DESIGN OF A REGENERATIVE BRAKING CONTROL SYSTEM FOR AUTONOMOUS TRAMS

• Main Author: Pramayudo, Azarya
• Format: Theses
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/86854
• Institution: Institut Teknologi Bandung

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.