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Active fault tolerant control design in regenerative anti-lock braking system of electric
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 Conference collection

Volume 2088 Conference collection

Advanced Industrial Technology

Conference collection
in Engineering Physics
Conference collection

Surabaya, Indonesia
31 October–2 November 2018
Editors
Totok Ruki Biyanto, Gunawan Nugroho, Agus Muhamad Hatta, Katherin Indriawati,
Doty Dewi Risanti, Dhany Arifianto and Sonny Irawan

Conference Proceedings

proceedings.aip.org
 Conference collection

Advanced Industrial Technology

in Engineering Physics
Surabaya, Indonesia
31 October–2 November 2018

Conference collection

Editors
Totok Ruki Biyanto
Gunawan Nugroho
Agus Muhamad Hatta
Katherin Indriawati
Doty Dewi Risanti
Dhany Arifianto
Institut Teknologi Sepuluh Nopember, Surabaya, Indonesia
Sonny Irawan
Universiti Teknologi Petronas, Tronoh, Malaysia

Sponsoring Organizations
PT Pertamina Lubricants
PT Kaltim Parna Industri
PT Telkomsel
PT Inka
PT Indonesia Power
Kementerian Riset, Teknologi, dan Pendidikan Tinggi Republik Indonesia

All papers have been peer reviewed.

Melville, New York, 2019

AIP Conference Proceedings Volume 2088
To learn more about AIP Conference Proceedings visit http://proceedings.aip.org
Editors
Totok Ruki Biyanto
Gunawan Nugroho
Agus Muhamad Hatta
Katherin Indriawati
Doty Dewi Risanti
Dhany Arifianto
Institut Teknologi Sepuluh Nopember
Engineering Physics Department
Kampus ITS, Sukolilo
Surabaya, Indonesia

Email: calltrb@gmail.com
gunawanf317@gmail.com
amhatta@ep.its.ac.id
katherin@ep.its.ac.id
d.d.risanti@gmail.com
dhany@ep.its.ac.id

Sonny Irawan
Universiti Teknologi Petronas
Petroleum Engineering Department
Bandar Sri Iskandar
Tronoh, Malaysia

Email: drsonny_irawan@utp.edu.my

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ISBN 978-0-7354-1818-9
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 AIP Conference Proceedings, Volume 2088
Advanced Industrial Technology in Engineering Physics

Table of Contents

Preface: Advanced Industrial Technology in Engineering Physics

Totok Ruki Biyanto 010001

INSTRUMENTATION
Optimization of Petlyuk distillation column design of multi-component mixtures separation
process using stochastic optimization algorithm
Toto Haksoro, Yelinda Asianingsih, Safira Firdaus Mujiyanti, Aulia Siti Aisjah, and Totok Ruki Biyanto 020001

Optimization to review capital cost of operation heat exchanger of Kartini Reactor

Aminuddin Tejo Nugroho and Anhar Riza Antariksawan 020002

Data acquisition system in LSU-02 NG LD wing static test based on whiffletree

Aryandi Marta, Nanda Wirawan, Riki Ardiansyah, and Yudha Agung Nugroho 020003

Improve of engine oil lifetime by using additional filter a case study at PT Vale Indonesia Tbk.
Asgar Alie and Purwadi Agus Darwito 020004

1-DOF assisted flexion-extension movement robotic rehabilitation system development

with trajectory control
Ahmad Zahi Ulul Azmi and Ayu G. Risangtuni 020005

The implementation of internal model control (IMC) with coordinate control model for steam
power plant using HYSYS
Hendrik Elvian Gayuh Prasetya, Joke Pratilastiarso, Tri Bimantara Satriyo, and Erik Tridianto 020006

Reliability evaluation with extended mast terminal (EMT) to protect PT. Vale Indonesia 150 kV
transmission line against back flash over and shielding failure of lightning impulse
Rustam Saleh, Ali Musyafa, and Busyairi 020007

Analysis green gases reduction for employee buses in order to support fossil fuel conversion
to electric powered buses in PT. Vale Indonesia Tbk
Andrie Kurniawan and Imam Abadi 020008

A study of operational deviation control to reduce diesel fuel consumption of a hundred tons
mine haultruck
Dewa Wirantaya, Totok Ruki Biyanto, and Nyoman Ade Satwika 020009

An analysis study of pressure drop from the difference of air pressure on air dryer on PT.
Vale Indonesia
Pamrih, Totok Ruki Biyanto, Agus Muhammad Hatta, and Nyoman Ade Satwika 020010

Performance analysis in PID controller of turbine governor load frequency control using PSO
algorithm and fuzzy logic at nickel smelting plant
Farhan Machmoed and Aulia Siti Aisjah 020011
The contribution of buoyancy effect on rubber-properties weighing method
Bayu Utomo and Qudsiyyatul Lailiyah 020012

Reactive muffler with additional U-shaped cavities

Alto Kholif Bujana, Iwan Yahya, and Ubaidillah 020013

Analysis of solar potential for electricity generation in PT. Vale Indonesia Tbk. Sorowako
Zainuddin Syahril and Imam Abadi 020014

