E-carwalk: perancangan perangkat transportasi elektrik portabel dengan mikrokontroler arduino = e-carwalk: portabel electric transportation device with arduino microcontroller

Saputra, Rafaelius Ary Surya (2018) E-carwalk: perancangan perangkat transportasi elektrik portabel dengan mikrokontroler arduino = e-carwalk: portabel electric transportation device with arduino microcontroller. Bachelor thesis, Universitas Pelita Harapan.

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Abstract

This research will design and construct a four-wheeled portabel electric transportation that can be controlled by changing the user's centre of weight by standing on it that is named by E-Carwalk. E-Carwalk has a size of 39 cm x 30 cm x 13,5 cm with a weight of 6,1 kg. E-Carwalk consists of two main parts of sensing devices and actuation devices. The sensing device consists of four load sensors and an amplifier circuit. The actuation device consists of hub motor drivers, Hall sensors and hub motor. Control is done by taking the user's centre of gravity information from four load sensors, it will then be processed and converted into commands to control the hub motor using Arduino microcontroller. The load sensors are arranged into a Wheatstone bridges and an amplifier circuit so the change in resistance can be converted to a voltage change and used as an Arduino ADC pin input to adjust the speed and the direction of rotation of the hub motor. Each load sensor is added a gain amplifier circuit, so the load sensor has a wide range of voltage changes and can be read by Arduino. The hub motor rotation is divided into 6 steps that are distinguished based on the voltage applied to each power cable. E-Carwalk speed is affected by the value of delay and PWM duty cycle in the program, where the smaller the delay value the greater the PWM value and the motor hub will rotate faster with maximum speed at maximum load of 5.124 km/h. E-Carwalk can be operated by users with weight between 18.6 kg to 65 kg. E-Carwalk can be used for approximately 4.5 minutes until the battery voltage is below 18.4 V./ Dalam penelitian ini dilakukan perancangan dan pembuatan kendaraan portabel elektrik beroda empat yang dapat dikontrol dengan mengubah posisi titik berat tubuh pengguna yang berdiri di atasnya yang diberi nama E-Carwalk. ECarwalk berukuran 39 cm x 30 cm x 13,5 cm dengan berat sebesar 6,1 kg. ECarwalk terdiri atas dua bagian utama yaitu perangkat sensing dan perangkat aktuasi. Perangkat sensing terdiri dari empat buah load sensor dan rangkaian amplifier. Perangkat aktuasi terdiri atas rangkaian driver hub motor, Hall sensor dan hub motor. Pengendalian dilakukan dengan mengambil informasi perubahan titik berat pengguna dari empat buah load sensor, lalu diproses dan diubah menjadi perintah untuk mengontrol hub motor memakai mikrokontroler Arduino. Load sensor disusun ke dalam rangkaian jembatan wheatstone dan sebuah rangkaian penguat agar perubahan resistansi dapat dikonversi menjadi perubahan tegangan yang dijadikan sebagai input pin ADC Arduino untuk mengatur kecepatan dan arah putar dari hub motor. Pada tiap load sensor ditambahkan sebuah gain amplifier agar load sensor memiliki rentang perubahan tegangan yang lebar dan dapat dibaca oleh Arduino. Putaran hub motor terbagi menjadi 6 langkah yang dibedakan berdasarkan pemberian tegangan pada tiap kabel powernya. Kecepatan E-Carwalk dipengaruhi oleh besarnya nilai delay dan duty cycle PWM dalam program, di mana semakin kecil nilai delay maka nilai duty cycle PWM akan semakin besar dan hub motor akan berputar semakin cepat dengan kecepatan maksimum sebesar 5,124 km/jam. E-Carwalk dapat dioperasikan oleh pengguna dengan berat badan diantara 18,6 kg hingga 65 kg. E-Carwalk dapat digunakan selama kurang lebih 4,5 menit hingga tegangan baterai berada dibawah 18,4 V.

Item Type: Thesis (Bachelor)
Creators:
CreatorsNIMEmail
Saputra, Rafaelius Ary SuryaUNSPECIFIEDUNSPECIFIED
Contributors:
ContributionContributorsNIDN/NIDKEmail
Thesis advisorUranus, Henry P.UNSPECIFIEDUNSPECIFIED
Additional Information: SK 32-14 SAP e
Uncontrolled Keywords: Portabel Electric Transportation; Load sensor; Hub motor; Arduino; Transportasi Elektrik Portabel
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: University Subject > Current > Faculty/School - UPH Karawaci > Faculty of Science and Technology > Electrical Engineering
Current > Faculty/School - UPH Karawaci > Faculty of Science and Technology > Electrical Engineering
Depositing User: Mr Samuel Noya
Date Deposited: 14 Oct 2019 05:22
Last Modified: 14 Oct 2019 05:22
URI: http://repository.uph.edu/id/eprint/4769

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