PROTOTIPE SEMI-AUTOMATIC STEER BY WIRE MENGGUNAKAN SISTEM KONTROL OPTIMAL
DOI:
https://doi.org/10.31328/ciastech.v5i1.4370Keywords:
Semi-automatic, Steer by Wire, FLC, OptimisasiAbstract
Tujuan pengembangan sistem kontrol optimal pada prototipe Semi-automatic Steer by Wire adalah Sinkronisasi sudut kemudi (steer angle) terhadap arah pergerakan roda kendaraan sehingga pergerakan kendaraan dapat dikendalikan pada lintasan yang diinginkan. Semi-automatic salah satu tipe Steer by Wire system yang masih menggunakan steer input untuk mengendalikan arah roda depan kendaraan. Sistem kontrol optimal yang digunakan adalah kombinasi Fuzzy Logic Control (FLC) dengan Swarm based optimization. Pengujian dilakukan dengan mengoptimisasi sistem kontrol sehingga diperoleh sistem kontrol optimal selanjutnya diterapkan pada prototipe Semi-automatic Steer by Wire dan diperoleh performansi prototipe yaitu C-RMS error sebesar 6,712. Prototipe Semi-automatic Steer by Wire dapat beroperasi pada rasio yang berbeda antara sudut kemudi terhadap sudut roda kendaraan yaitu rasio 1 : 25 untuk kecepatan di atas 10 km/h atau saat kendaraan melaju dengan kecepatan sedang hingga  tinggi dan rasio 1 : 6,25 untuk kecepatan di bawah 10 km/h atau saat kendaraan sedang manuver di area parkir.ÂReferences
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