Desain Sistem Kendali Gyroscopic Inverted Pendulum dengan Dua Flywheel

Sampurna, Edwin Ramadhani (2018) Desain Sistem Kendali Gyroscopic Inverted Pendulum dengan Dua Flywheel. Masters thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Indonesia termasuk negara dengan pengguna kendaraan bermotor roda dua yang paling banyak jika dibandingkan dengan transportasi mobil, yang mengakibatkan kasus kecelakaan lalu lintas meningkat. Permasalahan tersebut disebabkan karena stabilisasi dinamis kendaraan roda dua sangat kurang. Salah satu solusi yang ditawarkan untuk mengatasi masalah ini adalah kendaraan roda dua yang memiliki penyeimbang berupa Control Moment Gyroscope. Motor yang dapat menjaga keadaan tegak dan melawan gaya lateral yang diakibatkan oleh gaya sentrifugal saat berbelok. Pada penelitian kali ini merancang sistem inverted pendulum sebagai permodelan sederhana dari kendaraan roda dua, dimana akan dievaluasi dinamikanya agar inverted pendulum dapat kembali ke posisi ekuilibrium dikarenakan adanya pengaruh putaran dari banda rigid lainnya. Prinsip ini dinamakan control moment gyroscope (CMG), dimana gyroscope sebagai aktuator kesetabilan pada inverted pendulum. Penelitian kali ini akan mengevaluasi sistem inverted pendulum dengan dua giroskop menggunakan sistem kendali LQR dan LQG . Hasil pengujian menunjukan bahwa sistem kendali LQR dan LQG mampu mempertahankan inverted pendulum dalam keadaan stabil yaitu tepat pada posisi ekuilibrium dengan rata - rata 3.71 detik. Simulasi dilakukan dengan disturbance berupa impuls sinyal torsi sebesar 2, 4 dan 6 Nm. ================================================================================================== Indonesia is one of the most users of two-wheeled vehicles compared with the users of car transportation, so the problem of traffic accident cases caused by vehicle users increased due to dynamic stabilization of two-wheeled vehicles is very less. One solution that can be offered to solve this problem is a motorcycle that has a control moment gyroscope stabilizer. The position of two-wheeled vehicles experienced a change that makes the existence of a corner deviation against the upright position caused by centrifugal force when turning. Control moment gyroscope is a way to produce a torque, the torque which counters static and dynamic force on motorcycle. The torque which produced by control moment gyroscope is caused by moving flywheel which given an external torque. In this research, the inverted pendulum system is designed to represent a simple model of motorcycle, the inverted pendulum system will be evaluated dynamically so that the inverted pendulum can return to the equilibrium point. This research will evaluate the inverted pendulum system with two gyroscopes using LQR and LQG control systems. The simulation result of inverted pendulum system with multi-body model using LQR and LQG control is able to maintain the inverted pendulum in stable condition, stability is precisely in the equilibrium position with an average of 3.71 seconds. The simulation was performed by disturbance in the form of impulse torque signal of 2, 4 and 6 Nm.

Item Type: Thesis (Masters)
Uncontrolled Keywords: Stabilisasi, inverted pendulum, CMG, Linear Optimal Control
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ213 Automatic control.
T Technology > TJ Mechanical engineering and machinery > TJ230 Machine design
T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL257.5 Automobiles--Shock absorbers--Design and construction.
Divisions: Faculty of Industrial Technology > Mechanical Engineering > 21101-(S2) Master Thesis
Depositing User: Edwin Ramadhani Sampurna
Date Deposited: 02 Aug 2021 22:40
Last Modified: 02 Aug 2021 22:40
URI: https://repository.its.ac.id/id/eprint/58250

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