Implementation of Self Balancing Robot Based on The Proportional Integral Differential (PID) Controller Parameter Eki Ahmad Zaki Hamidi, Mufid Ridlo Effendi, Ahmad Basuni, Muamar Wildan
Electrical Engineering Department, UIN Sunan Gunung Djati Bandung
Abstract
Self balancing robot has been widely made using several methods such as complementary filters, low pass filters, and kalman filters without using the Proportional Integral Differential (PID) control system. In this research, this robot is built using a Proportional Integral Differential (PID) control system to determine the amount of speed and direction of rotation of a DC motor as a driver, based on the angle of inclination of the robot body to a flat surface. Thus, this two-wheeled robot can maintain its position perpendicular and balance to the earth^s surface on a flat plane. Sensor used in this paper are gyroscope and accelerometer. Moreover, only Y axis is used so that the robot only rotates on that axis. After a serial of testing and experiment, it is found that the robot is balanced with value of Kp 48, Ki. 300 and Kd 2.7 which produce quite good data with small oscillations and amplitude ranges.
Keywords: Robot, Self Balancing, PID
Topic: Symposium on Advance of Sustainable Engineering
