Perancangan Mobil Rear Wheel Drive Menggunakan Brushless DC Motor Berbasis PID-MRAC Dan Direct Torque Control Pada Kasus Torsi Di Jalan Berkelok

Zamzami, Ramly Ali (2022) Perancangan Mobil Rear Wheel Drive Menggunakan Brushless DC Motor Berbasis PID-MRAC Dan Direct Torque Control Pada Kasus Torsi Di Jalan Berkelok. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Motor brushless DC (BLDC) merupakan salah satu motor elektrik yang digunakan pada mobil listrik. Penggunaan motor BLDC mulai digunakan untuk mobil listrik karena performa dari motor BLDC lebih baik dibandingkan motor induksi dan motor brush DC dari segi momen inersia rotor yang kecil,efisiensi tinggi, dan motor BLDC lebih ringan.
Pada kondisi jalan berkelok, mobil berbelok dan terjadi perubahan kecepatan roda belakang mobil rear wheel drive. Kecepatan kedua roda belakang harus berbeda saat mobil berbelok menurut model Ackermann-Jeantand sehingga diperlukan pengaturan kecepatan pada kedua roda belakang mobil agar mobil dapat berbelok dengan baik.
Namun saat motor BLDC diaplikasikan pada mobil listrik, kondisi jalan berubah-ubah sehingga menimbulkan perubahan gaya gesek yang mengubah beban torsi pada motor BLDC. Berdasarkan masalah tersebut, perlu adanya kontroler yang mampu beradaptasi seiring perubahan beban torsi. Kontroler PID (proportional-integral- derivative) konvensional kurang bisa diterapkan pada sistem non linier seperti motor BLDC dengan kecepatan yang berubah sehingga diperlukan mekanisme untuk mengatasi perubahan pada kondisi tersebut. Model reference adaptive control (MRAC) digunakan untuk mengatasi perubahan nilai masukan dengan mengubah parameter dari kontroler sesuai dengan model referensi dan direct torque control digunakan karena memiliki respon torsi yang lebih cepat dan mampu untuk meredam riak torsi dari motor BLDC. Pada tugas akhir ini didapatkan nilai bandwidth fluks sebesar 0,525 Wb dan bandwidth torsi sebesar 0,05 Nm dengan nilai γP = 3×10-2, γi = 3×10-2, dan γd = 3×10-3 dengan perubahan kecepatan sudut maksimum 14,17 rad/detik.
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Brushless DC motor (BLDC) is one of the electric motors used in electric cars. The use of BLDC motors is starting to be used for electric cars because the performance of BLDC motors is better than induction motors and brush DC motors in terms of small rotor moment of inertia, high efficiency, and BLDC motors has smaller weight.
On curved road conditions, the car turns and there is a change in the speed of the rear wheel of a rear wheel drive car. The speed of the two rear wheels must be different when the car turns according to the Ackermann-Jeantand model so that it is necessary to adjust the speed of the two rear wheels of the car so that the car can turn properly.
However, when a BLDC motor is applied to an electric car, the road conditions change, causing changes in the frictional force that changes the load torque on the BLDC motor. Based on these problems, it is necessary to have a controller that is able to adapt as the load torque changes. Conventional proportional-integral-derivative (PID) controllers are less applicable to non-linear systems such as BLDC motors with changing speeds, so a mechanism is needed to cope with changes in these conditions. The reference adaptive control (MRAC) model is used to overcome changes in the input value by changing the parameters of the controller according to the reference model and direct torque control is used because it has a faster torque response and is able to reduce torque ripples from the BLDC motor. In this final project, the flux bandwidth value is 0.525 Wb and the torque bandwidth is 0.05 Nm with the values of γp = 3×10-2, γi = 3×10-2, and γd = 3×10-3 with changes in the maximum angular velocity is 14.17 rad/sec.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	brushless DC motor, PID-MRAC, direct torque control, torque, rear wheel drive, curved road, motor brushless DC, PID-MRAC, direct torque control, torsi, rear wheel drive, jalan berkelok
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK2681.O85 Electric motors, Brushless. T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Ramly Ali Zamzami
Date Deposited:	03 Feb 2022 06:05
Last Modified:	03 Feb 2022 06:05
URI:	http://repository.its.ac.id/id/eprint/92686

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