Perancangan Fault Tolerant Control Pada Sistem Pengereman Regenerative Anti-Lock Braking System Mobil Listrik Dengan Kesalahan Sensor dan Aktuator

Kartini, Kartini (2016) Perancangan Fault Tolerant Control Pada Sistem Pengereman Regenerative Anti-Lock Braking System Mobil Listrik Dengan Kesalahan Sensor dan Aktuator. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Suatu sistem keamanan dalam berkendara merupakan hal penting termasuk sistem pengereman. Pengereman pada mobil listrik mulai berkembang dengan adanya regenerative anti-lock braking system untuk menjaga kontrol slip ratio dan memanfaatkan energi buang yang dihasilkan agar dipakai kembali. Komponen pada sistem regenerative ABS dapat mengalami kegagalan yaitu pada sensor maupun aktuator nya. Untuk mengatasi kegagalan pada sistem tersebut digunakan metode fault tolerant control. Kegagalan yang diatasi dengan fault tolerant control dapat berupa kesalahan pembacaan sensor (bias) maupun kepekaan (sensitifitas) sensor dan kesalahan aktuator pada motor berupa kesalahan switch. Motor BLDC digunakan sebagai aktuator untuk menggerakkan kendaraan. Pada sistem diterapkan kontrol sliding mode sebagai pengendali sistem dan kontrol PI untuk menjaga torsi yang dihasilkan oleh motor. Fault tolerant control pada sistem ABS mampu mengatasi kesalahan bias sensor sebesar 1% 30% 50% dan 100%, kesalahan sensitifitas sensor kendaraan 10%, kesalahan aktuator berupa open switch pada gate switch 1, 2, 1 dan 2, serta kesalahan kedua komponen (sensor dan aktuator) dengan waktu berhenti kendaraan adalah 3.41s. Parameter performansi respon yaitu overshoot 6.4% serta settling time 0.14s. ======================================================================================================= A safety system in driving is important, including the braking system. Braking in electric cars began to develop with the regenerative anti-lock braking system to maintain slip ratio control and utilize the waste energy produced to be reused. Components in the ABS regenerative system can fail, namely the sensor or actuator. To overcome the failure of the system the fault tolerant control method is used. Failure that is overcome by fault tolerant control can be in the form of sensor reading errors (bias) or sensor sensitivity (sensitivity) and actuator errors on the motor in the form of a switch error. BLDC motors are used as actuators to drive vehicles. The sliding mode control system is applied as a system controller and PI control to maintain the torque generated by the motor. Fault tolerant control in the ABS system is able to overcome sensor bias errors by 1% 30% 50% and 100%, vehicle sensor sensitivity errors 10%, actuator errors in the form of open switches on gate switches 1, 2, 1 and 2, as well as errors of both components ( sensors and actuators) with vehicle stopping time is 3.41s. Response performance parameters are 6.4% overshoot and 0.14s settling time.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: ABS, fault tolerant control, inverter, motor BLDC, sliding mode control, slip ratio
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ217.2 Robust control
T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers
T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK2785 Electric motors, Induction.
T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL220 Electric vehicles and their batteries, etc.
Divisions: Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User: Kartini .
Date Deposited: 05 Aug 2020 00:21
Last Modified: 05 Aug 2020 04:08
URI: http://repository.its.ac.id/id/eprint/76885

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