Rancang Bangun Regenerative Anti-lock Braking System Berbasis Kontrol Proportional (P) Gain Scheduling

Said, Ahmad Hazmi (2021) Rancang Bangun Regenerative Anti-lock Braking System Berbasis Kontrol Proportional (P) Gain Scheduling. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Kendaraan mempunyai berbagai fitur keamanan salah satunya yaitu Anti-lock Braking System (ABS). Pada kendaraan listrik, pengereman regeneratif ABS dapat meningkatkan efesiensi dalam penggunaan energi. Penelitian ini merancang suatu sistem regeneratif ABS menggunakan distribusi torsi pengereman elektro hidrolik berbasis sistem kontrol proporsional gain scheduling. Dalam hal ini algoritma kontroler ditanam pada arduino uno. Sistem kontrol bekerja untuk mengatur dan menyesuaikan eror slip dari kendaraan berdasarkan kondisi slip ratio yang didapatkan sehingga dapat menggunakan nilai gain yang sesuai dengan titik kerjanya. Hal ini bertujuan untuk mempertahankan nilai slip ratio sekitar 0,2 yang merupakan nilai slip rato optimal pada kondisi jalan aspal kering dan lurus. Plant ini terdapat sensor arus serta rangkaian pembagi tegangan sehingga dapat mengetahui daya yang masuk pada saat melakukan pengereman regeneratif. Pengendalian kontrol proportional gain scheduling yang mana nilai Kp1 = 2 dan Kp2 = 8 merupakan pengendalian terbaik dengan nilai ITAE terkecil yaitu sebesar 0,71. Nilai kenaikan SOC yang didapat dengan pengendalian ini sebesar 2,43% serta arus yang didapat pada saat melakukan pengereman dengan rata-rata arus sebesar 0,143 Ampere. ====================================================================================================== Vehicles have various security features, one of which is the Anti-lock Braking System (ABS). In an electric vehicle, ABS regenerative braking can increase efficiency in energy use. This study designed an ABS regenerative system using electro-hydraulic braking torque distribution based on a gain scheduling proportional control system. In this case, the controller algorithm is embedded in the Arduino Uno. The control system works to adjust and adjust the slip error of the vehicle based on the slip ratio condition obtained so that it can use the gain value according to its working point. It aims to maintain the slip ratio value of about 0.2 which is the optimal slip ratio value on dry and straight asphalt road conditions. This plant has a current sensor and a voltage divider circuit so that it can determine the incoming power when performing regenerative braking. Proportional gain scheduling control where the value of Kp1=2 and Kp2=8 is the best control with the smallest ITAE value of 0.71. The increase in SOC value obtained with this control is 2.43% and the current is obtained when braking with an average current of 0.143 Ampere.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: anti-lock braking system, regenerative, proportional, gain scheduling
Subjects: Q Science > QC Physics > QC100.5 Measuring instruments (General)
T Technology > TJ Mechanical engineering and machinery > TJ223 PID controllers
T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.5 Motor vehicles Driving
T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL220 Electric vehicles and their batteries, etc.
Divisions: Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User: Ahmad Hazmi Said
Date Deposited: 23 Aug 2021 09:58
Last Modified: 23 Aug 2021 09:58
URI: https://repository.its.ac.id/id/eprint/88925

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