Neural network model for profile temperature of nickel kiln

Leo Agung Arie Purnomo and Totok Ruki Biyanto 020015

The application of ROV (remotely operated vehicle) of the microcontroller submarine

as a tool to take sample of water and soil contaminated by waste
Muhammad Syukron, Nuralif Mardiyah, Wahono, Ahmad Rosikhin, and Zamah Sari 020016

The hydropower energy management for nickel smelter

Nurkholis, Bambang L. Widjiantoro, and Aulia M. T. Nasution 020017

Smart chained-factories architecture of industry 4.0: A preliminary study

I. Wayan Muliawan 020018

Real-time reliability prediction for wind turbines speed control systems based on sensor
fault prediction
Lilik Ayurani and Katherin Indriawati 020019

Optimization strategic production capacities lubricants lithos packaging

Ronny Dwi Noriyati, Ruri Dini One Safitri, and Totok Ruki Biyanto 020020

Control system design of adaptive wind turbine pitch angle using particle swarm optimization
algorithm
Jauharotul Maknunah, Ali Musyafa’, and Imam Abadi 020021

Smart solar tracking system based on fuzzy-Pi controller for maximizing the power of PV
Imam Abadi, Chairul Imran, and Nadia Fasa 020022

Communicating vessels for low-cost water level monitoring

Joko Sulistyo, Gilang Nugraha Putu Pratama, Samiadji Herdjunanto, and Adha Imam Cahyadi 020023

Active fault tolerant control design in regenerative anti-lock braking system of electric vehicle
with sensor fault
Muhammad R. Pinandhito, Katherin Indriawati, and Muchammad Harly 020024

Modification of separated DC source for cascade h-bridge multilevel inverter in solar power plant
Fifi Hesty Sholihah and Diah Septi Yanaratri 020025

Design active fault tolerant control system for regenerative anti-lock braking system of electric
vehicle with fault at actuator
Senko Diarnise, Ya’umar, Katherin Indriawati, and Muchammad Harly 020026
PID control for soft actuator pneumatic glove
Dinda Putri Thalia and Ayu G. Risangtuni 020027

Study of temperature decreasing at hot fluid along vertical pipe using empirical formula
and experimental verification
Kukuh Prasetyo, Tri Ayodha Ajiwiguna, and M. Ramdlan Kirom 020028

Hazop evaluation and safety integrity level (SIL) analysis on steam system in ammonia plant
Petrokimia Gresik Ltd.
Ali Musyafa’, Zahrotul Fajri Nuzula, and Muhammad Khamim Asy’ari 020029

Helical baffle design optimization on heat exchanger using genetic algorithm method at central
gathering station 5 Chevron Pacific Indonesia Ltd.
Totok Ruki Biyanto, Hendra Cordova, Gunawan Nugroho, and Rengga Ahmad Prasetia 020030

Thermodynamic analysis of extraction pressure variation effect on high pressure turbine against
the performance of steam power plant suralaya 410 MW by gate cycle modeling
Ary Bachtiar K. P. and Achmad Maryono 020031

Implementation of RFID as tracking for hajj pilgrims connected with GPS (IM RFID SECURE GPS)
Cahyani Wulan Hidayat, Fauzi Syahrul Rozak, Faris Abdul Aziz,
and Dra. Bernadeta Siti Rahayu Purwanti 020032

Design of modular femoral implant based on anthropometry of Eastern Asian

Muhammad S. Utomo, Muhammad I. Amal, Sugeng Supriadi, Daniel Malau, Dhyah Annur,
and Andika W. Pramono 020033

A review of linear Fresnel reflector technology for heating sulphur liquid in nickel processing industry
Suyanto, Ridho Hantoro, Asep Suharto, Rustam Saleh, and Tomy Dwi Reynaldi 020034

Optimization of neural network based on hybrid method of genetic algorithm and particle swarm
optimization for maritime weather forecasting in buoyweather station type II
Syamsul Arifin, Dvitiya Srestha Prajna Mahistha, Magfiroh Fatwaning Ukhti,
Muhammad Rifki Kurniawan, and Aulia Siti Aisjah 020035

Study of low-cost IoT application for industry 4.0 using NodeMCU ESP8266 module
Andi Rahmadiansah, Sasangka Wira Utama, and Wirayusa 020036

Techno-economic optimization of heat exchanger design by utilizing several overall heat transfer
coefficient technology and generalized reduced gradient
Totok Ruki Biyanto, Hendra Cordova, Matradji, and Choirul Huda 020037

Development of oil lubricant level monitoring system on reservoir based on internet of thing (IoT)
Holder Simorangkir, Agung Mulyo Widodo, Lista Meria, and Sutarno 020038

Optimization of geometries shell and tube heat exchanger to minimize fouling resistance
by utilizing polley threshold model
Erna Utami, Anggi Malwindasari, and Totok R. Biyanto 020039
2,4 GHz textile wearable antenna design for positioning system
Reeves Cramer, Suwasti Broto, Nifty Fath, Indra Riyanto, and Josaphat Tetuko Sri Sumantyo 020040

