Optimasi Parameter PID dan Simulasi Model Matematis Sistem Kontrol Traksi Kendaraan Menggunakan Hybrid PID-Fuzzy

M Syaid Abdhul Zhafar; Muhamad Fiqhan Furqoni; Ahmad Fakhrur Rofiqy; sugiyanto sugiyanto

doi:10.63976/jimat.v7i2.1427

M Syaid Abdhul Zhafar Program Studi Matematika, Fakultas Sains dan Teknologi, Universitas Islam Negeri Sunan Kalijaga, Yogyakarta
Muhamad Fiqhan Furqoni Program Studi Matematika, Fakultas Sains dan Teknologi, Universitas Islam Negeri Sunan Kalijaga, Yogyakarta
Ahmad Fakhrur Rofiqy Program Studi Matematika, Fakultas Sains dan Teknologi, Universitas Islam Negeri Sunan Kalijaga, Yogyakarta
sugiyanto sugiyanto Program Studi Matematika, Fakultas Sains dan Teknologi, Universitas Islam Negeri Sunan Kalijaga, Yogyakarta

DOI: https://doi.org/10.63976/jimat.v7i2.1427

Keywords: sistem kontorl traksi, hybrid PID-fuzzy, optimasi parameter, simulasi mathlab, slip roda

Abstract

Penelitian ini mengembangkan model matematis dan simulasi sistem kontrol traksi (Traction Control System/TCS) kendaraan berbasis MATLAB dengan menggunakan pendekatan Hybrid PID-Fuzzy. Sistem kontrol traksi berfungsi mencegah spin roda pada saat akselerasi dengan mengontrol torsi mesin dan torsi pengereman secara real-time. Parameter PID (Kp, Ki, Kd) dioptimasi menggunakan metode Ziegler-Nichols yang dimodifikasi, sedangkan logika fuzzy digunakan sebagai kompensator tambahan untuk memperbaiki respons transien dan mereduksi overshoot. Model matematis mencakup dinamika roda (slip), torsi mesin, torsi pengereman, dan kinematika kendaraan. Simulasi dilakukan pada kondisi permukaan jalan berbeda dengan koefisien gesek μ = 0,20; 0,40; dan 0,60 pada satu sisi roda. Hasil simulasi menunjukkan bahwa kontroler Hybrid PID-Fuzzy mampu mempertahankan slip roda pada rentang yang diizinkan (χ ≤ 0,20) dengan waktu steady-state lebih cepat (Ts ≤ 4 detik) dibandingkan PID konvensional.

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