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

Abstract

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