Perancangan Kontroler Fuzzy PD+I Untuk Electromagnetic Anti-Lock Braking System (ABS) Pada Kendaraan Listrik

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.

[img]
Preview
Text
2211100120-Undergraduate Thesis.pdf - Published Version

Download (18MB) | Preview

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. =========================================================================================================== 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 > (S1) Undergraduate Theses
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

Actions (login required)

View Item View Item