SISTEM STABILISASI GIMBAL CAMERA 2 AXIS PADA QUADCOPTER MENGGUNAKAN METODE PID CONTROLLER
Daftar Isi:
- Quadcopter is a plane with 4 motors which can be controlled independently and has heavy lift ability that can be used as aerial monitoring system and aerial photography. In this research, 2 axis gimbal camera (roll and pitch) are used to balance the camera and to minimize the vibration for high quality video or image. The inputs of this system are coming from accelerometer sensors and gyroscope sensors which used to determine the angular position that is filtered by complementary filter which serves to reduce sensor noises. The output of this system are the movement of brushless motor 2 axis gimbal camera, which is controlled by PID controller logic method because it has a simple calculation, faster response and more suitable for real-time applications. The result of this research demonstrated that the use of PID controller for the roll axis with Kp = 20, Ki = 8, and Kd = 30 and for pitch axis with Kp = 20, Ki = 10, and Kd = 40 can produce good respons towards the changing of angle, therefore able to automatically manage stable positioning of the camera. Test results of complementary filter is able to reduce noises from two sensors and therefore produce better angle measurements with small RMS errors, that are 0.042661° on roll and 0.028284° on pitch.