OPTIMISASI STEERING CONTROL MOBIL LISTRIK AUTO-PILOT MENGGUNAKAN METODE FIREFLY ALGORITHM (FA)
DOI:
https://doi.org/10.29407/inotek.v1i1.352Abstract
Steering Control adalah sistem kemudi yang dirancang untuk akurasi pergerakan steer terhadap lintasan kendaraan dan memperingan sistem kemudi. Akurasi pergerakan steer mobil sangat diperlukan dalam keselamatan berkendaraan, baik keselamatan yang ada didalamnya ataupun orang yang ada di dekatnya. 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 sistem kemudi. Beberapa riset telah dikembangkan pada fully automatic steer by wire system antara lain riset yang dikhususkan pada input trajectory (lintasan) yang menggunakan teknologi Global Positioning System (GPS) dan trajectory yang menggunakan line guidance. Pada penelitian ini sistem kemudi menggunakan PID kontroler. Penggunan Artificial Intelligence (AI) sangat membantu dalam mempercepat proses pengontrolan PID. Metode pada penelitian ini menggunakan PID kontroler yang dituning dengan metode Firefly Algorithm. 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 PID-FA akan dibandingkan dengan metode PID konvensional. Kontrol PID-FA didapatkan hasil yang lebih baik, dengan dibuktikan dengan kemampuan mengontrol mobil dengan kecepatan mencapai 69,0 km/h dengan overshot terkecil, yaitu 0,005071 pada C-RMS Error.
Keywords:
Firefly, Lateral Motion, Vehicle##plugins.themes.default.displayStats.downloads##
References
Machrus Ali, Fachrudin, Robandi, I. Nyoman Sutantra, Optimization of Active Steering Control On Vehicle With Steer by Wire System Using Imperialist Competitive Algorithm (ICA), International Conference on Information and Communication Technology- ICoICT3rd, IEEE International Conference, Bali, Mei, 2015, pp.500-503.
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.
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.
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
Yang, X. S. Firefly algorithms for multimodal optimization. Stochastic Algorithms: Foundation and Applications” SAGA 2009. Lecture Notes in Computer Sciences 5792
Fachrudin, Robandi, I. Sutantra, N, 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, 2011, pp: 23 – 27.
Machrus Ali, Hendra Kusuma, I Nyoman Sutantra, The Comparison of Optimization for Active Steering Control on Vehicle Using PID Controller Based on Artificial Intelligence Techniques, International Seminar on Application for Technology of Information and Communication – Isemantic, IEEE International Conference, Semarang, August, 2016, pp. 18-23
Downloads
Published
Issue
Section
License
Copyright (c) 2020 Machrus Ali, Akemad Suhadak
This work is licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
Authors who publish with this journal agree to the following terms:
- Copyright on any article is retained by the author(s).
- The author grants the journal, right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgment of the work’s authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal’s published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgment of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work.
- The article and any associated published material is distributed under the Creative Commons Attribution-ShareAlike 4.0 International License
