Abdi, Ferly Isnomo (2018) Analisis Dinamis pada Variable Geometry Suspension (VGS) dengan Kendali LQR dan LQG. Masters thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Perkembangan teknologi pada suspensi kendaraan bertujuan untuk memberikan efek kenyamanan dan keamanan dalam berkendara. Sistem suspensi dengan komponen aktif telah dikembangkan mulai dari sistem suspensi semi-aktif hingga aktif. Variable Geometry Suspension (VGS) merupakan pengembangan dari sistem suspensi yang menggunakan aktuator aktif (single-link) berupa poros cam yang dipasang secara seri dengan suspensi. Penelitian ini bertujuan untuk mengetahui performa dari VGS menggunakan kendali Linear Quadratic Regulator (LQR) dan Linear Quadratic Gaussian (LQG).
Sistem suspensi dimodelkan dengan model kineto-dynamic. Metode linear equivalent modelling dan pemodelan state-space digunakan untuk mendesain sistem kendali dari VGS. LQR adalah kendali yang mengasumsikan semua state dapat diukur (full-state feedback), sedangkan LQG merupakan pengembangan dari LQR yang memiliki estimator/observer pada sistemnya, sehingga hanya memerlukan beberapa pengukuran saja. Penelitian ini memvariasikan nilai pembobotan pada LQR sedangkan pada LQG memvariasikan jumlah pengukuran (sensor) yang digunakan. Analisis performa dengan meninjau nilai RMS (root mean square) dan nilai Comfort Gain dari sistem VGS pada masing-masing kendali.
Hasil penelitian ini didapatkan bahwa sistem VGS dengan model multi-bodi menggunakan kendali LQR dan LQG lebih baik dari sistem pasif. Pada kendali LQR, didapatkan nilai RMS maksimal sebesar 0,26 m/s2 pada percepatan sprung-mass, sedangkan kendali LQG sebesar 1,22 m/s2 dengan pengukuran kondisi III (sensor percepatan bodi dan defleksi suspensi). Nilai RMS dari defleksi suspensi dengan kendali LQR dan LQG tidak lebih baik dari sistem pasif, sedangkan pada deformasi ban nilai RMS dengan kendali LQR maksimal sebesar 6,6 mm dan pada LQG berkisar 6,7 sampai 6,8 mm. Nilai Comfort Gain dari sistem VGS mencapai 89,65% pada LQR dan 51,84% dengan kendali LQG, sedangkan pada nilai deformasi ban sebesar 3,17% pada LQR dan LQG sebesar 2,25%.
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Technological developments in vehicle suspension aim to provide comfort and safety. A suspension system with active components has been developed such as semi-active and active system. Variable Geometry Suspension (VGS) is a kind of active suspension that uses active actuators (single-link) in the form of a cam-axle mounted in series with the spring damper components. This paper report the study of the performance of VGS with Linear Quadratic Regulator (LQR) and Linear Quadratic Gaussian (LQG) control.
First, a kineto-dynamic model is developed then a linear equivalent model in the state-space form is derived to design the controller. LQR is a control that assumes all states can be measured (full-state feedback). For LQG control the 2 cases of measurement combination with commonly available sensor are considered. The dynamics analysis of the VGS is conducted using multi-body dynamics model to capture the non-linear phenomena of the real system. This study varied the weighting in LQR, whereas LQG varied the number of measurements (sensors) used. Performance analysis by reviewing the RMS (root mean square) and Comfort Gain of the VGS system on each control.
The simulation results of VGS system with multi-body model using LQR and LQG control batter than passive system. In LQR control, the maximum RMS is 0.26 m/s2 on sprung-mass acceleration, while the LQG control is 1.22 m/s2 with the acceleration sensor body and suspension deflection measurement. The RMS of the suspension deflection with LQR and LQG controls is no better than the passive system, whereas for tire deformation on LQR control of 6.6 mm and in the LQG ranges from 6.7 to 6.8 mm. Comfort Gain from VGS system reached 89.65% in LQR and 51.84% with LQG control, while the tire deformation value was 3.17% at LQR and LQG of 2.25%.
| Item Type: | Thesis (Masters) |
|---|---|
| Additional Information: | RTM 629.243 Abd a-1 |
| Uncontrolled Keywords: | Suspensi Aktif, Comfort Gain, LQR, LQG, RMS, VGS |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control. T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL257.5 Automobiles--Shock absorbers--Design and construction. |
| Divisions: | Faculty of Industrial Technology > Mechanical Engineering > 21101-(S2) Master Thesis |
| Depositing User: | Ferly Isnomo Abdi |
| Date Deposited: | 19 Jun 2021 15:40 |
| Last Modified: | 19 Jun 2021 15:40 |
| URI: | http://repository.its.ac.id/id/eprint/57452 |
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