Analisa dan Reduksi Getaran yang Diterima Inertia Measurement Unit sebagai Sensor Sudut pada Sistem Pendulum Terbalik dengan Control Moment Gyroscope

Nugraha, Iip Fitriana (2023) Analisa dan Reduksi Getaran yang Diterima Inertia Measurement Unit sebagai Sensor Sudut pada Sistem Pendulum Terbalik dengan Control Moment Gyroscope. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Perkembangan sensor Inertia Measurement Unit (IMU) dalam berbagai industri telah banyak diterapkan, pada kendaraan roda dua sensor IMU digunakam sebagai sistem penyeimbang. Dalam penelitian sebelumnya, prototipe self-balancing telah dirancang dengan control moment gyroscope menggunakan sistem kendali PID. Terdapat getaran yang memengaruhi hasil pembacaan sensor IMU sehingga pada saat kecepatan motor tinggi menyebabkan feedback yang diterima kontroler tidak akurat. Dalam penelitian ini, isolator getaran jenis silicon foam diaplikasikan dengan kekakuan 168,2674 N/mm dan jenis isolator PVA spons dengan kekakuan 1,90393x10^(-1) N/mm. Eksperimen pengujian statis dilakukan untuk mengetahui respon getaran pada sensor IMU dimana pengaruh transmissi getaran dianalisis. Diperoleh nilai transmissibility isolator silicon foam sebesar Y_1000rpm=1,22765, Y_2000rpm=4,0762, Y_3000rpm=1,4304 sementara pada penggunaan isolator PVA spons diperoleh nilai transmissibility sebesar Y_1000rpm=0,00696677, Y_2000rpm=0,00223553, Y_3000rpm=0,00128495. Berdasarkan displacement transmissibility tersebut, nilai rmse silicon foam diperoleh sebesar 0,1085°, 0,0618°, 0,1768° dengan presentase redaman sebesar 37.28% sementara pada penggunaan isolator PVA spons nilai rmse diperoleh sebesar 0,0595°, 0,0155°, 0,0143° dengan presentase redaman sebesar 79,08%. Berdasarkan analisis tersebut, membuktikan bahwa penggunaan isolator dapat mereduksi getaran dengan cara mengurangi transmissibility yang diterima oleh sensor IMU sehingga respon pembacaan sensor IMU menjadi lebih akurat.
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The development of Inertia Measurement Unit (IMU) sensors in various industries has been widely applied, in two-wheeled vehicles IMU sensors are used as a balancing system. In previous research, a self-balancing prototype has been designed with a moment gyroscope control using a PID control system. There are vibrations that affect the readings of the IMU sensor so that when the motor speed is high, the feedback received by the controller is not accurate. In this study, silicon foam type vibration isolator with stiffness of 168.2674 N/mm and PVA sponge type with stiffness of 1.90393x10^(-1) N/mm were applied. Static testing experiments were conducted to determine the vibration response of the IMU sensor where the effect of vibration transmissibility was analysed. The transmissibility values of silicon foam were obtained as Y_1000rpm=1,22765, Y_2000rpm=4,0762, Y_3000rpm=1,4304 while the use of PVA sponge isolator obtained transmissibility values of Y_1000rpm=0,00696677, Y_2000rpm=0,00223553, Y_3000rpm=0,00128495. Based on the displacement transmissibility, the rmse value of silicon foam is obtained as 0.1085°, 0.0618°, 0.1768° with a damping percentage of 37.28% while in the use of PVA sponge insulator the rmse value is obtained as 0.0595°, 0.0155°, 0.0143° with a damping percentage of 79.08%. Based on this analysis, it proves that the use of isolators can reduce vibration by reducing the transmissibility received by the IMU sensor so that the IMU sensor reading response becomes more accurate.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Getaran, Reduksi Getaran, Inertia Measurement Unit, Self-Balancing; Vibration, Reduction of Vibration, Inertia Measurement Unit, Self-Balancing
Subjects:	T Technology > TJ Mechanical engineering and machinery T Technology > TJ Mechanical engineering and machinery > TJ541 Flywheels.
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Mechanical Engineering > 21201-(S1) Undergraduate Thesis
Depositing User:	Iip Fitriana Nugraha
Date Deposited:	18 Sep 2023 11:26
Last Modified:	18 Sep 2023 11:26
URI:	http://repository.its.ac.id/id/eprint/102880

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