Kontrol Pelacakan Jalur Untuk Kendaraan Listrik Otonom 4WS4WD Menggunakan Loop Umpan Balik Alami

Utomo, Dimas Satrio (2022) Kontrol Pelacakan Jalur Untuk Kendaraan Listrik Otonom 4WS4WD Menggunakan Loop Umpan Balik Alami. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Kendaraan 4WS4WD (4 wheel steering 4 wheel drives) memiliki motor kemudi dan motor penggerak untuk setiap roda dengan total 8 motor. Dalam kasus pelacakan jalur, hampir semuanya didesain sesuai model matematikanya dengan persamaan sistem xdot=f(x,u); y=h(x,u) persamaan tersebut terlihat kompleks secara matematis. Namun pada uraian ini, disajikan representasi blok diagram dari model dan menggunakan natural feedback loop-nya sendiri yang didapat dari representasi ini untuk memperoleh dua hasil baru yaitu pelacakan jalur yang lebih sederhana secara matematis sehingga mudah diaplikasikan, dan juga dapat menentukan nilai batas percepatan minimal pada roda agar tidak terpeleset. Solusi ini digambarkan pada simulasi
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A Four-wheel steering four-wheel drive electric vehicle has a steering motor and a driving motor for each wheel, for a total of eight motors. Almost all of the existing path-tracking controllers for this vehicle are designed by viewing the mathematical model of the vehicle as the sistem of equations xdot=f(x,u); y=h(x,u), and are mathematically sophisticated. In contrast, this brief presents a block diagrammatic representation of the model, and exploits the natural feedback loops revealed through this representation to develop two novel and useful result: 1) a mathematically simpler path-tracking controller that promises to be easier to tune and 2) a constraint on the wheel accelerations that helps constrain the wheel slips to a desired value. Simulations illustrate this solution.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Active Wheels, Disturbance Observer (DOB), Path Tracking Control (PTC), Input to State Stability (ISS), Roda Aktif, Pengamat Gangguan, 4WS4WD, Pelacakan Jalur
Subjects:	T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.5 Motor vehicles Driving T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles.
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Dimas Satrio Utomo
Date Deposited:	03 Feb 2022 07:28
Last Modified:	02 Nov 2022 04:32
URI:	http://repository.its.ac.id/id/eprint/92710

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