Analisis Dinamis Sistem Giroskopik pada Kendaraan Roda Dua dengan Sistem Full State-Feedback Control

Nuswantara, Demas Galang (2019) Analisis Dinamis Sistem Giroskopik pada Kendaraan Roda Dua dengan Sistem Full State-Feedback Control. Other thesis, Institut Teknologi Sepuluh Nopember.

Text 02111540000163-Undergraduate_Theses.pdf - Accepted Version Restricted to Repository staff only Download (12MB) | Request a copy

Abstract

Self-balancing vehicle adalah kendaraan yang mampu melawan gaya berat yang diakibatkan oleh gaya gravitasi untuk menjaga posisinya tetap seimbang. Penelitian mengenai self-balancing vehicle sudah banyak dilakukan oleh beberapa negara maju di dunia. Hal tersebut berbanding terbalik di Indonesia, dimana penelitian mengenai giroskop masih belum banyak ditemukan. Pada penelitian kali ini permodelan dari kendaraan roda dua dengan penyeimbang giroskop dirancang, dimana dinamikanya akan dievaluasi agar kendaraan dapat kembali ke posisi ekuilibrium dikarenakan adanya pengaruh putaran dari benda rigid lainnya. Prinsip ini dinamakan control moment gyroscope (CMG). Tahap awal penelitian ini dimulai dari mendesain bentuk kendaraan dan menentukan parameter-parameternya, yang kemudian dimodelkan dalam bentuk block diagram. Tahap selanjutnya adalah free body diagram dari kendaraan dianalisa untuk dicari model matematis dalam bentuk matriks state space. Sistem pengendali yang digunakan adalah full state-feedback yang dalam menentukan nilai gain-nya dilakukan pembobotan pada tiap state nya untuk mendapatkan respon yang diinginkan. Setelah itu, dibuat dua pengendali lainya yang memiliki pembobotan pada matriks yang berbeda satu dengan lainya. Kemudian, respon gerak dari kendaraan giroskopik dianalisis terhadap ketidak-akuratan massa flywheel dan center of gravity kendaraan. Hasil pengujian menunjukan kendaraan roda dua giroskopik yang telah dikendalikan oleh sistem kendali full state-feedback dapat kembali ke posisi steady dengan membutuhkan waktu 2.68 detik hingga 3.69 detik pada percobaan dengan posisi awal kendaraan 30^{0}. Selain itu, desain dari sistem kendali yang digunakan tidak memiliki pengaruh yang signifikan pada nilai settling time terhadap ketidak-akuratan massa flywheel dan center of gravity kendaraan.
===================================================================================================================================
A self-balancing vehicle is a vehicle capable of resisting gravity caused by gravity to keep its position in balance. Research on self-balancing vehicles has been carried out by several developed countries in the world. This is inversely proportional in Indonesia, where research on gyroscopes is still not widely found. In this study, the modeling of a two-wheeled vehicle with a gyroscope system was designed, where the dynamics will be evaluated so that the vehicle can return to its equilibrium position due to the rotational influence of other rigid objects. This principle is called the Control Moment Gyroscope (CMG). The initial stage of this research begins with designing the shape of the vehicle and determining its parameters, then its modeled in the form of block diagrams. The next step is the free body diagram of the vehicle analyzed to look for mathematical models in the form of state space matrix. The control system used is full state-feedback which in determining the gain value is weighted on each state to get the desired response. After that, two other controllers are made that have a weighting on the matrix that is different from one another. Then, the motion response of the gyroscopic vehicle is analyzed against the inaccuracy of the flywheel mass and the center of gravity of the vehicle. The test results show that the gyroscopic two-wheeled vehicle that has been controlled by the full state-feedback control system can return to a steady position with a time of 2.68 seconds to 3.69 seconds in experiments with the initial position of the vehicle 30^{0}. In addition, the design of the control system used does not have a significant effect on the settling time value on the inaccuracy of the flywheel mass and the center of gravity of the vehicle.

Item Type:	Thesis (Other)
Additional Information:	RSM 629.244 6 Nus a-1 2019 3100019081442
Uncontrolled Keywords:	Self-Balancing Vehicle, Control Moment Gyroscope, Full State-Feedback
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control. T Technology > TJ Mechanical engineering and machinery > TJ217.2 Robust control T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.5 Motor vehicles Driving T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Mechanical Engineering > 21201-(S1) Undergraduate Thesis
Depositing User:	DEMAS GALANG NUSWANTARA
Date Deposited:	08 Dec 2025 08:18
Last Modified:	08 Dec 2025 08:18
URI:	http://repository.its.ac.id/id/eprint/66360

Actions (login required)

View Item