Design of maximum power point tracking (MPPT) on two axes solar tracker based on particle
swarm fuzzy
Imam Abadi, Dwi Nur Fitriyanah, and Arfa Ul Umam 020041

Optimization of heat exchanger shell and tube design using helical baffle and coiled wire insert
technology
Ahmad Syafii and Totok R. Biyanto 020042

Maintenance cost optimization on reliability centered maintenance based on failure rate

on flash gas compression system
Friandi D. Riswanto, Totok Ruki Biyanto, Thareq Fasya Iballe, Afin Osi Adista,
Samuel Dian Permana Putra, and Arfiq Isa Abdillah 020043

Utilization of heat waste energy generated from air compressors as boiler feedwater preheating,
a case study in smelter plant Sorowako
Baso Murdin and Totok Soehartanto 020044

Filtering module on satellite tracking

Moh Kamalul Wafi 020045

Safety assessment base fault tree analysis for sustainability fertilizer plant at East Java Indonesia
Ronny Dwi Noriyati, Sholihah U. Azizatus, and Ali Musyafa 020046

Reliability and safety study on heat exchanger control system: Case study in ortho xylene
process-petrochemical industry
Ronny Dwi Noriyanto, Novan Yudha A., and Ali Musyafa 020047

Design of belt conveyor weight scale using gamma radiation technique

Rony Djokorayono, Arfittariah, Dimas Bayu Priantama, and Totok R. Biyanto 020048

Implementation of virtualization technology for hydro SCADA and control system to support
energy efficiency of PT Vale Indonesia
Indin Hasan A., Ali Musyafa, and Agus Muhamad Hatta 020049

Comparison on PID controller performance for multivariable system between de-tuned method
and optimization method
Totok R. Biyanto, Ali Musyafa, Hendra Cordova, Matradji, Ajie Prasetyo, Haslinda Zabiri,
Atiqah Sordi, and Nurul Sapika 020050

Optimization heat transfer coefficient in retrofit heat exchanger network using pinch analysis
and Killer Whale algorithm
Totok Ruki Biyanto, Nanda E. Tama, Inesya Permatasari, Muhammad G. Sabillah,
David H. Napitupulu, and Ahmad R. Anda 020051

Economic plant wide control in debutanizer column

Totok R. Biyanto, Toto Haksoro, Januar Ananta Dinar Pratama, Ahmad Hasinur Rahman,
Zakia Puspa Ramdhani, Aulia Siti Aisjah, Mohammad Okky Mabruri, and Rinda Nur Hidayati 020052
Rain water algorithm: Newton’s law of rain water movements during free fall and uniformly
accelerated motion utilization
Totok R. Biyanto, Matradji, Henokh Y. Febrianto, Naindar Afdanny, Ahmad Hasinur Rahman,
and Kevin Sanjoyo Gunawan 020053

ENERGY
Economic feasibility of weather modification technology application (GBG towers) on hydropower
Larona River
Anom Prasetio, Bambang L. Widjiantoro, and Aulia M. T. Nasution 030001

Improve compressed air quality by utilizing aftercooler study case at PT Vale Indonesia Tbk
Andi Panangeang and Harsono Hadi 030002

Performance evaluation of hydropower operation for nickel smelter: A case study of Larona River
cascade hydroelectric power plant
Wafir Kasman and Syamsul Arifin M. T. 030003

Larona hydropower inlet canal flow analysis as potential hydrokinetic energy generation
Andi Suntoro, Ridho Hantoro, and Luthfa Syabania Nuari 030004

Simulation of double glazed solar collector for the development and application of solar energy
Pierre D. Uwitije, Ridho Hantoro, Nasri M. Yacine, and Abu B. M. Bangura 030005

Impact of palm oil of biodiesel on industrial diesel engine performance for application in mining
Teguh Dwi Kuncoro, Purwadi Agus Darwito, and Dhany Arifianto 030006

Study of dam operating strategy for optimal water management during preventive maintenance
period on PLTA PT. Vale Indonesia
Rajab Sunusi and Katherin Indriawati 030007

High voltage electrode boiler implementation using hydropower in a process steam

production scenario
Ricky Hutabarat and Gunawan Nugroho 030008

Utilization of waste heat (off gas) from electric furnace no.4 to generate saturated steam
using waste heat recovery boiler
Febrin Sitorus and Totok Soehartanto 030009

Study of rotary kiln off-gas energy recovery for coal mill hot gas
Bagus Catur Pamungkas and Harsono Hadi 030010

Experimental study wind turbine blades of locally wood based on local wind characteristics
Adi Surjosatyo and Bagus Rizky Dewantoro 030011

The effect of operating flow rate on the voltage rise of energy extraction by double
layer expansion
Muhammad Nasir, Yuji Nakanishi, Anindityo Patmonoaji, and Tetsuya Suekane 030012
Evaluation of electric furnace waste heat recovery using organic rankine cycle: A case study
of PT. Vale Indonesia Tbk nickel smelter
Muhammad Asril and Gunawan Nugroho 030013

