ILMI, MUHAMMAD FADLI (2016) PERANCANGAN KONTROLER ADAPTIVE PID UNTUK ELECTROMAGNETIC ANTI-LOCK BRAKING SYSTEM (ABS) PADA KENDARAAN LISTRIK. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Anti-Lock Braking System (ABS) digunakan pada automobile untuk
meminimalkan jarak pemberhentian dan mencegah roda terkunci pada
saat pengereman mendadak. Roda sering terkunci pada saat pengereman
mendadak pada jalan yang koefisien gesekannya kecil. Selama roda
terkunci, kendaraan akan kehilangan kontrol steering dan gaya geseknya
berkurang secara cepat sehingga kendaraan sulit untuk berhenti. Dalam
kondisi normal, kecepatan kendaraan hampir sama dengan kecepatan
roda, namun pada keadaan roda terkunci dan mengalami slip, perbedaan
kecepatan kendaraan dan kecepatan roda sangat jauh. Secara umum, ABS
menawarkan keamanan pada kendaraan dengan membatasi slip roda
longitudinal saat pengereman dengan kondisi slip tinggi. Pada tugas akhir
ini digunakan metode Gain Scheduling untuk mengontrol ABS. Konsep
kontroler digunakan untuk mengatur dan menyesuaikan error slip dan
error output dari kendaraan pada saat terjadi pengereman dengan kondisi
jalan tertentu, Hal ini digunakan untuk mempertahankan slip dalam
spesifikasi yang diberikan, yaitu 20 persen. Masukkan plant ABS adalah
slip yang diharapkan dan keluarannya adalah slip dari plant. Kontroler
PID pada saat simulasi dan implementasi dapat mengikuti set point yaitu
sebesar 0,2 pada setiap kondisi jalan saat pengereman terjadi.
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Anti-lock Braking System (ABS) is used on the automobile to minimizing
the distance stops and prevents the wheels locked when braking suddenly.
The wheels are often locked at the time of sudden braking on the road
which coefficient traction is small. As long as the wheels are locked, the
vehicle will lose control of the steering and the traction force reduced
quickly so that the vehicle is hard to stop. Under the normal conditions,
the speed of the vehicle is almost the same as the speed of the wheels, but
on the State of the locked wheels and slip, the difference in the speed of
the vehicle and the speed of the wheels is very far away. In General, the
ABS offers safety on the vehicle by limiting longitudinal wheel slip when
braking with high slip condition. In this final project, a method of Gain
Scheduling for controlling the ABS controller concept is used to set up
and customize error slips and errors output of vehicles in when braking
with certain road conditions, it is used to maintain a slip in the
specifications provided, which is 20%. Input of plant ABS is desired slip
and output of plant ABS is slip from plant PID controller at the time of the
simulation and implementation can follow the set point which is 0.2 on
any road conditions when braking occurs.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Additional Information: | RSE 629.246 Ilm p |
| Uncontrolled Keywords: | ABS, PID,Gain Scheduling |
| Subjects: | T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control |
| Divisions: | Faculty of Industrial Technology > Electrical Engineering > 20201-(S1) Undergraduate Thesis |
| Depositing User: | Users 13 not found. |
| Date Deposited: | 17 Jan 2017 08:24 |
| Last Modified: | 27 Dec 2018 01:43 |
| URI: | http://repository.its.ac.id/id/eprint/1666 |
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