Desain Sistem Kendali Suspensi Aktif pada Simscape Vehicle Model Menggunakan Linear Quadratic Regulator (LQR)

Is'adiyah, Hafizah Tabina (2025) Desain Sistem Kendali Suspensi Aktif pada Simscape Vehicle Model Menggunakan Linear Quadratic Regulator (LQR). Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Sistem suspensi pasif pada kendaraan konvensional memiliki keterbatasan dalam meredam osilasi pitch dan roll, terutama saat menghadapi manuver ekstrem seperti belokan tajam atau mendadak. Hal ini berdampak pada penurunan kenyamanan berkendara (ride comfort) serta stabilitas kendaraan akibat hilangnya kontak optimal antara ban dan permukaan jalan (road holding). Untuk mengatasi masalah tersebut, penelitian ini mengusulkan penerapan sistem suspensi aktif dengan metode Linear Quadratic Regulator (LQR) pada model kendaraan 7-DOF di Simscape. Tujuan utamanya adalah mereduksi osilasi pitch dan roll, mempertahankan road holding, serta membatasi defleksi suspensi dalam batas aman (rattle space). Pengujian dilakukan dengan simulasi manuver double lane change standar ISO 3888 pada jalan datar, lalu membandingkan performa sistem suspensi pasif dan aktif untuk kondisi satu dan empat penumpang. Hasil simulasi menunjukkan bahwa sistem suspensi aktif dengan kontrol LQR mampu meningkatkan kenyamanan dan stabilitas kendaraan secara signifikan. Pada variasi satu penumpang, percepatan pitch berkurang sebesar 13,7% (dari 0,01828 rad/s² menjadi 0,01531 rad/s²), dan percepatan roll menurun sebesar 16,8% (dari 0,25134 rad/s² menjadi 0,20739 rad/s²). Pada variasi empat penumpang, terjadi penurunan percepatan pitch dengan reduksi sebesar 4,9% dan roll sebesar 14,6%. Meskipun terjadi peningkatan defleksi pada komponen suspensi dan ban akibat trade-off pengalihan energi dinamis, seluruh nilai defleksi tetap berada dalam batas toleransi aman (μ < 1 dan η < 1). Dengan demikian, penerapan LQR pada sistem suspensi aktif terbukti mampu meningkatkan performa kendaraan dalam aspek ride comfort.
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The passive suspension system in conventional vehicles has limitations in damping pitch and roll oscillations, particularly during extreme maneuvers such as sharp or sudden turns. This results in reduced ride comfort and compromised vehicle stability due to suboptimal tire-road contact (road holding). To address this issue, this study proposes the implementation of an active suspension system using the Linear Quadratic Regulator (LQR) method on a 7-DOF vehicle model in Simscape. The primary objectives are to reduce pitch and roll oscillations, maintain optimal road holding, and limit suspension deflection within safe bounds (rattle space). Testing was conducted via simulation of the ISO 3888 standard double lane change maneuver on a flat road, comparing the performance of passive and active suspension systems under single- and four-passenger load conditions. The simulation results demonstrate that the LQR-controlled active suspension system significantly improves ride comfort and vehicle stability. In the single-passenger scenario, pitch acceleration was reduced by 13.7% (from 0.01828 rad/s² to 0.01531 rad/s²), while roll acceleration was reduced by 16.8% (from 0.25134 rad/s² to 0.20739 rad/s²). For the four-passenger scenario, pitch and roll accelerations was reduced by 4.9% and 14.6%, respectively. Although suspension and tire deflections increased due to the dynamic energy trade-off, all deflection values remained within safe tolerance limits (μ < 1 and η < 1). Thus, the application of LQR in the active suspension system effectively enhances vehicle performance in terms of ride comfort.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Suspensi aktif, Linear Quadratic Regulator (LQR), Simscape Vehicle Model, 7-DOF, Ride comfort, Road holding, Deflection suspension limit, Double Lane Change ISO 3888. Active suspension, Linear Quadratic Regulator (LQR), Simscape Vehicle Model, 7-DOF, Ride comfort, Road holding, Suspension deflection limit, Double Lane Change ISO 3888.
Subjects:	T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.5 Motor vehicles Driving T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL257 Springs and suspension
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Mechanical Engineering > 21201-(S1) Undergraduate Thesis
Depositing User:	Hafizah Tabina adiyah
Date Deposited:	04 Aug 2025 06:04
Last Modified:	04 Aug 2025 06:04
URI:	http://repository.its.ac.id/id/eprint/126843

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