Ikhfani, Eka Putri Nur (2019) Perancangan Sistem Fault Tolerant Control (FTC) Berdasarkan Estimasi Kesalahan Sensor dan Aktuator Pada Anti-Lock Braking System Mobil Konvensional. Other thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Anti lock Braking System (ABS) merupakan teknologi keselamatan aktif yang digunakan untuk mengontrol dinamika kendaraan ketika terjadi pengereman secara mendadak. Sensor dan aktuator merupakan salah satu komponen yang terdapat dalam ABS, dimana ketika terjadi kesalahan pada komponen ini akan berpengaruh terhadap kestabilan sistem dan menurunkan tingkat safety (keamanan). Pada tugas akhir ini diterapkan skema Fault Tolerant Control (FTC) agar dapat mengkompensasi kesalahan pada sensor maupun aktuator sehingga meningkatkan performansi sistem. Sistem yang ditinjau pada tugas akhir ini menggunakan pemodelan Quarter Car Model (QCM). Kontroller yang digunakan pada tugas akhir ini adalah Sliding Mode Controller dengan parameter gain k dan epsilon (ɛ) berturut-turut adalah 60 dan 0,1 dengan respon sistem : maximum overshoot 6% dan settling time 0,11s. Algoritma FTC bekerja dengan menggunakan hasil perhitungan residual (f_s ) ̂ dan (f_a ) ̂ sebagai nilai kompensasi terhadap sinyal pengukuran. Dari hasil uji respon setelah diberi kesalahan bias pada sensor dan aktuator sistem yang dilengkapi FTC mampu mengatasi kesalahan bias aktuator hingga 30%, pada sensor kendaraan hingga 100% dan kesalahan bias wheel speed sensor sebesar 20% serta kesalahan sensitivitas aktuator dan sensor kendaraan sebesar 5% dan 90%.
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Anti lock Braking System (ABS) is an active safety technology that is used to control vehicle dynamics when sudden braking occurs. Sensors and actuators are one of the components found in ABS,where when faults occurs in this components it will affect the stability of the system and reduce the level of safety . In this final project, the Fault Tolerant Control (FTC) scheme is applied to accommodate errors on the sensors and actuators so as to improve system performance. The system reviewed in this final project used Quarter Car Model (QCM) modeling. The controller used in this final project is Sliding Mode Controller with parameters gain k and epsilon (ɛ), respectively 60 and 0.1 with the system response: maximum overshoot 6% and settling time 0.11s. The FTC algorithm works by using the the residual calculation result (f_s ) ̂ and (f_a ) ̂ as the compensation value for the measurement signal. From the results of the response test after being given a bias error on the sensor and actuator the system equipped with FTC is able to overcome the actuator bias error of up to 30%, the bias sensor error of the vehicle is up to 100% and the bias error of wheel speed sensor is 20% along sensitivity error of actuator and sensor vehicle is up to 5% and 90%.
| Item Type: | Thesis (Other) |
|---|---|
| Additional Information: | RSF 629.246 Ikh p-1 2019 |
| Uncontrolled Keywords: | anti-lock braking system, sensor, actuator, Fault Tolerant Control (FTC) |
| Subjects: | T Technology > T Technology (General) T Technology > T Technology (General) > T57.62 Simulation T Technology > TL Motor vehicles. Aeronautics. Astronautics T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control |
| Divisions: | Faculty of Industrial Technology > Physics Engineering > 30201-(S1) Undergraduate Thesis |
| Depositing User: | Eka Putri Nur Ikhfani |
| Date Deposited: | 30 Apr 2024 01:51 |
| Last Modified: | 30 Apr 2024 01:51 |
| URI: | http://repository.its.ac.id/id/eprint/68350 |
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