Comparison of Control Methods PD, PI, and PID on Two Wheeled Self Balancing Robot

Suprapto, Bhakti Yudho; Amri, Djulil; Dwijayanti, Suci

doi:10.11591/eecsi.v1.348

Cited by 3 publications

(3 citation statements)

References 4 publications

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“…Konsep robot ini telah digunakan sebagai alat transportasi yang bernama segway (Laksana et al, 2012). Robot self-balancing bersifat tidak stabil dan akan jatuh tanpa kontrol eksternal sehingga diperlukan metode kontrol yang sangat baik agar robot dapat secara otomatis mempertahankan posisinya secara tegak lurus terhadap permukaan datar (Suprapto et al, 2014). Robot self-balancing beroda dua merupakan robot yang mampu mempertahankan posisi seimbang secara otomatis berdasarkan perubahan dan pergeseran titik keseimbangannya (Kim et al, n.d.).…”

Section: Pendahuluanunclassified

“…Namun, ketiga penelitian tersebut hanya fokus dalam menerapkan metode kontrol PID pada robot self-balancing tanpa membandingkan metode kontrol lain. Selain itu, Suprapto et al (2014) melakukan penelitian tentang perbandingan metode kontrol PD, PI, dan PID pada robot self-balancing dan robot tersebut dapat menyeimbangkan diri pada posisi tegak selama 43 detik. Berdasarkan penelitian tersebut, maka penelitian ini menambahkan perbandingan menjadi empat metode kontrol, yaitu P, PD, PI, dan PID dan merancang robot selfbalancing agar mampu menjaga keseimbangan dengan waktu yang lebih lama dan mampu bertahan meskipun terdapat gangguan eksternal.…”

Section: Pendahuluanunclassified

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Perbandingan Metode Kontrol P, PD, PI, dan PID pada Robot Self-Balancing Beroda Dua

Pertiwi,

Agustian,

Silitonga

et al. 2024

Bri

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Self-balancing robots are unstable and will fall without external control, so a very good control method is needed so that the robot can automatically maintain a balanced position. This research aims to design and control a two-wheeled self-balancing robot so that it is able to maintain proper balance perpendicular to a flat surface. In this research, tests were carried out by comparing the P, PD, PI, and PID control methods in order to obtain the best control method that will be applied to a two-wheeled self-balancing robot. PID controllers are proven to be the best compared to other control methods. The performance of the PID controller used in the research was measured by the length of time the robot was able to stand stably when stationary, moving and in the presence of external disturbances. This system uses an Inertial Measurement Unit (IMU) sensor to reduce the centrifugal force exerted on the robot, detect tilt angle and angular velocity and uses Arduino as a control center and data processer. The self-balancing robot that has been designed can balance itself stably on the PID parameters used, namely K_p=11-13, K_d=0.8-1, and K_i=100-120. With these PID parameters the robot is able to maintain an upright and balanced position with or without external disturbances and is able to be stable for 600 seconds (10 minutes) or even longer as long as battery power is still available.Abstrak: Robot self-balancing bersifat tidak stabil dan akan jatuh tanpa kontrol eksternal sehingga diperlukan metode kontrol yang sangat baik agar robot dapat secara otomatis mempertahankan posisi seimbang. Penelitian ini bertujuan untuk merancang dan mengontrol robot self-balancing beroda dua agar mampu menjaga keseimbangan dengan baik secara tegak lurus terhadap permukaan datar. Dalam penelitian ini dilakukan pengujian dengan membandingkan metode kontrol P, PD, PI, dan PID agar memperoleh metode kontrol terbaik yang akan diterapkan pada robot self-balancing beroda dua. Pengontrol PID terbukti yang terbaik dibandingkan metode kontrol lainnya. Performa pengontrol PID yang dilakukan dalam penelitian diukur dari lamanya waktu robot tersebut mampu berdiri stabil saat diam, bergerak dan adanya gangguan eksternal. Sistem ini menggunakan sensor Inertial Measurement Unit (IMU) untuk mengu-Tersedia Online di http://www.jurnal.unublitar.ac.id/ index.php/briliant

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Section: Pendahuluanunclassified

Perbandingan Metode Kontrol P, PD, PI, dan PID pada Robot Self-Balancing Beroda Dua

Pertiwi,

Agustian,

Silitonga

et al. 2024

Bri

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“…Controllers were deployed to determine the velocity and direction of Direct Current (DC) motor rotating as a plant, based on the tilt angle of the robot body to the surface of the flat plane. This self-balancing robot can maintain the position corresponding with the earth surface in a flat plane [16].…”

Section: Introductionmentioning

confidence: 99%

Design and Simulation of Two-Wheeled Balancing Mobile Robot with PID Controller

Mudeng¹,

Hassanah²,

Priyanto³

et al. 2020

IJSTT

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Mobile transportation robots using two wheels have now been investigated. The work within this study is to design and simulate two-wheeled robots, thus it can maintain its balance. Many control methods are used to determine satisfactory control optimization, therefore a proper response is obtained by sensor recitation corresponding with the reaction of a Direct Current (DC) motor. Recently, two-wheeled transportation robot is a Segway model. In this study, we apply a Proportional Integral Derivative (PID) controller as a control system in a self-balancing robot with a working principle is similar to an inverted pendulum. In the next study, the PID controller and the whole system are applied in the microcontroller board. The angular velocity of two DC motors used as a plant can be adjusted by Pulse Width Modulation (PWM) through a motor driver. An Inertial Measurement Unit (IMU) sensor is utilized to detect the angular acceleration and angular velocity of the self-balancing robot. The phase design is constructed by planning the robot dimension, mechanical system, and an electronic system. Particularly, this study performs mathematical modeling of the robot system to obtain the transfer function. In addition, we simulate the PID parameter with multiplication between the basic parameter and several fixed constants. The simulation results indicate that the robot can maintain its balance and remains perpendicularly stable for balancing itself.

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