ROBOT KESEIMBANGAN DENGAN MENGGUNAKAN SENSOR MPU6050 DAN KONTROL PID BERBASIS MIKROKONTROLLER ATMEGA32
| Main Author: | TARADIAS, IRENE |
|---|---|
| Format: | Thesis NonPeerReviewed Book |
| Bahasa: | eng |
| Terbitan: |
, 2016
|
| Subjects: | |
| Online Access: |
http://eprints.polsri.ac.id/3894/1/FILE%20I.pdf http://eprints.polsri.ac.id/3894/2/FILE%20II.pdf http://eprints.polsri.ac.id/3894/3/FILE%20III.pdf http://eprints.polsri.ac.id/3894/4/FILE%20IV.pdf http://eprints.polsri.ac.id/3894/5/FILE%20V.pdf http://eprints.polsri.ac.id/3894/6/FILE%20VI.pdf http://eprints.polsri.ac.id/3894/7/FILE%20VII.pdf http://eprints.polsri.ac.id/3894/ |
Daftar Isi:
- This final project describes about Balancing Robot by Using 6050-MPU Sensor and PID Control Based on ATMEGA32 Microcontroller. The purpose is to devise the balancing robot which can balance itself by using a 6050-MPU sensor as the slope detector and PID control as control system based on ATMEGA32 microcontroller. By applying PID control, tuning result for balancing robot is gained. The result is kp=19, ki=4, kd=14. This robot balancing system can be stable or can mantain standing position without falling on range around 30 until 30 from standing position which is 0. From this research, it can be concluded if the setting of balancing two-wheeled robot can reach fast as the mechanic robot is stable. The balance will hard to fulfill if the top of the robot is burdened by heavy object.