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All Journal Jurnal Teknik Mesin Mechatronics, Electrical Power, and Vehicular Technology
Zainal Abidin
Teknik Mesin, Fakultas Teknik Mesin dan Dirgantara, Institut Teknologi Bandung Jl Ghanesa 10, Bandung 40132
Aerospace Engineering Automotive Engineering Control & Systems Engineering Electrical & Electronics Engineering Energy Engineering Industrial & Manufacturing Engineering Materials Science & Nanotechnology Mechanical Engineering

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Journal : Mechatronics, Electrical Power, and Vehicular Technology

 1 
Pengembangan Sistem Kontrol Traksi Mobil Elektrik Berbasis Rekonstruksi Keadaan Kecepatan Model Roda Pratikto Pratikto; Yul Yunazid Nazaruddin; Edi Leksono; Zainal Abidin
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 1, No 2 (2010)
Publisher : National Research and Innovation Agency

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Abstract

In  this  paper  the  development  of  electric  vehicle  traction  control  based  on  state  of  speed  reconstruction  of vehicle model that has the same acceleration condition between tire and chassis is studied. Vehicle is accelerated if the friction force takes place between tire and road. However, the traction force decreases even tends to zero on slippery road and torque input produces a large slip. Evidently, tire slip can be reduced by decreasing the applied torque to the tire. So the basic principle of the proposed method here compares the real vehicle tire speed condition with the model to determine the torque in order to reduce the slip. Tire speed is controlled in order to follow the reference value that is calculated from the model. Tire torque input then can be controlled by applying the feedback that is obtained from the difference value of speed between model and real tire. Implementation of this method on a real vehicle shows that the control method effectively controls the tire speed of vehicle to follow the reference and reducing the slip. From the experiment the control  system performance in reducing slip has the result  of 9.8% for maximum overshoot, 3.1 second for rise time, and 8 second for settling time. 
IMU Application in Measurement of Vehicle Position and Orientation for Controlling a Pan-Tilt Mechanism Hendri Maja Saputra; Zainal Abidin; Estiko Rijanto
Journal of Mechatronics, Electrical Power and Vehicular Technology Vol 4, No 1 (2013)
Publisher : National Research and Innovation Agency

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.14203/j.mev.2013.v4.41-50

Abstract

This paper describes a modeling and designing of inertial sensor using Inertial Measurement Unit (IMU) to measure the position and orientation of a vehicle motion. Sensor modeling is used to derive the vehicle attitude models where the sensor is attached while the sensor design is used to obtain the data as the input to control the angles of a pan-tilt mechanism with 2 degrees of freedom. Inertial sensor Phidget Spatial 3/3/3, which is a combination of 3-axis gyroscope, 3-axis accelerometer and 3-axis magnetometer, is used as the research object. Software for reading the sensor was made by using Matlab™. The result shows that the software can be applied to the sensor in the real-time reading process. The sensor readings should consider several things i.e. (a) sampling time should not be less than 32 ms and (b) deviation ratio between measurement noise (r) and process noise (q) for the parameters of Kalman filter is 1:5 (i.e. r = 0.08 and q = 0.4).
Co-Authors Edi Leksono Estiko Rijanto Haleyna Arstianti Hendri Maja Saputra Pratikto Pratikto Yul Yunazid Nazaruddin