Assessment of wind energy potential in Sorowako Region, Indonesia

Ardian Indra Bestari and Syamsul Arifin 030014

Study potency of hydrokinetic energy in discharge Balambano hydro electric power plant
Kasman, Ridho Hantoro, and Iqbal Lucky Eptanto 030015

Load forecasting for power system planning and operation using artificial neural network (a case
study on Larona Hydro Power in the nickel smelting plant)
Asrul Gani Gaffar and Aulia Siti Aisjah 030016

Grid-connected and off-grid solar PV system design using long-term climatological data
and techno-economic analysis for ecological conservation
Iqbal Ismail, Ghina K. Putri, Rofifah H. Jannah, Ridho Hantoro, Gunawan Nugroho,
Ruri A. Wahyuono, Miga M. Julian, and Adhitya Kurniawan 030017

Estimation of solar radiation per month on horizontal surface using adaptive neuro-fuzzy
inference system (case study in Surabaya)
Jauharotul Maknunah, Imam Abadi, Isnan Abdurrahman, and Chairul Imron 030018

Method to estimate the temperature drop in hot fluid flow using empirical equation
with experimental comparison: Case study of horizontal pipe
Arinta Rianti, Tri Ayodha Ajiwiguna, and M. Ramdlan Kirom 030019

Evaluation of energy saving opportunity of “CDE” mall building ground floor in Surabaya
by analyzing the lighting system and cooling system
Ary Bachtiar Krishna Putra and Dwina Azizah Setya Ningrum 030020

Consideration of split injection strategy for marine diesel engine combustion process
Frengki Mohamad Felayati, Semin, Muhammad Badrus Zaman, and Ayudhia Pangestu Gusti 030021

Traveling-wave thermoacoustic engine with pressurized air working gas

Ikhsan Setiawan, Agung Bambang Setio Utomo, Prastowo Murti, Wahyu Nur Achmadin,
and Makoto Nohtomi 030022

Development and analysis characteristic solar powered system on LAPAN surveillance UAV
03 (LSU 03)
Dewi Anggraeni, A. Udhiarto, A. Wirawan, A. A. Ramadian, and N. R. Poespawati 030023

Optimized photovoltaic pumping system with DC-DC converter

Harsono Hadi, Dharu Dewi, and Roekmono 030024

Wing static test of LSU-02 NGLD aircraft using Whiffletree method

Nur Mufidatul Ula, Aryandi Marta, Yusuf Giri Wijaya, and Muksin 030025
 ACOUSTIC
Optimization of artificial lighting in physiotheraphy room of Hasan Sadikin Hospital
Aishanura Handina Primanti, Rizki A. Mangkuto, Dina Puspita Sari, and Bagas Aulia Kautsar 040001

Experimental validation of colour mixing in CIE XYZ colour space with LED lamps
Rizki A. Mangkuto and Revantino 040002

Prediction of climate-based daylight metrics by simulating monthly median illuminance

Iva Rofiatun Nisa Azzahra, Fransisca Viviyanti, and Rizki A. Mangkuto 040003

Proximal femur prosthesis remodeling and stress evaluation for Indonesian patient
Daniel P. Malau, Yudan Whulanza, Dhyah Annur, Yogi Prabowo, Muhammad S. Utomo,
and Muhamad I. Amal 040004

PHOTONICS
Acoustic performance of corn husk fiber (Zea mays L) waste composite as sound absorber
with latex adhesive
Suryaning Berliandika, Iwan Yahya, and Ubaidillah 050001

Identify the expectations and perceptions of sonic environment using the text mining method
Ranti Dwi Tassia, Amanda Nitidara, Anugrah Sabdono Sudarsono, and Joko Sarwono 050002

Application of predictive maintenance technique with vibration monitoring method for analysis
of damage trend and damage diagnosis at make up water pump on PLTGU installation
Valentino Petherus, Wahyu Nirbito, and Hafidz Nurhantoko 050003

On the sound transmission properties of sonic crystal with the hollow tube type subwavelength
secondary local scatterer
Iwan Yahya, Alex Farachniamala, and Ubaidillah 050004

Noise reduction of air conditioning electric railway cabin

Tasya Nadya Hartati, Gary Sebastian Pangihutan, Iwan Prasetiyo, R. Sugeng Joko Sarwono,
Anugrah Sudarsono Sabdono, and Keysha Wellviestu Zakri 050005

Acoustic performance of porous sound absorber based on Sterculia foetida Linn

Ayu Sinta Kusrini, Iwan Yahya, Harjana, and Ubaidillah 050006

The perception of sound quality in a mosque

Anugrah Sabdono Sudarsono, Joko Sarwono, Keysha Wellviestu Zakri, Ni Putu Amanda Nitidara,
and Ranti Dwi Tassia 050007

