PERBANDINGAN SISTEM KENDALI PID DAN KENDALI LQR PADA
SISTEM SUSPENSI AKTIF BUS (1/4) MENGGUNAKAN SIMULASI MATLAB
Muhammad Ridwan
Program
Studi Teknik Informatika, Politeknik Kampar
Email: ridwanpolkam@gmail.com
ABSTRACT
A vehicle suspension system
must be able to isolate or reduce the vibration of vehicle body due to
unevenness of the road surface. To solve the situation as above, it was needed
a controller on the actuator (active suspension) to dampen oscillations of
body. In this study, it was designed a controller at a quarter of the
suspension system bus using control LQR (Linear Quadratic Regulator) and
compared it with PID control. This system will be modeled by State Space and
Transfer Function models using Matlab 2011. The results obtained were LQR
control system was better than the PID. In LQR, the value of ρ was 0.1 and in
PID, the value of gain is Kp = 832 100, Ki = 624 075 and 208 025 on the Kd =
PID. LQR controller slower reach steady state compared with PID controllers.
Stable conditions will be achieved within 30 seconds before the control and
after using controller, time of stability to be 3 seconds.
Keywords: Transfer Function, LQR, PID, State Space, Steady
State
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