Pramita, Firda Aulia (2024) Kontrol Kecepatan Longitudinal-Lateral untuk Four-Wheel Independent Drive Four-Wheel Independent Steering Electric Vehicles (4WID4WIS-EVs) Menggunakan Nonlinear Model Predictive Control. Masters thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Penelitian ini menyajikan metodologi untuk mengendalikan kecepatan pada Kendaraan Listrik Tak Berawak Four-Wheel Independent Drive Four Wheel Independent Steering (4WID4WIS) dengan kesalahan minimum melalui integrasi kontrol prediktif Nonlinear Model Predictive Control (NMPC) dengan kontrol kecepatan berbasis Disturbance Observer (DOB) . Sistem kendaraan dilengkapi dengan empat motor penggerak dan empat motor kemudi, dengan masing-masing motor dikendalikan di lower-level controller.Memanfaatkan kemampuan NMPC dalam menangani model yang sangat nonlinier dan untuk memperkirakan perilaku sistem dalam berbagai interval waktu, sehingga NMPC pada upper-level controller menjadi kontroler utama untuk meminimalkan kesalahan. Pada tingkat yang lebih rendah, Disturbance Observer Based (DOB) digunakan untuk memitigasi gangguan dan menjaga kontrol kecepatan yang akurat, sehingga menjadi landasan yang kuat untuk sistem NMPC. Metode NMPC meningkatkan kemampuan kendaraan untuk mengikuti kecepatan, maupun lintasan yang diinginkan dengan benar. Sistem yang sudah dirancang kemudian disimulasikan menggunakan MATLAB dan SIMULINK. Hasil simulasi menunjukkan bahwa kendaraan mampu mengikuti kecepatan yang diinginkan, serta mampu memperkirakan perubahan kecepatan untuk menyesuaikan dengan jalan yang dilalui. RMSE yang dihasilkan berbeda setiap model jalan. Penelitian ini menandakan kemajuan penting dalam bidang kontrol yang berpotensi untuk diterapkan di bidang sistem mengemudi otonom dan sistem transportasi cerdas.
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The study proposes a methodology for controlling precise speed on a Four Wheel Independent Drive Four Wheel Independent Steering (4WID4WIS) electric vehicle with minimum error by integrating Nonlinear Model Predictive Control (NMPC) predictive control with a Disturbance Observer Based (DOB) speed control. The vehicle system is outfitted with four propulsion motors and four steering motors, with each motor being regulated by a subordinate controller. Utilises the capability of NMPC to effectively manage complex nonlinear models and accurately forecast system dynamics over different time intervals, hence establishing NMPC as the principal controller on the upper-level controller. Interference-based speed controllers, known as DOBs, are employed at a lower level to reduce interferences and ensure precise speed control. Consequently, they serve as a solid basis for NMPC systems. The NMPC approach enhances the vehicle's capacity to accurately adhere to the intended trajectories. The designed systems are subsequently simulated using MATLAB and SIMULINK. The simulation results demonstrated that the vehicle successfully tracked the desired velocity, also it is able to adjust the speed according to the road condition. This research signifies significant progress in the domain of speed control for four-wheel independent drive and four-wheel independent steering unmanned electric vehicles (UEVs). The advancements hold considerable promise for implementation in the fields of self-driving systems and smart transportation systems.
| Item Type: | Thesis (Masters) |
|---|---|
| Uncontrolled Keywords: | Nonlinear Model Predictive Control (NMPC), Unmanned Electric Vehicles (UEVs), Disturbance Observer-Based (DOB), 4WIDWIS |
| Subjects: | T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.5 Motor vehicles Driving T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles. T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL220 Electric vehicles and their batteries, etc. |
| Divisions: | Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20101-(S2) Master Thesis |
| Depositing User: | Firda Aulia Pramita |
| Date Deposited: | 02 Feb 2024 08:32 |
| Last Modified: | 02 Feb 2024 08:32 |
| URI: | http://repository.its.ac.id/id/eprint/105990 |
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