Agprianta, Deni (2018) Rancang Bangun Sistem Pengereman Otomatis Berbasis Fuzzy PID pada Prototipe Mobil Otonom ACePITS. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Indonesia merupakan negara dengan mobilitas serta kebutuhan akan transportasi massal yang sangat tinggi. Dalam dekade ini pengembangkan teknologi mobil autonomous berbasis kecerdasan buatan semakin berkembang pesat. Untuk menunjang mobil berbasis kecerdasan buatan diperlukan berbagai komponen pendukung. Salah satu komponen penting itu adalah sistem pengereman. Dalam tugas akhir ini dilakukan rancang bangun sistem pengereman otomatis pada prototype mobil ACePITS. Sistem pengereman otomatis ini dirancang menggunkan 2 buah Motor BLDC 1 KW sebagai penggerak mobil, 1 Kelly KBL kontroler motor, pengereman dilakukan dengan rem cakram hidrolik, yang digerakan oleh servo motor. Untuk perintah pengeremannya berdasarkan kendali rpm dari sensor hall effect sebagai parameter kendali. Kontroler fuzzy-PID dari sistem ini ditanamkan pada Arduino. Dalam tugas akhir ini dilakukan uji sistem pengereman. Berdasarkan data implementasi Fuzzy-PID sistem pengereman otomatis dapat ditanamkan pada kontroler pengereman. Hasil pengujian menggunakan parameter Kp, Ki dan Kd masing masing sebesar 50, 22.5 dan 0.392 didapatkan respon yang relatif stabil serta dapat menghentikan gerak mobil pada saat uji pengereman. Uji pengereman dilakukan dengan variasi kecepatan awal 180 rpm, 200 rpm dan 220 rpm, hasil pengujian didapatkan jarak berhenti prototipe mobil ini masing masing 2,2 meter , 2,8 meter dan 3,4 meter
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Indonesia is a country with mobility and the need for mass transportation is very high. In this decade the development of autonomous car technology based on artificial intelligence is growing rapidly. To support artificial intelligence-based car required various supporting components. One of the important components is the braking system. In this final project is done design of automatic braking system on ACePITS car prototype. Automatic braking system is designed using 2 pieces BLDC 1 KW Motor as the driving force of the car, 1 Kelly KBL motor controller, braking is done with hydraulic disc brakes, driven by servo motor. For braking commands based on the rpm control of the hall effect sensor as a control parameter. The fuzzy- PID of the system is implanted in the Arduino. In this final project conducted braking system test that has been made. Based on Fuzzy-PID implementation data, automatic braking system can be embedded on the controller of the braking. Test results using Kp, Ki and Kd parameters respectively of 50, 22.5 and 0.392 obtained a relatively stable response and can stop the motion of the car during the braking test. Braking test is carried out with an initial speed variation of 180 rpm, 200 rpm and 220 rpm, the test results obtained the distance to stop the prototype of each car is 2.2 meters, 2.8 meters and 3.4 meters.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Uncontrolled Keywords: | Otomatis, Fuzzy, Pengereman |
| Subjects: | T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control |
| Divisions: | Faculty of Industrial Technology > Physics Engineering > 30201-(S1) Undergraduate Thesis |
| Depositing User: | DENI AGPRIANTA |
| Date Deposited: | 01 Jul 2021 07:44 |
| Last Modified: | 01 Jul 2021 07:44 |
| URI: | http://repository.its.ac.id/id/eprint/55880 |
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