Tolerant Control (AFTC) Pada Anti-Lock Braking System (ABS) pada Mobil Listrik dengan Kesalahan Pada Aktuator

Arigi, Adhitia Dwi (2018) Perancangan Active Fault Tolerant Control (AFTC) Pada Anti-Lock Braking System (ABS) pada Mobil Listrik dengan Kesalahan Pada Aktuator. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Salah satu sistem pengendalian yang dapat menoleransi gangguan berupa kesalahan pada komponen aktuator secara otomatis dikenal sebagai Active Fault Tolerant Control (AFTC). Pada pengendalian Anti-Lock Braking System (ABS) digunakan pengendali Proposional Integral Derivative (PID) Autotuning untuk mengatasi sifat nonlinieritas sistem. Langkah selanjutnya yang dilakukan adalah membuat observer. Observer berfungsi untuk mengestimasi kesalahan yang terjadi. Setelah kesalahan terestimasi, selanjutnya, kesalahan akan dikompensasi oleh sistem AFTC melalui perbaikan sinyal kontrol menggunakan hasil kesalahan aktuator. Pada tugas akhir ini kesalahan yang diberikan berupa bias dengan kesalahan 5%, 15%, dan 20%. Untuk kesalahan bias 20% sistem tanpa AFTC menunjukkan parameter performansi maximum overshoot dan error steady state masing-masing sebesar 22,5% dan 2,5%. Ketika sistem diberi AFTC, maximum overshoot, settling time, dan error steady state masing-masing menjadi 0,078%, 0,47s, dan 0,023%. Dengan demikian, AFTC terbukti telah mampu menolerir dan mengakomodasi kesalahan bias pada solenoid valve. ============= One of controlling system that can tolerate faults in the actuator automatically is known as Active Fault Tolerant Control (AFTC). For Anti-Lock Braking System (ABS) control, used Proposional Integral Derivative (PID) Autotuning controller to overcome the nonlinearity of the system. The next step is to create an observer. Observer is used to estimate fault that occur. After estimating the fault, furthermore, the fault will be compensated by the AFTC system through the improvement of the control signal using the actuator fault results. In this final project, fault is given in the bias form of 5%, 15%, and 20% respectively. For bias of 20%, system without AFTC showed maximum overshoot and steady state performance parameters of 22.5% and 2.5% respectively. When system AFTC is given, maximum overshoot, settling time, and steady state error are respectively become 0,078%, 0,47s, and 0,023%. Thus, AFTC has proven to be able to tolerate and accommodate bias errors in the solenoid valve.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: Anti-Lock Braking Sytem; Active Fault Tolerant Control; Kesalahan Aktuator; PID Autotuning; Fault Tolerant Control; Actuator Fault; Virtual Actuator
Subjects: T Technology > TL Motor vehicles. Aeronautics. Astronautics
T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
Divisions: Faculty of Industrial Technology > Physics Engineering > (S1) Undergraduate Theses
Depositing User: Adhitia Dwi Arigi
Date Deposited: 03 May 2018 03:50
Last Modified: 03 May 2018 03:50
URI: http://repository.its.ac.id/id/eprint/51413

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