KONTROL KESEIMBANGAN DENGAN MENGGUNAKAN SENSOR MPU 6050 BERBASIS ARDUINO
Daftar Isi:
- Robot balance (Balancing Robot) is a two-wheeled mobile robot that has two wheels on the right and left side that will not be balanced if without a controller. In this research is done to make the balance of wheeled robot with PID control. Based on reversed pendulum theory. An appropriate control system is needed to control the system so that it is balanced and stable. The main purpose of this final task is to use a good control strategy to keep the robot in a state perpendicular. The problem that arises in balancing robot is how to maintain the condition at set point 0. In this final project, the problem in balancing robot is solved by applying the control system which one of the PID control. The PID controller calculates the error value as the difference between the measured process variable and the desired value. The controller will reduce the error by adjusting the process control input. While the sensors used are accelerometer and gyroscope. The equilibrium position of the two-wheeled robot is between -5 ° to 5 °. The ultimate goal of this study, expected by applying gyroscope and accelerometer sensors is expected to balance the balance robot to maintain a position on a balanced condition and perpendicular to the surface of the earth on the plane.