Hutauruk, Andrey Pramudyah (2024) Kontrol Mobil Four Wheel Independent Drive Four Wheel Independent Steering Menggunakan Kontroler Fuzzy Mengatasi Kondisi Terperosok. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Perkembangan teknologi semakin mengarah pada kurangnya bantuan manusia, dengan memanfaatkan sensor. Salah satu teknologi tersebut adalah pada mobil otonom yang di mana memberi solusi mengurangi kecelakaan dan dapat saling berkoordinasi. Peningkatan kemampuan mobil dalam segala medan termaksud medan offroad juga ditingkatkan. Untuk mobil offroad telah digunakannya mobil four wheel independent drive yang memberi kekuatan dengan menggunakan gaya roda semua roda. Untuk meningkatkan kemampuan manuver akan digunakan mobil four wheel independent steering. Saat melintasi lintasan berlumpur, mobil offroad sering kali terjebak dan melakukan putaran roda yang sia-sia. Roda yang selalu berputar ini akan memperdalam lumpur dan membuat kendaraan tidak stabil. Sehingga dibangun kontrol fuzzy yang berguna membuat kendaraan kembali ke kecepatan yang diinginkan dengan mematikan roda yang terjebak. Untuk menstabilkan kendaraan digunakan juga perubahan nilai sudut roda atau menyetarakan gaya pada tiap sisi. Jika roda seluruhnya bergerak normal untuk mencapai kecepatan 30 km/jam dibutuhkan 0.64 detik dikarenakan torsi yang begitu besar. Sedangkan saat satu roda terperosok lalu dimatikan kecepatan tersebut dicapai selama 15.9 detik dan jika dua roda terperosok kecepatan dicapai selama 48.83 detik. Saat peristiwa roda terperosok terjadi ketidakstabilan. Sehingga dibutuhkan kontrol untuk mempercepat respon ini dan kontrol steering agar mobil stabil dan peningkatan kontrol torsi pada roda yang tidak terperosok. Sehingga pada saat satu roda terperosok, kecepatan tercapai pada waktu 7.47 detik dan saat dua roda terperosok menjadi 14.71 detik.
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Technological developments are increasingly leading to a lack of human assistance by utilizing sensors. One such technology is the autonomous car which provides a solution to reduce accidents and can coordinate with each other. Improvements in the ability of cars in all terrains including offroad terrains are also being improved. For offroad cars, four wheel independent drive cars have been used, which provide power by using the force of all wheels. To improve maneuverability, a four wheel independent steering car will be used. When crossing muddy tracks, offroad cars often get stuck and perform futile wheel rotation. These constantly spinning wheels will deepen the mud and make the vehicle unstable. So, a useful fuzzy control is built to make the vehicle return to the desired speed by turning off the stuck wheel. To stabilize the vehicle, it is also used to change the angle value of the wheels or equalize the force on each side. If the wheels are all moving normally to reach a speed of 30 km/h it takes 0.64 seconds because the torque is so large. While when one wheel is mired and than turned off the speed is reached for 15.9 seconds and if two wheels are mired the speed is reached for 48.83 seconds. When the wheel event is mired, instability occurs. So, a control is needed to speed up this response and steering control to stabilize the car and improved torque control on the wheels that are not mired. So, when one wheel is mired, the speed is reached at 7.47 seconds and when two wheels are mired it becomes 14.71 seconds.
| Item Type: | Thesis (Other) |
|---|---|
| Uncontrolled Keywords: | Four Wheel Independent Drive, Four Wheel Independent Steering, Kecepatan, Kontrol Fuzzy, Torsi. Four Wheel Independent Drive, Four Wheel Independent Steering, Speed, Fuzzy Controller, Torque. |
| Subjects: | T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles. |
| Divisions: | Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | Andrey Pramudyah Hutauruk |
| Date Deposited: | 31 Jul 2024 01:24 |
| Last Modified: | 31 Jul 2024 01:24 |
| URI: | http://repository.its.ac.id/id/eprint/110629 |
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