Study of partition walls to minimize leaking sound in counselling rooms

Sentagi S. Utami, Randy F. Fela, Joko Sarwono, and Kristina Widowati 050008

Evaluation of sonic environment in prospective middle-class apartment building in Demak

regency
Hilda Rasnia Hapsari, Sentagi Sesotya Utami, Heruanda Alviana Giska Barabah, Joko Sarwono,
and Randy Frans Fela 050009
Prediction of sound insulation for middle class apartment based on noise site analysis
Heruanda Alviana Giska Barabah, Sentagi Sesotya Utami, Hilda Rasnia Hapsari, Iwab Prasetiyo,
Randy Frans Fela, and Ressy Jaya Yanti 050010

Soundscape study of an urban campus park

Dyah Ayu Puspagarini, Sentagi Sesotya Utami, Anugrah Sabdono Sudarsono, and Randy Frans Fela 050011

Design of portable electrocardiograph using 3-electrodes with lead II

Purwadi Agus Darwinto and Yessy Mega Jayanti 050012

Applying GMM-UBM framework for Indonesian forensic speaker verification

Angga Dwi Firmanto, Miranti Indar Mandasari, Suprijanto, and Fadjar Fathurrahman 050013

Noise comparison of Argo Parahyangan train in different class and journey time
Keysha Wellviestu Zakri, Anugrah Sabdono Sudarsono, Joko Sarwono, Sentagi Sesotya Utami,
Nurul Hidayah, and Nida Nurmadi Hamdani 050014

MATERIAL
Analysis of AB nutrient film technique variation towards chlorophyll concentration of lettuce
(Lactuca Sativa) on integrated hydroponic system
Selvy Uftovia Hepriyadi, Intan Dwi Kurniawati, Wilda Prihasty, and Hendra Cordova 060001

On welding gray cast iron using SMAW and GTAW process

Asep Suharto, Doty Dewi Risanti, and Sekartedjo 060002

Study on building machine learning model to predict biodegradable-ready materials

Refaldi Intri Dwi Putra, Arifin Luthfi Maulana, and Adhitya Gandaryus Saputro 060003

Effect of sulphate reducing bacteria (SRB) on corrosion of JIS G3101 low carbon steel with grade
SS400 on crude oil under aerobic and anaerobic conditions
Helena Carolina Kis Agustin, Putri Ika Wahyu Retno, and Rachmadi Norcahyo 060004

Nanoencapsulated PEG 1000 and PEG 6000 as the phase change material to be applied on cotton
fabrics
Ridho Kurniawan, Arjun Sumarlan, Damar Rastri Adhika, and Nugraha 060005

The temperature variation effect to the AISI 316L corrosion rate of the rotary dryer off-gas line
in the nickel smelting plant
Yulius Erwin Tandiayu, Doty Dewi Risanti, Sekartedjo, and Nur Hikmah Khaeraningrum 060006

Preparation of Au@TiO2@SiO2 core-shell nanostructure and their light harvesting capability

on DSSC (dye sensitized solar cells)
Nur Fadhilah, Detak Yan Pratama, Dyah Sawitri, and Doty Dewi Risanti 060007

Investigation on optical properties of SiO2 extracted from Sidoarjo mud with γ-Al2O3 nanoparticle
addition for DSSC (dye-sensitized solar cells) applications
Puji Nurrahmawati and Doty Dewi Risanti 060008
Effect of speed ratio and grit size on vibration and surface roughness in surface grinding process
of OCR12VM material
Widodo and Suhardjono 060009

Detection of adulterated olive oil using multimode-singlemode-multimode (MSM) fiber structure

Dame P. Marsela, Ninik Irawati, Rinda N. Hidayati, Hafidz F. Rochman, Ika Puspita,
Agus M. Hatta, and Sekartedjo 060010

Polyaniline (PANi) - TiO2 composites as corrosion-resistant coatings in atmospheric corrosion

Lizda Johar Mawarani and Ardiyanti Aulia 060011

Optimization of gasoline engine to maximize brake power and minimize brake specific fuel
consumption with artificial neural network and Killer Whale algorithm
Totok R. Biyanto, Muhammad F. Auliya, Ronny D. Noriyati, Hendra Cordova, Martadji,
Hafisyah R. Putra, Titania N. Bethiana, and Mohammad O. Mabruri 060012
Active fault tolerant control design in
regenerative anti-lock braking system of
electric vehicle with sensor fault
Cite as: AIP Conference Proceedings 2088, 020024 (2019); https://doi.org/10.1063/1.5095276
Published Online: 29 March 2019

Muhammad R. Pinandhito, Katherin Indriawati, and Muchammad Harly

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© 2019 Author(s).
 Active Fault Tolerant Control Design in Regenerative Anti-
lock Braking System of Electric Vehicle with Sensor Fault

Muhammad R. Pinandhito 1, a), Katherin Indriawati 1, b), Muchammad Harly 2, c)

1
Engineering Physics Department, Faculty of Industrial Technology, Sepuluh Nopember Institute of Technology,
Surabaya 60111, East Java, Indonesia
2
Department of Vocational Educational Development Center PPPPTK-BOE Malang 65126, East Java, Indonesia
a)
Corresponding author: rifqipinandhito@gmail.com
b)
kindriawati@gmail.com
c)
mohamedharly2017@gmail.com

