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

Lukito, Rian (2015) Perancangan Kontroler Neuro-Fuzzy Untuk Electromagnetic Anti-Lock Braking System (ABS) Pada Kendaraan Listrik. Undergraduate thesis, Institut Technology Sepuluh Nopember.

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Abstract

Anti-lock braking system (ABS) digunakan pada kendaraan untuk menjaga agar roda tidak terkunci saat pengereman mendadak (pengereman dalam) dan meminimalkan jarak berhenti kendaraan. Permasalahan yang terjadi saat pengereman mendadak adalah roda terkunci sehingga steering kendaraan tidak dapat dikendalikan. Sistem ABS yang dirancang akan diterapkan pada simulator ABS dengan menggunakan pengereman elektromagnetik. Dalam kondisi normal atau dalam keadaan tanpa pengereman, kecepatan longitudinal kendaraan akan sama dengan kecepatan putaran roda sehingga slip ratio bernilai 0 (0%)dan apabila kecepatan putaran roda bernilai 0 (dalam keadaan terkunci) maka roda bernilai slip 1 (100%). Sistem ABS akan menjaga agar nilai rasio slip berada di nilai 0,2 (20%). Pada tugas akhir ini digunakan metode neuro-fuzzy untuk mengontrol nilai slip pada roda. Masukkannya adalah slip yang diharapkan dan keluarannya adalah slip dari plant. Algoritma learning yg digunakan adalah BackPropagation yang akan bekerja secara feedforward untuk mendapatkan ouput aktual dan bekerja secara feedback setelah mendapatkan nilai error dengan output target. Jaringan yang dibuat berdasarkan mekanisme fuzzy yakni fuzzifikasi, inferensi dan defuzzifikasi. Kontroler neuro-fuzzy dapat mengurangi overshoot respon plant hingga 43,2% dibandingkan respon plant tanpa kontroler secara loop terbuka. ========================================================================================================== Anti-lock braking system (ABS) is used on the vehicle to keep the wheels are not locked during sudden braking (braking in) and minimize the distance termination. Problems that occur when sudden braking is locked so that the will be oversteering. ABS system will be applied using electromagnetic braking on the wheels of ABS simulator. Under normal conditions, the vehicle longitudinal speed will be the same as the rotation speed of the wheel so that the slip ratio is 0 (0%) and when the wheel rotation speed is 0 (locked), the wheel slip ratio is 1 (100%). ABS system will keep the value of the slip ratio is at a value of 0.2 (20%). Neuro-Fuzzy method used to control the value of the wheel slip ratio in my final project. Slip ratio input is expected and output is the slip ratio of the plant. Learning algorithms use Back Propagation which will work to get the actual output with feedforward and feedback work after getting the error value with a target output. Network created by the fuzzy mechanism fuzzification, inference and defuzzification. Neuro-Fuzzy controller can reduced overshoot of plant response until 43.2% than plant response without controller in open loop system.

Item Type: Thesis (Undergraduate)
Additional Information: RSE 629.831 2 Luk p
Uncontrolled Keywords: ABS, BackPropagation, Neuro-Fuzzy, Simulator ABS
Subjects: Q Science > QA Mathematics > QA9.64 Fuzzy logic
T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL257.5 Automobiles--Shock absorbers--Design and construction.
Divisions: Faculty of Electrical Technology > Electrical Engineering > (S1) Undergraduate Theses
Depositing User: Mr. Tondo Indra Nyata
Date Deposited: 01 Oct 2019 04:39
Last Modified: 01 Oct 2019 04:39
URI: http://repository.its.ac.id/id/eprint/70929

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