Rancang Bangun Fault Tolerant Sliding Mode Control Pada Anti-Lock Braking System Dengan Kesalahan Pada Sensor Kecepatan

Marindo, Dikko Dwi (2020) Rancang Bangun Fault Tolerant Sliding Mode Control Pada Anti-Lock Braking System Dengan Kesalahan Pada Sensor Kecepatan. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Anti-lock Braking System (ABS) adalah sistem pengereman kendaraan yang berfungsi untuk mencegah slip atau penguncian roda agar kendaraan tetap dapat dikendalikan saat pengereman secara mendadak. Sensor kecepatan merupakan komponen penting dalam ABS, ketika terjadi kesalahan akan berpengaruh terhadap kestabilan sistem dan berakibat terjadinya kegagalan sistem. Pada tugas akhir ini diterapkan skema Fault Tolerant Sliding Mode Control (FTSMC) untuk mengestimasi dan mengkompensasi kesalahan pada sensor kecepatan dan meningkatkan performansi sistem. FTSMC menggunakan observer sebagai estimator kesalahan sensor kecepatan. Hasil uji observer menghasilkan respon maximum overshoot sebesar 0,49%, settling time 0,0003s, dan error steady state 0,0002%. Pada hasil uji respon dengan menggunakan skema Fault Tolerant Sliding Mode Control (FTSMC) mampu mengatasi kesalahan bias pada sensor kecepatan kendaraan hingga 100% dengan waktu henti kendaraan 3,47s dan jarak henti 48,2 meter. Penerapan pada simulator Quarter Car Model (QCM) penggunaan Anti-Lock Braking System (ABS) dengan skema Fault Tolerant Sliding Mode Control (FTSMC) mampu mencegah terjadinya slip dengan parameter performansi maximum overshoot sebesar 65% dan waktu henti pada 2,1 detik. ======================================================================================================== Anti-lock Braking System (ABS) is a braking system on vehicles that serves to prevent a slip or locking on the wheels of the vehicle so that the vehicle can still be controlled when braking suddenly occurs. The speed sensor is an important component in ABS when an error occurs it will affect the stability of the system and allow system failure. In this final project, a Fault Tolerant Sliding Mode Control (FTSMC) scheme is applied in order to estimate and compensate for errors in the speed sensor so that it can improve system performance. In the Fault Tolerant Sliding Mode Control (FTSMC) scheme using an observer as a speed sensor error estimator. The observer test results in estimating speed sensor errors produce maximum overshoot response of 0.49%, settling time 0,0003s, and steady-state error 0,0002%. On the response test results using the Fault-Tolerant Sliding Mode Control (FTSMC) scheme is able to overcome bias errors on the vehicle speed sensor up to 100% with time stops 3.47s and stoppig distance 48.2 meters. Application for simulator Quarter Car Model (QCM) using Anti-lock Braking System (ABS) with Fault-Tolerant Sliding Mode Control (FTSMC) scheme can prevent slip condition with performance parameter maximum overshoot 65% and braking time at 2.1 s.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: anti-lock braking system, fault tolerant sliding mode control (FTSMC), observer, sensor
Subjects: T Technology > T Technology (General) > T55 Industrial Safety
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) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User: Marindo Dikko Dwi
Date Deposited: 04 Aug 2020 02:26
Last Modified: 04 Aug 2020 02:26
URI: http://repository.its.ac.id/id/eprint/76850

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