Abstract. Regenerative Anti-lock Braking System (ABS) is a braking system in vehicle electric (electric vehicle) which
can prevent locking on vehicle wheel and do recovery kinetic energy braking into a battery charge. In this paper,
regenerative ABS applied in quarter car model approach. Regenerative ABS had many components in it one of them is a
sensor. The sensor fault can reduce the safety level of the regenerative ABS. In this paper, Active Fault Tolerant Control
(AFTC) scheme is applied to ABS regenerative ABS to accommodate the wheel speed sensor fault to improve system
performance. Sliding Mode Controller is used in this regenerative ABS controller with k and epsilon (ɛ) gain parameters
10 and 3 with a maximum overshoot of 18.95%, error steady state 0% and settling time of 0.08 seconds. Then, the AFTC
algorithm works by using the residual calculation result (f ) as the compensation value of the measurement signal. From
the results of the response test after being applied the bias and sensitivity fault, the system that equipped with AFTC
algorithm able to overcome the sensor fault up to 100%.

INTRODUCTION
It is well known that increasing the number of vehicles can give several negative impacts such as air pollution
caused by exhaust gases of petroleum-fueled vehicles (conventional vehicles).1 Therefore, to reduce the adverse
effects of conventional vehicle emission, today has developed technology of electric vehicles (EV). Same as with the
conventional vehicles, EV also requires some features to work properly, one of them is the braking systems which
require to monitoring and control functions.
It is well known that the braking system on the vehicle has an important role in terms of security (safety). The fault
of the braking system can cause fatality accidents. Now, the braking system technology that is commonly known and
become the standard device that must be applied in electric vehicle braking is an anti-lock braking system (ABS).
ABS is a safety braking system in electric vehicle that make wheels on the vehicle not-locked when sudden braking
is applied. This system can reduce the braking distance and make vehicle remained stable and control easily while
braking is applied at turn condition. Thus, a car with ABS can reduce the distance a vehicle cessation and increase
manuverbilitas better than vehicle that do not have.2
In EV, the ABS system in addition to consist of a friction braking system, also equipped with regenerative braking
components as described in.3 The system uses regenerative braking system to switch the function of the motor in EV
into generator when braking is applied, so it can generate electricity. The electrical energy can be stored in batteries
or used in a running vehicle. Regenerative braking system can convert the kinetic energy into electrical energy when
the deceleration of the vehicle.4 Thus, the regenerative braking can improve vehicle efficiency. Therefore, this
technology has been applied to various types of EV. However, the regenerative braking system performance is limited
by many factors such as motor speed, state of charge (SOC) and battery temperature5 so the conventional braking

Advanced Industrial Technology in Engineering Physics

AIP Conf. Proc. 2088, 020024-1–020024-10; https://doi.org/10.1063/1.5095276
Published by AIP Publishing. 978-0-7354-1818-9/$30.00

020024-1
system is still used. It encourages research on strategies braking and regenerative braking methods are precise and
reliable.
In Regenerative ABS, sensors had important role in the control system. The fault of the sensor will certainly lead
to errors in the system as a whole and make the plant become malfunction. So, it would be dangerous for the safety of
EV. Many things can cause fault in the work of sensors such as external damage occurred to the error in the calibration
process. Fault on sensors can be accommodated by a control system that is able to tolerate it automatically, known as
fault tolerant control (FTC).
FTC research results for the braking system in particular is very little encountered. One of the studies that was
successfully found from literature is suggests that the impact of the fault of braking system (sensors and actuators)
on the vehicle electrically controlled is hampering the ability of the vehicle to slow down.6 The control system used
is the two sets of filter fault detection (each for sensors and actuators) to detect the fault, and uses the observer to
performing reconfiguration of the control signal. Then, in 2014, a research study using the SMC on regenerative ABS
for EV. In the study comparing the performance simulations between regenerative ABS of a bang-bang controller
with SMC and without SMC.7 However, in both studies it has not used AFTC to accommodate fault when fault in
both on sensors and actuators applied.
Based on the problem above, the issues raised in this paper is to design an ABS - a combination of regenerative
braking and braking friction - system equipped with the FTC in order to generate braking response right through no
fault on the sensor components while considering error detection and load computing.

METHODOLOGY

Modeling Anti-Lock Braking System

In several papers mathematical model of Anti-Lock Braking System (ABS) is using Quarter Car Model type as
shown in Figure 1. Quarter car models is the one of vehicle modeling method in only one wheels aproach. In quarter
car models characteristic force will influence system performance as shown in Figure 1, such as rolling resistance
force (Ff), aerodynamic drag force (Fa), the frictional force (Fs) and Fx is the braking force to the wheel and μ is the
coefficient of friction between the wheels with the road surface.

Figure 1. Quarter car model 1

= . . . (1)

= . . (2)

= 0.5 . . . .δ (3)

= . . (4)

Where ct, m, α, cr, δ, Af and V respectively rolling resistance coefficient wheel, the vehicle mass (kg), the angle of
slope of the road (rad), the coefficient of aerodynamic, air density (kg / m3), outside of the vehicle on front (m2) and
vehicle speed (m / s). Then, the vehicle dynamic modeling in translation can be modeled as follows:

− − − − = . (5)

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 In µ calculation on equations derived from non-linear equations as follows.

