DESIGN OF A REGENERATIVE BRAKING CONTROL SYSTEM FOR AUTONOMOUS TRAMS
Trams are transportation vehicles categorized as Light Rail Vehicles (LRV) or light rail trains that operate in urban areas, connecting one area to another within the same metropolitan region. Tram tracks differ from conventional railway tracks, as tram lines are typically dedicated tracks locate...
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| Format: | Theses |
| Language: | Indonesia |
| Online Access: | https://digilib.itb.ac.id/gdl/view/86854 |
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| Institution: | Institut Teknologi Bandung |
| Language: | Indonesia |
| Summary: | Trams are transportation vehicles categorized as Light Rail Vehicles (LRV) or light
rail trains that operate in urban areas, connecting one area to another within the
same metropolitan region. Tram tracks differ from conventional railway tracks, as
tram lines are typically dedicated tracks located on roadways or alongside roads,
equipped with specific barriers. This condition presents new challenges, as
autonomous trams must adapt to such dynamic environments. This study aims to
develop a control system that prioritizes passenger comfort, especially during
braking or deceleration under specific situations and conditions. The modeling
process is conducted through system identification using MATLAB. The design of
PI and PID controllers is carried out utilizing MATLAB’s PID tuner application.
The designed control system is then tested using MATLAB SIMULINK simulations
to evaluate its capability in delivering a deceleration experience that ensures
passenger comfort. The results of the PI and PID controller designs demonstrate
their ability to respond to changes in reference torque, maintaining acceleration
and its rate of change within comfort thresholds. The PID controller outperforms
the PI controller in maintaining comfort limits. |
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