Putra, Dwi Aldino (2026) Analisis Performa Sistem Kemudi Electro-Hydraulic Power Steering (EHPS) Berbasis Kontrol PID Pada Forklift Komatsu 5 Ton Melalui Simulasi Matlab/Simulink. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Permasalahan utama sistem kemudi Hydraulic Power Steering (HPS) konvensional pada forklift Komatsu 5 ton adalah ketergantungan pompa hidrolik terhadap putaran mesin, yang menimbulkan kerugian daya parasitik dan berpotensi menurunkan bantuan kemudi. Penelitian ini merancang sistem Electro-Hydraulic Power Steering (EHPS) dengan motor BLDC, pompa hidrolik independen, dan kontroler PID yang bekerja berdasarkan kebutuhan (power on-demand). Model matematis mengintegrasikan dinamika kendaraan lateral-yaw 2-DOF dan aktuator EHPS 3-DOF sehingga membentuk total 5-DOF mekanik, kemudian ditransformasikan ke domain Laplace dan disimulasikan menggunakan MATLAB/Simulink. Pengujian dilakukan pada 25 kombinasi kecepatan kendaraan 0–4,83 m/s dan sudut kemudi 45°–105° menggunakan kontroler PI sebagai bentuk PID dengan komponen derivatif bernilai nol (Kp = 12,69; Ti = 0,05 s; Ki = 253,8). Hasil simulasi menunjukkan rise time sebesar 1,061–1,064 s, settling time 1,901–1,909 s, dan overshoot 0%, sehingga seluruh kondisi pengujian memenuhi kriteria desain. Dibandingkan HPS, sistem EHPS menghasilkan penghematan energi sebesar 69,16%–91,36%. Hasil tersebut menunjukkan bahwa EHPS mampu memberikan respons rack yang stabil dan responsif sekaligus mengurangi konsumsi energi melalui sumber tenaga kemudi yang independen dan bekerja sesuai kebutuhan.
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The conventional Hydraulic Power Steering (HPS) system of a 5-ton Komatsu forklift relies on an engine-driven hydraulic pump, resulting in parasitic power losses and potentially reduced steering assistance. This study develops an Electro-Hydraulic Power Steering (EHPS) system using an independent BLDC motor-driven hydraulic pump and a power-on-demand PID control strategy. The mathematical model integrates a 2-DOF lateral-yaw vehicle model and a 3-DOF EHPS actuator model, resulting in a total of five mechanical degrees of freedom. The equations were transformed into the Laplace domain and implemented in MATLAB/Simulink. The system was evaluated under 25 combinations of vehicle speed from 0 to 4.83 m/s and steering angle from 45° to 105°, using a PI controller represented as a PID controller with zero derivative action (Kp = 12.69, Ti = 0.05 s, and Ki = 253.8). The simulation produced a rise time of 1.061–1.064 s, a settling time of 1.901–1.909 s, and 0% overshoot; therefore, all test conditions satisfied the design criteria. Compared with the conventional HPS system, the EHPS system achieved energy savings of 69.16%–91.36%. These results demonstrate that the proposed EHPS provides stable and responsive rack-position performance while reducing energy consumption through an independent, on-demand steering power source.
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