(λ, ) = 1− − .λ (6)

In this paper used a constant value representation of the asphalt road. Henceforth, modeling wheel motion in the
ABS system. In modeling the wheels on the ABS system used Newton's second law in equation 5. Then equation 2 to
4 are substituted into the equation 5 to get modeling of wheel motion on the ABS system as in equation 7.

∙ = −4( + + + ) (7)

Where the value of force acting on it, among others;

Table 1. Force parameters during braking7

Parameter Description Value
M Mass 342,5 kg
A Area 3,1
d Diameters 0,66 m
Aerodynamic 0,3
resistance coefficient
Coefficient of 0,01
rotation resistance
Moment inertia of the 3,5 kg.
J
wheel
g Gravity force 9,8 m/

These parameters above are substituted into the equations 8 to 11 can be expressed in the equation:

= 342.5 . 9.8 . sin 0 ° (8)

= 0.5 . 0.3 . 3.1 . 1.2 . (9)

= . 342.5 . 9.8 (10)

= 0.01 . 342.5 . 9.8 . cos 0 ° (11)

The road surface on the wheel is considered straight 0˚ and force that is considered to be zero. Thus, the forces
acting on the wheel is the rolling resistance force ( ), the braking force to the wheel ( ), and the aerodynamic force
equation ( ).

 Motor Model
In the regenerative braking system the electric motor function switch into generator and the generator will produce
motor torque (Tm). The motor torque equation can be expressed in the equation:

·· ·
= (12)

Where:
= Maximum value capable of torque motors
i = Value ratio on EV transimisi
= Value of the rotor speed constant
= A constant value of the battery SOC
Ηt = Transmission efficiency

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 Sensor Model
Modeling of the sensor using the denominator and numerator equal to 1 so that the output from the sensor will
present measured value.

Sliding Mode Control Design

The slip ratio equation can be defined as the following equation:

= = 1−
(13)

Then derivate equation 13 into the equation 14:

̇ . ̇
̇= − +
(14)

Then substitute equations 8 to 11 into the equation 14 to obtain the ̇ equations:

̇= _ + − ∑ − . − = − ( )− (15)

Because the control signal used in the system is a control signal that is used to set the torque of a braking system
input is used as the actuator control signal input as in equation 16.
. . . . .
= − + . + ∑ + . + . + [ ( − )+ ( − )] (16)

Figure 2. Sliding Mode Controller Scheme

Active Fault Tolerant Control Design

AFTC early design stage is to design the observer. It is used to estimate sensor error that occurred. The design
begins with creating a form of state space. In designing this observer state space models derived from non-linear
equations are used as model input state, that is , , and

̇ = ̇ + ̇
(17)
∙
= ̇
(18)

= (19)
,

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 ( )
̇=
(20)

̇ −100 0 0 100 0 100

= + (21)
v 0 −0.098 −0.0116 0 −0.0116 0

So, we know that,

 100 0 0 0 0 0
 0  0.098 0 0 0 0 

=  1 0 1 0 0 1 (22)
 0 1 0 1 0 0
 
 0 0 0 0 0 0
 0 0 0 0 0 0


0 0 1 0 0 0
=
0 0 0 1 0 0
(23)

To solve the observer, the value of pole placement must be chosen, the pole placement used is
Pole ke-1 = -100
Pole ke-2 = -200
Pole ke-3 = -500
Pole ke-4 = -700
Pole ke-5 = -900
Pole ke-6 = -0.0000+0.0000i
From the pole placement value above the automatically obtained valuable observer gain value as follows:

−0.2415 −1.4036 0.0124 −0.0023 0 −1.621

= (24)
0.1330 2.4061 −0.0024 0.0106 0 2.6807

SIMULATION AND RESULT

Anti-Lock Braking System Model Test

AFTC algorithm testing is applied by providing bias and sensitivity error signal. Open-loop test in simulation using
MATLAB 2014b in Figure 3 shown that when braking without Anti-Lock Braking System (ABS).

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 Figure 3. The graph on the open loop system response

The figure above is the response of the wheel speed and vehicle speed, where vehicle not equipped Anti-Lock
Braking System (ABS) showed unstable results braking. Where the vehicle is still at the speed of 77 km / h wheel-
locking vehicle is occurred.

Figure 4. Wheel angular speed and vehicle speed without ABS graph

The figure above shows the angular speed of the wheels when given the ABS. From the graph the wheel angular
speed response and the speed of the vehicle reaches the point of stopping at the same time at 0.87 seconds.

Figure 5. Wheel angular velocity and vehicle speed equipped with ABS

Close Loop System Test

Closed loop test conducted to review whether a response has been able to control slip ratio stable at the set point.
Figure 10 is a result of controller system response using Sliding Mode Controller with a value of ε, k and are
respectively 3, 10 and 3960. The response generated by the system at the time given by the parameter controller has a
maximum value of 19% overshoot, settling time 0.08s and the steady state error of 0%. Where the vehicle stopping
distance time is in the interval of time is 0.87 seconds.

