PERANCANGAN SISTEM KONTROL SUSPENSI AKTIF MENGGUNAKAN "KONTROL OPTIMAL LQR" PADA MODEL KENDARAAN SETENGATI

Setiawan, Iwan and Sumardi, Sumardi and Wahyudi, Wahyudi (2005) PERANCANGAN SISTEM KONTROL SUSPENSI AKTIF MENGGUNAKAN "KONTROL OPTIMAL LQR" PADA MODEL KENDARAAN SETENGATI. Documentation. FAKULTAS TEKNIK.

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Abstract

A good suspension system should improve the passenger comfort and safety in ride •ar. lb improve the pasunger comfort and safety, it should minimize the vertical body acceleration and suspension deflection dedue to irregularities of the road sutface. In this rematch, a design of active suspension system on the half-car model by using optimal control Linear Quadratic Regulator (LQR) is conducted A design is conducted by using some different of weighting matrix Q. The results of the design is evaluated using some road disturbance models, which can be representcd by sinusoidal signal model, random signal model and a model that simulate road bump. The results of research showed that the designed active suspension system with optimal controller, can give better performance in ride comfort and safety than passive =pension system. With road bump disturbance, the value of the vertical body acceleration, the front suspension deflection and the rear suspension deflection using passive suspension system successively is 0.576886 m/s1, 0.000752968 m and 0.000336435 m. In Active suspension system, optimal result obtained with Q=diag(II, 105 le) whereas give the value the vertical body accekration, the fivnt suspension deflection and the rear suspension deflection successively is become 0.535173 in/s2, 0.000492m dan 0.000266 tn. Using road sinusoidal disturbance, and road random disturbance the designed active suspension system with optimal controller can give lower maximum value of the vertical body acceleration and suspension deflection then passive suspension system. Sistem suspensi yang balk hams dapat meningkadcan kenyamanan don keamanan Mgt pemimpang dalam herkendaraan. Dalam usaha meningkatkan kenyamanan dan keamanan penumpang, sistem suspensi harus dapat meminimalkan percepatan vertikal badan kendaraan dan defleksi suspensi sehubungan dengan permakaan jalan yang tak menentu. Pada penehtian ini dilakukan perancangan sniff, swami aka. fpada model kendaraan seiengah dengan mengrmakan metoda kontrol optimal Linear Quadratic Regulator (LQR). Perancangan dilakukan dengan menggunakan beberapa harga matriks pembobot peubah keadaan Q yang herbeda. Hasil perancangan diuji dengan beherapa model gangguan yang diwakili oleh modd sinyal stmts. model sinyal random dan .wbuah model yang menggamharkan gundukart Basil penditian memmjukkan bahwa sistern suspensi aktif dengan pengontrol optimal yang telah dirancang dapat memberilcan tingkat kenwrmanan dan keamanan yang rebid lebih baik dibandingkan dengan sistem suspcnn plash! Dengan gangguan gundukan, nikti percepatan vends& badan kendaraan. defleksi suspensi depan dan belakang pada suspensi pasd bertuntt-turut adalah sebesar 0.576886 mie, 0.000752968 in dan 0.000336J35 tn. Pada suspensi aktit basil optimal diperoleh dengan Q-diag(!05 105 105), yang memberikan nil& percepatan vertikal badan kendaraan, deJleksi suspensi depan dan bdakang benurut-turut menjadi sehesar 0.535173 nils2, 0.000491m don 0.000266 m. Dengun gungguan singe! dan gangguan random sistem suspensi aka! (Langan pengontrol optimal yang mirth dirancang menghasilkan nilai maksimum percepatan vertikal badan kendaraan dem defleksi suspensi yung kbih renclah dibandingkan dengan astern suspensi pasif

Item Type:Monograph (Documentation)
Subjects:T Technology > TL Motor vehicles. Aeronautics. Astronautics
Divisions:Faculty of Engineering > Department of Mechanical Engineering
Faculty of Engineering > Department of Mechanical Engineering
ID Code:21458
Deposited By:Mr UPT Perpus 5
Deposited On:31 Aug 2010 07:59
Last Modified:31 Aug 2010 07:59

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