Rancang Bangun Sistem Cerdas Electric Power Steering (EPS) Pada Mobil Kelas Menengah

Mohamad, Mochammad Benta (2026) Rancang Bangun Sistem Cerdas Electric Power Steering (EPS) Pada Mobil Kelas Menengah. Other thesis, Institut Teknologi Sepuluh Nopember.

Text 2039211031_Undergraduate_Thesis.pdf - Accepted Version Restricted to Repository staff only Download (3MB) | Request a copy

Abstract

Sistem **Hydraulic Power Steering (HPS)** pada kendaraan sering mengalami kebocoran saluran hidrolik dan konsumsi bahan bakar yang tinggi, sehingga meningkatkan biaya pemeliharaan dan pemborosan bahan bakar. Sebagai solusi, penelitian ini merancang sistem **Electric Power Steering (EPS)** cerdas untuk mobil kelas menengah dengan studi kasus truk pickup GranMax. Kendaraan dimodelkan menggunakan model setengah kendaraan, sedangkan subsistem mekanik unit kemudi dimodelkan dengan persamaan dinamis dan rasio kemudi 18:1. Kalibrasi sensor torsi menghasilkan persamaan **ADC = 16,8T + 512** dengan sensitivitas **16,8 ADC/Nm**, sedangkan sensor sudut menghasilkan persamaan **θ = 0,41(ADC − 512)** dengan sensitivitas **2,344 ADC/°**. Kedua sensor memiliki koefisien determinasi (R²) di atas 0,99 yang menunjukkan linearitas yang sangat baik. Logika kontrol yang diterapkan mempertimbangkan masukan berupa torsi kemudi, berat kendaraan, dan kecepatan kendaraan. Untuk menguji kinerja EPS, dilakukan pengujian pada variasi kecepatan 15, 20, 25, 30, 35, dan 40 km/jam serta variasi sudut belok kemudi 0°, 90°, 180°, 270°, dan 360°. Hasil pengujian menunjukkan bahwa torsi bantuan (*assist torque*) mencapai nilai puncak sebesar **12 Nm** dengan arus motor **18,6 A** pada sudut belok 180° dan kecepatan 15 km/jam, kemudian menurun secara konsisten seiring meningkatnya kecepatan hingga mencapai **7,8 Nm** dengan arus **10,4 A** pada kecepatan 40 km/jam. Pada sudut belok 360°, torsi bantuan menurun dari **5,6 Nm** (arus **10,8 A**) menjadi **2,8 Nm** (arus **6,2 A**) ketika kecepatan meningkat dari 15 menjadi 40 km/jam, sedangkan pada sudut belok 0° torsi bantuan relatif konstan mendekati **0 Nm** dengan arus siaga stabil sekitar **2,5 A**. Hasil ini membuktikan bahwa sistem EPS cerdas yang diusulkan mampu memberikan bantuan kemudi yang lebih besar pada kecepatan rendah untuk mempermudah manuver, kemudian mengurangi bantuan secara adaptif seiring meningkatnya kecepatan kendaraan sehingga stabilitas berkendara tetap terjaga.
===================================================================================================================================
Hydraulic Power Steering (HPS) systems in vehicles frequently experience hydraulic line leakage and high fuel consumption, leading to increased maintenance costs and fuel inefficiency. As a solution, this study proposes the design of an intelligent **Electric Power Steering (EPS)** system for medium-class vehicles, using the GranMax Pickup Truck as a case study. The vehicle is modeled using a half-vehicle model, while the steering subsystem is represented by dynamic equations with a steering ratio of **18:1**. Torque sensor calibration produced the equation **ADC = 16.8T + 512** with a sensitivity of **16.8 ADC/Nm**, whereas steering angle sensor calibration yielded **θ = 0.41(ADC − 512)**, corresponding to a sensitivity of **2.344 ADC/°**. Both sensors achieved coefficients of determination (R²) greater than **0.99**, indicating excellent linearity. The proposed control strategy considers steering torque, vehicle load, and vehicle speed as input variables. To evaluate the EPS performance, experiments were conducted at vehicle speeds of **15, 20, 25, 30, 35, and 40 km/h** and steering angles of **0°, 90°, 180°, 270°, and 360°**. The experimental results show that the assist torque reached a maximum value of **12 Nm** with a motor current of **18.6 A** at a steering angle of **180°** and a vehicle speed of **15 km/h**. As vehicle speed increased, the assist torque decreased consistently, reaching **7.8 Nm** with a motor current of **10.4 A** at **40 km/h**. At a steering angle of **360°**, the assist torque decreased from **5.6 Nm** (motor current **10.8 A**) to **2.8 Nm** (motor current **6.2 A**) as the vehicle speed increased from **15 km/h** to **40 km/h**. Meanwhile, at a steering angle of **0°**, the assist torque remained close to **0 Nm**, while the standby motor current remained stable at approximately **2.5 A**. These results demonstrate that the proposed intelligent EPS system provides greater steering assistance at low vehicle speeds to facilitate maneuverability and adaptively reduces steering assistance as vehicle speed increases, thereby improving driving stability.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Electric Power Steering (EPS), Mobil Kelas Menengah, Pickup GranMax, Sistem Kendali Cerdas, Stabilitas Kendaraan, Electric Power Steering (EPS), GranMax Pickup Truck, Intelligent Control System, Medium-Duty Vehicle, Vehicle Stability
Subjects:	T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.5 Motor vehicles Driving T Technology > TS Manufactures > TS170 New products. Product Development
Divisions:	Faculty of Vocational > Mechanical Industrial Engineering (D4)
Depositing User:	Mochammad Benta Erlanda Fauzan
Date Deposited:	01 Aug 2026 01:51
Last Modified:	01 Aug 2026 01:51
URI:	http://repository.its.ac.id/id/eprint/140904

Actions (login required)

View Item