KURNIAWAN, AGUSTYAN RONA (2024) RANCANG BANGUN KONTROL ELECTRIC POWER STEERING SEBAGAI PENGHINDAR OBSTACLE OTOMATIS PADA ELECTRIC BUGGY CAR DENGAN FUZZY LOGIC. S1 thesis, Universitas Mercu Buana Jakarta.
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Abstract
Electric vehicles are an alternative to dealing with air pollution. Battery-based electric motorized vehicles are vehicles that are driven by an electric motor and get a supply of electric power from the battery directly in the vehicle or outside. Power steering used in vehicles to reduce the burden in controlling the vehicle. There are two types power steering that is electric power steering and hydraulic power steering. This research uses electric buggy car with electric power steering where a control is added that has a working principle like an obstacle avoidance robot whose aim is to avoid obstacle. The control system implemented uses the fuzzy logic method by utilizing an ultrasonic sensor as input and STM32F411CEU6 as a microprocessor. This sensor is capable of detecting objects with a maximum distance of 4.5m. The output of this system is motor rotation electric power steering which can rotate steer to turn away from obstacle. Based on the sensor test results, it was found that the sensor readings with the actual distance had an average percentage error 1.01%. The fuzzy output test results have a percentage error 1,65%. Duty cycle Affects the rotational speed of the motor where the current value becomes greater duty cycle then the current released will be greater. Dynamic testing was carried out in 10 trials with a success rate of avoidance obstacle of 80% where failure occurs when obstacle which is read has a distance that is too close to electric buggy car. Keywords : Electric Power Steering, Electric Buggy Car, Obstacle, Fuzzy Kendaraan listrik menjadi sebuah alternatif untuk mengatasi polusi udara. Kendaraan bermotor Listrik berbasis baterai adalah kendaraan yang digerakkan dengan motor listrik dan mendapatkan pasokan sumber daya tenaga Listrik dari baterai secara langsung di kendaraan maupun luar. Power steering digunakan pada kendaraan untuk mengurangi beban dalam mengendalikan kendaraan. Terdapat dua jenis power steering yaitu electric power steering dan hydraulic power steering. Penelitian ini menggunakan electric buggy car dengan electric power steering dimana ditambahkan sebuah kontrol yang memiliki prinsip kerja seperti robot penghindar halangan yang bertujuan untuk menghindar obstacle. Sistem kontrol yang diterapkan menggunakan metode logika fuzzy dengan memanfaatkan sensor ultrasonik sebagai input dan STM32F411CEU6 sebagai mikroprosesor. Sensor ini mampu mendeteksi objek dengan jarak maksimal sejauh 4,5m. Keluaran dari sistem ini berupa putaran motor electric power steering yang dapat memutar steer untuk berbelok menghindar obstacle. Berdasarkan hasil pengujian sensor didapatkan hasil pembacaan sensor dengan jarak sebenarnya memiliki rata-rata persentase error 1,01%. Hasil pengujian ouput fuzzy memiliki persentase error 1,65%. Duty cycle memperngaruhi kecepatan putar motor nilai arus dimana semakin besar duty cycle maka arus yang dikeluarkan akan semakin besar. Pengujian dinamis dilakukan sebanyak 10 percobaan dengan tingkat keberhasilan menghindar obstacle sebesar 80% dimana kegagalan terjadi ketika obstacle yang terbaca memiliki jarak yang terlalu dekat dengan electric buggy car. Kata kunci : Electric Power Steering, Electric Buggy Car, Obstacle, Fuzzy
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