Rancang Bangun Regenerative Anti-Lock Braking System Berbasis Kontrol Sliding Mode Control

Hafiizh, Nur Adlun (2021) Rancang Bangun Regenerative Anti-Lock Braking System Berbasis Kontrol Sliding Mode Control. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Anti-lock braking system (ABS) adalah sistem kontrol elektronik yang membantu pengemudi menjaga kendali kendaraan selama pengereman darurat dengan mencegah roda terkunci. Salah satu metode control yang dapat digunakan untuk sistem nonlinear seperti kasus ABS adalah sliding mode control (SMC). Di sisi lain, efisiensi energi merupakan masalah penting bagi kendaraan listrik. Oleh karena itu, sistem pengereman regeneratif ABS diciptakan. Penelitian ini bertujuan merancang suatu sistem pengereman regenerative ABS dengan menggunakan torsi motor dan torsi hidrolik yang dikendalikan mikrokontroler. Sistem ini menggunakan sensor proximity untuk mengukur kecepatan, serta rangkaian pembagi tegangan dan sensor Hall effect untuk mengukur tegangan dan arus. Kontroller SMC ditanam pada mikrokontroller Arduino Uno. Respon terbaik dalam sistem ini didapatkan ketika menggunakan kontrol SMC dengan nilai gain K = 0,001 dikarenakan mendapat nilai ITAE paling kecil dibandingkan menggunakan kontrol SMC dengan nilai gain yang lain . Untuk waktu pengeraman sistem closed loop didapatkan 1,2 detik , untuk sistem dengan menggunakan kontrol SMC dengan nilai gain K = 0,001 didapatkan nilai SOC baterai meningkat sebesar 3,39% dan rata-rata dari arus saat pengereman terjadi adalah - 0,088A
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Anti-lock braking system (ABS) is an electronic control system that helps the driver maintain
control of the vehicle during emergency braking by preventing the wheels from locking. One
of the control methods that can be used for nonlinear systems such as the ABS case is sliding
mode control (SMC). On the other hand, energy efficiency is an important issue for electric
vehicles. Therefore, the ABS regenerative braking system was created. This study aims to
design an ABS regenerative braking system using a motor torque and hydraulic torque
controlled by a microcontroller. This system uses a proximity sensor to measure speed, as
well as a voltage divider circuit and Hall effect sensor to measure voltage and current. The
SMC controller is embedded in the Arduino Uno microcontroller. The best response in this
system is obtained when using SMC control with a gain value of K = 0.001 because it gets
the smallest ITAE value compared to using SMC control with other gain values. The
incubation time for the closed loop system is 1.2 seconds, for the system using SMC control
with a gain value of K = 0.001 the battery SOC value increases by 3.39% and the average
current when braking occurs is -0.088A.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Anti-lock braking system, regeneratif, sliding mode control, State Of Charge, Regenerative
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control. T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.5 Motor vehicles Driving T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL269.C474 Brakes--Maintenance and repair
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	Nur Adlun Hafiizh
Date Deposited:	23 Aug 2021 09:43
Last Modified:	23 Aug 2021 09:43
URI:	http://repository.its.ac.id/id/eprint/88916

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