KONTROL KESEIMBANGAN BALANCING ROBOT MENGGUNAKAN METODE PID ZIEGLER-NICHOLS
Daftar Isi:
- Balancing robot is a mobile robot that can balance itself. Balancing robots are also often referred to as inverted pendulums. To control the robot so that it can balance itself, it takes a controller and controller that is used in this study is a PID controller. The PID controller consists of proportional gain Kp, integral gain Ki and Derivative gain Kd. To determine the value of proportional gain Kp, integral gain Ki and Derivative gain Kd, this research uses Ziegler-Nichols tuning method. Setting value of Ku is 15 and Tu is 0.2 with the angle range of -5o to 5o . and setting value of Ku is 10 and Tu is 0.1 with the angle range of -8o to 8o .