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 Figure 6. Close loop system with Sliding Mode Controller response

Observer Estimation Result

The estimation results of the observers need to be tested to analyze the observer that has been designed able to
compensate sensor fault. The estimation results of the observer is shown in Figure 7 with an fault on the wheel speed
sensor. In response graph it can be seen that the response of actual and estimated has the same results it indicate
that the observers have been designed to represent the actual system being modeled.

Figure 7. The result of observer fault estimation with sensor velocity measurements

Bias Sensor Fault Test

Sensor fault tested on the simulation as a result are given in the form of bias errors in the 0.5 s. The parameters
used to assess the performance of the control system include the maximum overshoot, settling time and steady state
error.
 Bias Error test 10%
The results of 10% bias error test shows that the algorithm is able to compensate for sensor error AFTC. This is
evidenced by the response slip ratio ABS system is stable at the set point value with the parameter of 19% maximum
overshoot, 0.1 seconds settling time and without error steady state and the time to stop the vehicle to do for 0.87
seconds. But in a system without given algorithm AFTC will make the system unstable. This is evidenced by the
increase in the value of the slip ratio when 0.85 seconds and wheeled vehicles are already experiencing locking and
braking distance becomes longer at the 0.95 seconds.

020024-7
 Figure 8. 10% bias error test result
 Bias Error Test 100%
The results of 100% bias error test shows that the algorithm is able to compensate for sensor error AFTC. This is
evidenced by the response slip ratio ABS system is stable at the set point value with the parameter of 19% maximum
overshoot, 0.1 seconds settling time and without error steady state and the time to stop the vehicle to do for 0.87
seconds.

Figure 9. Results bias error response 100%

It is different that the system is not given AFTC algorithm. When the sensor is given the error resulted in an
increase in the value of the slip ratio at the 0.55 seconds to wheel-locking vehicle and braking distance becomes longer
at the 1.15 seconds.

Sensitivity Sensor Fault Test

To test the performance of Anti-Lock Braking System that has been given algorithm such errors AFTC given the
sensitivity error. The parameters used to assess the performance of the control system include the maximum overshoot,
settling time and steady state error.

 Sensitivity error test 10%

The result of the error sensitivity of the sensor, shown in the figure 14 that the algorithm is able to compensate for
sensor error AFTC well. This is evidenced by the response slip ratio stable ABS system at its set point value to the
parameter of 19% maximum overshoot, 0.1 seconds settling time and without error steady state and the time to stop
the vehicle to do for 0.87 seconds. It is different that the system are not given AFTC algorithm. Where at the time
given sensor fault will cause unstable response shown by the maximum undershoot value reached 50% and make the
stopping distance longer at 0.89 seconds.

020024-8
 Figure 10. System response fault sensitivity 10%

 Sensitivity error test 100%

In Figure 11 obtained without AFTC system response after a given sensor error sensitivity of 100%. This
causes an unstable response. By the time the system was given AFTC getting the stable response that is 19% maximum
overshoot, 0.1 seconds settling time and without error steady state. So that shows the system is able to estimate with
a good sensor error.

Figure 11. System response fault sensitivity 100%

SOC Regenerative ABS Battery

In the figure 12 is the result of the condition of State of Charge Battery during braking.

Figure 12. SOC battery graph during braking

Where the braking is applied, system will reduce battery SOC value due at the time of regenerative braking
systems, motors in electric vehicle will produce torque and will provide work load on the wheel. Reverse torque on
the electric motor is used to generate regenerative charging system on the battery so that the capacity of the battery
will increase and the value of the battery SOC will reduce as much as 0,53%. So that the system shows a system
capable of performing regenerative braking when the braking force is applied.

020024-9
 CONCLUSION

From the data analysis, it could be concluded from this paper about Active Fault Tolerant Control (AFTC) design
on Anti-Lock Braking System in electric vehicle:
The control system using Sliding Mode Controller is better than using a conventional PID. With SMC parameters
ε, k and are respectively 3, 10 and 3900 showed a good response to the slip ratio, with a 19% maximum overshoot,
0.1 s settling time, without error steady state and braking time of 0.87 seconds. While the PID controller with the value
, and respectively 250, 138 and 8.8. The response generated by the system at the time given by the parameter
controller has a 9.8% maximum overshoot, 0.4s settling time, without error steady state, and the braking time of 1.19
seconds.
Extended State Observer-based estimator capable of estimating the sensor fault occurred. Value errors in the actual
sensor can be replaced by an observer algorithm so that the response can be more robust system against external
disturbances such as bias and sensitivity.
Performance control system equipped with AFTC algorithm is better than the system without AFTC algorithm. It
is shown from the test results the sensitivity and bias errors AFTC algorithm is able to maintain stability of the system.
It can be seen from the response slip ratio system that shows a 19% maximum overshoot, 0.1 settling time and without
error steady state. While no algorithm AFTC applied to the system would make the system unstable when fault occurs
on sensor.

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