Sania, Yoanne Ayuningtias (2020) PERANCANGAN FAULT TOLERANT CONTROL (FTC) PADA SISTEM PENGEREMAN HYBRID DENGAN KESALAHAN SENSOR DAN AKTUATOR PADA MOBIL LISTRIK. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.
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Abstract
Gangguan pada kendaraan ketika berada di jalan cukup beragam, salah satunya yaitu ban mengalami selip, ini terjadi karena pengereman yang terlalu kuat dan mendadak, sehingga roda terkunci dan berhenti. Salah satu cara untuk mengatasi selip pada mobil listrik menggunakan Regenerative Anti-lock Braking System (ABS). Pengereman torsi gesekan dan torsi motor atau pengereman elektro-hidrolik (hybrid) dapat digunakan pada kendaraan listrik. Sliding Mode Control (SMC) digunakan pada ABS dapat mengatasi adanya slip pada saat pengereman. Kesalahan sensor dan aktuator dapat mempengaruhi kinerja SMC. Pada penelitian ini akan dilakukan desain Fault Tolerant Control (FTC) pada sistem pengereman mobil listrik yang menggunakan pendekatan model quarter car untuk mengatasi adanya kesalahan sensor dan aktuator. Desain FTC dilakukan dengan desain observer, lalu validasi model kemudian membandingkan performa SMC dan SMC-FTC dengan kesalahan sensor dan aktuator. Pada penelitian ini didapatkan hasil SMC-FTC dapat mengatasi adanya kesalahan sensor kendaraan sebesar 100%, kesalahan sensor roda sebesar 20% dan kesalahan aktuator sebesar 50%. SMC-FTC mampu mencapai set point slip rasio 0,2 dan berhenti lebih cepat dibandingkan sebelum dilengkapi FTC.
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Disturbances in vehicles while on the road are quite diverse, one of them is tire slip, this occurs due to emergancy braking, so the wheels lock. Regenerative Anti-lock Braking System operates by preventing the wheels from locking up during braking. Traditional torque braking and motor torque braking (hybrid braking) can be used in braking system in electric vehicles. A Sliding Mode Controller (SMC) for ABS is developed to maintain the optimal slip value. Sensor and actuator fault can affect the performance of the SMC. The FTC design is carried out with the observer design, then validates the model then compares the performance of the SMC and FTSMC with sensor and actuator fault. In this research, the result of FTSMC can overcome vehicle sensor fault by 100%, wheel sensor fault by 20% and actuator fault by 50%. The FTSMC able to achive a set point slip ratio of 0.2 and stop faster than SMC. FTSMC show the braking system can work well even with sensor and actuator fault.
| Item Type: | Thesis (Undergraduate) |
|---|---|
| Uncontrolled Keywords: | ABS, Fault Tolerant Control, hybrid, observer, regenerative. |
| Subjects: | Q Science > QC Physics > QC100.5 Measuring instruments (General) |
| Divisions: | Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis |
| Depositing User: | Yoanne Ayuningtias Sania |
| Date Deposited: | 03 Aug 2020 07:19 |
| Last Modified: | 11 May 2023 02:03 |
| URI: | http://repository.its.ac.id/id/eprint/76784 |
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