Mubarrok, Muhammad Fasih (2015) Perancangan Kontroler Fuzzy PD+I Untuk Electromagnetic Anti-Lock Braking System (ABS) Pada Kendaraan Listrik. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Anti-lock braking system (ABS) digunakan pada kendaraan roda
empat untuk menjaga kontrol kendaraan dan mencegah roda terkunci
pada saat pengereman mendadak. Roda sering terkunci saat pengereman
mendadak pada jalan yang koefisien gesekannya kecil. Selama roda
terkunci, kendaraan akan tergelincir, kehilangan kontrol kemudi
(understeering), dan kendaraan sulit untuk berhenti akibat gaya geseknya
berkurang secara cepat. Ketika kondisi ideal, penurunan kecepatan
kendaraan harus sama dengan penurunan kecepatan putar roda, namun
pada keadaan roda terkunci dan mengalami slip yang besar, perbedaan
kecepatan kendaraan dan kecepatan roda sangat jauh sehingga dibutuhkan
kontroler agar mengatur besar slip yang aman bagi mobil. Kondisi jalan
yang tidak tetap serta perubahan nilai slip pada saat penurunan kecepatan
kendaraan membuat parameter plant menjadi tidak linier sehingga
kontroler konvensional PID kurang dapat mengatasi permasalahan
tersebut. Pada Tugas Akhir ini digunakan metode fuzzy PD+I untuk
mengontrol nilai slip pada plant simulator ABS agar tetap pada nilai 0,2
atau 20% dari slip maksimum yang bernilai 1. Proses pengereman pada
simulator ABS menggunakan rem elektromagnetik. Hasil simulasi
menunjukkan bahwa kontroler fuzzy PD+I mampu mempertahankan nilai
slip pada titik 0,2 tanpa adanya overshoot dan error steady state serta
mempercepat rise time dan settling time sistem.
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Anti-lock braking system (ABS) is used to maintain steering control
and to avoid wheels locking when the vehicle in braking state. Vehicle’s
wheels are locked in braking state when coefficient of the road is small.
When vehicle’s wheels in locked condition, the vehicle will skid and lose
control of the wheels (understeering), and friction force on the wheels will
decrease rapidly so that vehicle’s speed is difficult to stop. Under ideal
conditions, longitudinal speed of vehicle must be equal with rotary speed
of wheels, but when the wheels are locked and slip, the differences in
vehicle’s speed and wheel’s speed is big, so the vehicle needs a controller
in order to adjust the slip value between vehicle’s speed and wheel’s
speed in safe point for the driver. The variety conditions of road and
variation of slip value when wheels deccelerated make the plant model
became non-linear, so the conventional PID controller cannot resolve this
problem. In this book, I use the fuzzy PD+I method to control slip value
of ABS simulator plant in 0.2 or 20% of maximum slip value. Braking
proses in simulator ABS using electromagnetic brake. Result of the plant
simulation indicate that fuzzy PD+I controller can regulates slip value of
system in 0.2 of maxmimum slip value without overshoot and steady state
error in small rise time and settling time.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSE 629.89 Mub p |
| Uncontrolled Keywords: | Anti-lock Braking System (ABS), Kontroler Fuzzy PD+I, Rem Eletromagnetik, Simulator ABS |
| Subjects: | Q Science > QA Mathematics > QA9.64 Fuzzy logic |
| Divisions: | Faculty of Industrial Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | Mr. Tondo Indra Nyata |
| Date Deposited: | 05 Apr 2018 05:12 |
| Last Modified: | 24 Aug 2018 03:49 |
| URI: | http://repository.its.ac.id/id/eprint/51694 |
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