Pengujian Akurasi Posisi Sudut Sistem Kemudi Kendaraan Otonom dengan Unity Feedback System
Keywords:
Absolute rotary encoder, Kendali Sistem Kemudi, Motor BLDC, Kendaraan Otonom Roda Tiga, Pengaturan Posisi Sudut, Unity Feedback SystemAbstract
Perkembangan kendaraan otonom sebagai solusi dari transportasi ramah lingkungan saat ini berkembang cukup cepat. Penelitian ini berfokus pada sistem kemudi loop tertutup dengan unity feedback system untuk kendaraan otonom roda tiga menggunakan Motor BLDC dan Absolute Rotary Encoder. Rotary encoder memberikan feedback perubahan sudut dari kemudi kendaraan otonom. Kendali kemudi yang diusulkan pada penelitian ini ialah dengan menentukan perubahan sudut yang diperlukan untuk kendaraan otonom. Perbandingan sudut yang diinginkan dengan feedback nilai sudut dari rotary encoder dilakukan agar didapatkan hasil yang akurat. Pada penelitian ini dilakukan pengujian dengan 3 variasi kecepatan rotasi putaran kemudi yakni 20 PWM, 50 PWM, dan 100 PWM. Variasi kecepatan diberikan terhadap sudut input berupa sudut lancip yang merepresentasikan belokan tajam (20° - 90° setiap 10°) dan sudut tumpul untuk belokan tidak tajam (120°, 180°, dan 270°). Berdasarkan percobaan, nilai error pada pengujian sudut lancip lebih besar dibandingkan dengan sudut tumpul. Kenaikan nilai error juga meningkat terhadap kenaikan kecepatan putaran rotasi kemudi.
The development of autonomous vehicles as a solution for environmentally friendly transportation is currently developing quite fast. This study focuses on closed loop steering system for three wheel autonomous vehicles with unity feedback system using BLDC Motor and Absolute Rotary Encoder. Rotary encoder as a tranducer provides feedback of changing angle position of three wheel autonomous vehicle steering. Steering system that is proposed in this study is to determine the required angle change for the autonomous vehicle. Comparing the desired angle with actual feedback angle value from the rotary encoder that connected to a BLDC motor, so the precise steering angle value can be achieved. The experiments carried out in this research are run with 3 various steering speed rotation; 20 PWM, 50 PWM, and 100 PWM according to input angle; acute angle that represent sharp turn (20° - 90° every 10°) and obtuse angle that represent non-sharp turn (120°, 180°, and 270°). According to the experiment, sharp turn represent input has bigger error rate than non-sharp turn. Error rate is increasing according to steering
rotation speed increament
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