RANCANG BANGUN ROBOT REMOTE CONTROL DUA RODA DENGAN FITUR SELF-BALANCING MENGGUNAKAN METODE PID

RIZALDI, MUHAMMAD FIKRI (2021) RANCANG BANGUN ROBOT REMOTE CONTROL DUA RODA DENGAN FITUR SELF-BALANCING MENGGUNAKAN METODE PID. S1 thesis, Universitas Mercu Buana Jakarta.

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Abstract

A robot that has the ability to balance itself is called a Self-Balancing Robot. This self-balancing robot is a development of the inverted pendulum model which is placed on a wheeled train. This robot concept has been used as a transportation named Segway. The Self-Balancing Robot which developed in this final project is a remote control robot. This robot can be controlled using an android phone while balancing itself so that the robot can stand upright and following the instructions without falling. The communication used to control the robot via an android phone is using Bluetooth communication. Meanwhile, to read the tilt angle of the robot, the MPU6050 sensor is used, which is a module consisting of 3 axis gyroscope and accelerometer sensors. Based on the test results, the maximum distance to control the robot is as far as 9 meters without obstruction and the MPU6050 sensor %error standard deviation value is 0.031%. The control system used so that the robot can balance itself is PID control. With each parameter of PID value of Kp = 31, Ki = 136, and Kd = 0.8 obtained from the tuning process using the Ziegler-Nichols tuning method with the oscillation method. Keywords: Self-balancing Robot, Remote Control, PID Robot yang mempunyai kemampuan menyeimbangkan dirinya sendiri biasa disebut dengan Robot Self-Balancing. Robot Self-balancing ini merupakan pengembangan dari model pendulum terbalik (inverted pendulum) yang diletakkan di atas kereta beroda. Konsep robot ini telah digunakan sebagai alat transportasi yang bernama Segway. Robot Self-Balancing yang dikembangkan pada tugas akhir kali ini yaitu sebuah robot remote control. Robot ini dapat dikontrol menggunakan ponsel android sembari menyeimbangkan dirinya sendiri agar robot bisa berdiri tegak dan berjalan mengikuti perintah tanpa terjatuh. Komunikasi yang digunakan untuk mengontrol robot melalui ponsel android yaitu menggunakan komunikasi bluetooth. Sedangkan untuk membaca sudut kemiringan robot digunakan sensor MPU6050 yang merupakan sebuah modul yang terdiri dari 3 axis sensor gyroscope dan accelerometer. Berdasarkan hasil pengujian, didapatkan jarak maksimal untuk mengontrol robot yaitu sejauh 9 meter tanpa halangan dan juga didapatkan nilai standar deviasi %error sensor MPU6050 sebesar 0.031 %. Adapun sistem kendali yang digunakan agar robot dapat menyeimbangkan dirinya sendiri yaitu kendali PID. Dengan parameter nilai PID masing-masing sebesar Kp = 31, Ki = 136, dan Kd = 0.8 yang didapatkan dari proses penalaan menggunakan metode penalaan Ziegler-Nichols metode osilasi. Kata kunci: Robot Self-balancing, remote control, PID

Item Type: Thesis (S1)
NIM/NIDN Creators: 41419110083
Uncontrolled Keywords: Robot Self-balancing, remote control,
Subjects: 600 Technology/Teknologi > 620 Engineering and Applied Operations/Ilmu Teknik dan operasi Terapan
600 Technology/Teknologi > 620 Engineering and Applied Operations/Ilmu Teknik dan operasi Terapan > 621 Applied Physics/Fisika terapan
600 Technology/Teknologi > 620 Engineering and Applied Operations/Ilmu Teknik dan operasi Terapan > 621 Applied Physics/Fisika terapan > 621.3 Electrical Engineering, Lighting, Superconductivity, Magnetic Engineering, Applied Optics, Paraphotic Technology, Electronics Communications Engineering, Computers/Teknik Elektro, Pencahayaan, Superkonduktivitas, Teknik Magnetik, Optik Terapan, Tekn
Divisions: Fakultas Teknik > Teknik Elektro
Depositing User: Dede Muksin Lubis
Date Deposited: 27 Jan 2022 03:12
Last Modified: 27 Jan 2022 03:12
URI: http://repository.mercubuana.ac.id/id/eprint/54575

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