IMPLEMENTASI PID CONTROLLER PADA SELF BALANCING ROBOT

摘要

Self Balancing Robot is one application of inverted pendulum system where the system has a gravity above the rotary shaft causing the system is less stable and unbalanced. Therefore, we need a control system that can make the pendulum balanced by moving two wheels into a rotary shaft of the inverted pendulum. The purpose of this research is to design a two-wheeled robot control system in order to maintain the position in a balanced state. This system gets input from the sensor MPU-6050 is a combination of accelerometer and gyroscope. Control system used is PID control method (Proprotional Integral and Derivative). PID control process is done by creating a program code using Arduino IDE software which will be entered into Arduino Uno which the result is used to control the speed and direction of DC motor rotation, and set point value of the angle of the robot. The DC motor will spin forward and back when the angle obtained is more than the set point value. The value of PID constants obtained based on trial and error tuning. Keywords: Self Balancing Robot, PID, MPU-6050