Implementasi Fuzzy Logic Control Pada Prototype Self Balancing Kendaraan Roda Dua Menggunakan Control Moment Gyroscope

Azzarkhiyah, Khafid (2022) Implementasi Fuzzy Logic Control Pada Prototype Self Balancing Kendaraan Roda Dua Menggunakan Control Moment Gyroscope. Masters thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Di era modern saat ini, perkembangan teknologi semakin pesat salah satunya dalam bidang otomotif. Permasalahan pada kendaraan roda dua adalah sistem ini merupakan sistem yang tidak stabil, terutama ketika berhenti. Dari permasalahan ini menjadikan banyak peneliti untuk mengembangkan teknologi self-balancing pada kendaraan roda dua. Self-balancing kendaraan adalah teknologi kendaraan yang mampu melawan gaya berat yang diakibatkan oleh gaya gravitasi untuk menjaga posisinya tetap seimbang. Penelitian ini dirancang menggunakan keseimbangan giroskopik. Prinsip kerja keseimbangan giroskopik dipengaruhi adanya putaran gimbal dan putaran flywheel. Terdapat 2 flywheel di masing-masing gimbal yang dipasang secara vertikal. Sistem giroskopik pada kendaraan ini menggunakan sistem transmisi gear untuk memutar kedua gimbal secarabersamaan ke arah yang berlawanan. Metode kontrol yang digunakan yaitu fuzzy logic control. Desain dari sistem fuzzy logic control yang digunakan yaitu 6 model fuzzy sugeno dengan perbedaan fungsi membership dan jumlah membership nya. Pengujian dari 6 model fuzzy menunjukkan bahwa hasil terbaik didapatkan pada fuzzy fungsi segitiga 9x3. Kriteria terbaik dalam penelitian ini dibuktikan oleh respon yang memiliki osilasi paling kecil dan kemampuan dalam mempertahankan diposisi tegak. Semakin banyak jumlah membership maka semakin besar peluang dalam memvariasikan nilai input ke prototipe.
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In today's modern era, technological developments are increasingly rapid, one of which is in the automotive sector. The problem with two-wheeled vehicles is that this system is an unstable system, especially when it stops. This problem has led many researchers to develop self-balancing technology on two-wheeled vehicles. Self-balancing vehicle is a vehicle technology that is able to fight the gravity caused by gravity to keep its position in balance. This study was designed using gyroscopic balance. The working principle of gyroscopic balance is influenced by the rotation of the gimbal and the rotation of the flywheel. There are 2 flywheels in each gimbal which are mounted vertically. The gyroscopic system on this vehicle uses a gear transmission system to rotate the two gimbals simultaneously in opposite directions. The control method used is fuzzy logic control. The design of the fuzzy logic control system used is 6 fuzzy Sugeno models with different membership functions and the number of memberships. Testing of 6 fuzzy models shows that the best results are obtained on the 9x3 fuzzy triangle function. The best criteria in this study were proven by the response that had the smallest oscillation and the ability to maintain an upright position. The greater the number of membership, the greater the opportunity to vary the input value to the prototype.

Item Type:	Thesis (Masters)
Additional Information:	RTM 621.816 Azz i-1 2022
Uncontrolled Keywords:	fuzzy logic control, giroskopik, self-balancing kendaraan, control moment gyroscope, fuzzy logic control, self-balancing vehicl
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ230 Machine design
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Mechanical Engineering > 21101-(S2) Master Thesis
Depositing User:	Mr. Marsudiyana -
Date Deposited:	12 Feb 2025 02:13
Last Modified:	12 Feb 2025 02:13
URI:	http://repository.its.ac.id/id/eprint/118672

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