Yattaqi, Kayi Mahdy (2019) Perancangan Fuzzy Sliding Mode Fault Tolerant Control pada Regenerative Anti-Lock Braking System Mobil Listrik dengan Kesalahan pada Sensor. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
ABS merupakan sistem pengereman pada kendaraan yang memungkinkan dilakukan pengereman tanpa takut terjadinya peristiwa penguncian pada roda ketika dilakukan pengereman darurat atau pengereman secara mendadak. Kegagalan dari system pengereman adalah hal yang harus dihindari karena dapat menyebabkan kecelakaan yang berakibat fatal. maka ditambahkan SMC (sliding mode controller) sebagai pengendali agar tidak terjadi penguncian, namun karena masih terdapat chattering pada sistem maka ditambahkan fuzzy untuk mengurangi chattering yang terjadi Perancangan fuzzy sliding mode controller berhasil mengurangi fenomena chattering yang terjadi pada penggunaan sliding mode controller. Selain mengurangi chattering penggunaan fuzzy sliding mode controller juga memberikan perubahan parameter respon dari slip ratio seperti maximum overshoot yang bertambah 1%, settling time bertambah 0.06s dan juga nilai dari eror steady state yang berkurang dari 1% menjadi sekitar 0.5%. Selain penambahan fuzzy dilakukan juga penambahan berupa Active Fault Tolerant Control (AFTC) agar dapat memperbaiki kesalahan berupa bias pada sensor kecepatan kendaraan sebesar 10%, 50%, dan 75% pada sensor. Setelah dilakukan simulasi didapat bahwa AFTC dapat memperbaiki kesalahan yang terjadi pada sensor berupa bias sebesar 10%, 50%, dan 75% serta memperbaiki parameter respon dari sistem.========================================================================================ABS is a braking system on the vehicle that allows braking without fear of the occurrence of locking on the wheel when emergency braking or sudden braking is carried out. Failure from the braking system is something that must be avoided because it can cause accidents that are fatal. then added SMC (sliding mode controller) as a controller so that there is no locking, but because there is still chattering on the system, it is added fuzzy to reduce chattering. The design of fuzzy sliding mode controller has successfully reduced the chattering phenomenon that occurs in the use of sliding mode controller. In addition to reducing chattering using the fuzzy sliding mode controller, it also changes the response parameters of the slip ratio such as maximum overshoot which increases by 1%, settling time increases by 0.06s and also the steady state error decreases from 1% to around 0.5%. In addition to the addition of fuzzy additions, the addition of Active Fault Tolerant Control (AFTC) can be done to correct errors in the vehicle speed sensor by 10%, 50% and 75% on the sensor. After the simulation is obtained, AFTC can correct errors that occur in the sensor in the form of bias of 10%, 50%, and 75% and improve the response parameters of the system.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSF 629.801 Yat p-1 2019 |
| Uncontrolled Keywords: | Anti-Lock Braking System, Active Fault Tolerant Control, Sliding Mode Controller, Fuzzy Sliding Mode Controller, Sensor Kecepatan Kendaraan. |
| Subjects: | T Technology > TJ Mechanical engineering and machinery T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control. T Technology > TL Motor vehicles. Aeronautics. Astronautics |
| Divisions: | Faculty of Industrial Technology > Physics Engineering |
| Depositing User: | Kayi Mahdy Yattaqi |
| Date Deposited: | 12 Jan 2022 04:35 |
| Last Modified: | 20 Feb 2023 02:31 |
| URI: | http://repository.its.ac.id/id/eprint/61973 |
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