Optimisasi Steering Control Mobil Listrik Menggunakan Metode Adaptive Neuro-Fuzzy Inference System (ANFIS)
DOI:
https://doi.org/10.48056/jintake.v6i2.84Keywords:
Vehicle, Lateral Motion, PID, ANFISAbstract
Steering Control adalah sistem kemudi yang dirancang untuk akurasi pergerakan steer terhadap lintasan kendaraan dan memperingan sistem kemudi. Beberapa riset telah dikembangkan pada fully automatic steer by wire system. Akurasi pergerakan steer mobil sangat diperlukan dalam keselamatan berkendaraan, baik keselamatan yang ada didalamnya ataupun orang yang ada dedekatnya. Kesalahan pergerakan steer mobil akan mengakibatkan kesalahan posisi mobil pada jalur kendaraan. Untuk mencegah terjadinya yang demikian diperlukan kontrol pengemudian yang dirancang untuk akurasi pergerakan steer terhadap kendaraan dan memperingan system kemudi. Pada penelitian ini sistem kemudi menggunakan Adaptive Neuro-Fuzzy Inference System (ANFIS). Pada penelitian ini akan dikembangkan model Fully Automatic Steer By Wire System menggunakan 10 Degree Of Freedom (DOF) terdiri dari 7-DOF Vehicle Ride Model dan 3-DOF Vehicle Handling Model. Hasil ANFIS dibandingkan dengan metode PID konvensional didapatkan hasil yang lebih baik. Dari hasil simulasi didapatkan bahwa Adaptive Neuro-Fuzzy Inference System (ANFIS) mampu mengontrol dengan kecpatan mencapai 69,0 km/h dengan overshot terkecil, yaitu 0,005071 pada C-RMS Error.
References
Avak, B., 2004, Modeling and Control of a Superimposed Steering System, Thesis, Master of Science, School of Electrical and Computer Engineering, Georgia Institute of Technology.
E. Atashpaz-Gargari and C. Lucas, "Imperialist competitive algorithm: An algorithm for optimization inspired by imperialistic competition," in Evolutionary Computation, 2007. CEC 2007. IEEE Congress on, 2007, pp. 4661-4667.
Hingwe P., Tan H.S., Packard AK., Tomizuka M., 2002,“Linear Parameter Varying Controller for Automated Lane Guidance: Experimental Study on Tractor-Trailers”, IEEE Transactions On Control Systems Technology, Vol. 10, No. 6, November 2002, pp.793-806.
Hernandez J.I., Kuo C.Y., 2003, “Steering Control of Automated Vehicles Using Absolute Positioning GPS and Magnetic Markers” IEEE Transactions On Vehicular Technology, Vol. 52, No. 1, January 2003, pp. 150-161.
Ahmadi J., Sedigh A.K., Kabganian M., 2009, Adaptive Vehicle Lateral-Plane Motion Control Using Optimal Tire Friction Forces With Saturation Limits Consideration, IEEE Transactions On Vehicular Technology, Vol. 58, No. 8, October 2009, pp. 4098 - 4107
Cai L., Rad A. B., Chan W.L., 2007, Genetic Fuzzy Controller for Vehicle Automatic Steering Control, IEEE Transactions On Vehicular Technology, Vol. 56, No. 2, March 2007, pp. 529 – 543
Hudha, K., Kadir, Z., Said, M. and Jamaluddin, H., 2008, Modeling, validation and roll moment rejections control of pneumatically actuated active roll control for improving vehicle lateral dynamics performance’, International Journal of Engineering Systems Modeling and Simulation, Vol. 1, pp.122–136.
Falcone, P., Borrelli, F., Asgari, J., Tseng, H. E. and Hrovat, D., 2007, Predictive Active Steering Control for Autonomous Vehicle Systems. IEEE Transactions on Control Systems Technology. Vol.15, No. 3, pp. 566 – 580.
MatthewR., Michael, AS., Demetriou, 2000, Modeling and Simulation of Vehicle Ride and Handling Performance, Proceeding of the 15th International Symposium on Intelligent Control (ISIC 2000), Rio, Patras Greece, July 17 – 19.
Wang, J., Hsieh, M.F., 2009, Vehicle Yaw Inertia and Mass Independent Adaptive Control for Stability and Trajectory Tracking Enhancements, American Control Conference, St.Louis MO, USA, June 10 – 12.
Q. Liang, J.M. Mendel, Interval type-2 Fuzzy Logic Control: theory and design, IEEE Trans. Fuzzy Syst. 8 (2000) 535–550
C. Lynch, H. Hagras, V. Callaghan, Embedded type-2 FLC for real-time speed control of marine and traction diesel engines, in: Proceedings of IEEE FUZZ Conference, Reno, NV, May 2005, pp. 347–352
J.R.Castro and O.Castilo, “Interval Type-2 Fuzzy Logic For Intelligent Control Application”, Fuzzy Information Processing Sociaty,2007. NAFIPS’07. Annual Meeting of the North American,2007, pp.592-297
J.M.Mendel, “ On a 50% savings in the computation of the centroid of a symmetrical interval type-2 fuzzy set”, Science Direct, Information Science 172 (2005) 417–430.
J. M. Mendel and R. I. John, “Type-2 fuzzy sets made simple,” IEEE Trans. on Fuzzy Systems, vol. 10, no. 2, pp. 117–127, 2002.
Fachrudin, Robandi, I. Sutantra, N., 2010, Model and Simulation of Vehicle Lateral Stability Control, International Seminar on Applied Technology, Science, and Arts, 2nd APTECS 2010, ITS Surabaya, December 21 – 22.
Fachrudin, Robandi, I. Sutantra, N., 2011, Vehicle Stability Control On Steer By Wire System Using Fuzzy Logic, The International Student Conference on Advanced Science and Technology (ICAST), Shandong University, Jinan, China, September 23 – 27.
Fachrudin, Robandi, I. Sutantra, N., 2012, Modeling and Simulation of Vehicle Stability Control on Steer By Wire System Using Fuzzy Logic Control and PID Control Tuned by PSO, 3rd International Conference on Engineering and ICT (ICEI2012) Melaka, Malaysia, April 4 – 6.
Machrus Ali, Fahrudin, Robandi, I Sutantra, Optimization of Active Steering Control on Vehicle with Steer by Wire System using Imperialist Competitive Algorithm (ICA), IEEE Conference, ICoICT 2015, Vol.3 Nusa Dua Bali, Mei 2015, pp 501-504
Machrus Ali, Soedibyo, Robandi, Desain Pitch Angle Controller Turbin Angin Dengan Permanent Magnetic Synchronous Generator (PMSG) Menggunakan Imperialist Competitive Algorithm (ICA), SENTIA 2015, Volume 7 – ISSN: 2085-2347
