Self balancing robot with bluetooth controller

Iskandar, Calvin (2017) Self balancing robot with bluetooth controller. Bachelor thesis, Universitas Pelita Harapan.

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Abstract

Dalam proyek Tugas Akhir ini dirancang dan dibuat sebuah Self Balancing Robot yang dapat mempertahankan posisi tegaknya hanya dengan 2 buah roda. Dibuat juga aplikasi kontroler untuk smartphone Android yang digunakan untuk menavigasi robot tersebut. Koneksi antara robot dengan smartphone Android ini menggunakan Bluetooth. Robot ini memiliki modul Bluetooth yang terhubung dengan Arduino Uno untuk dapat menerima koneksi Bluetooth melalui smartphone Android. Selain itu, robot ini juga memiliki modul GY-521, driver motor, dan 2 buah motor DC 12V dengan baterai Li-Po sebagai suplai daya. Self Balancing Robot menggunakan PID controller sebagai sistem kendali utama. Sistem robot ini mengukur sudut kemiringannya menggunakan modul GY- 521, dan memberikan data tersebut kepada PID controller sebagai data input yang akan diproses untuk menjadi acuan arah dan kecepatan dari motor DC. PID controller tersebut memiliki parameter Kp, Ki, dan Kd yang berperan terhadap output dari prosesnya. Sistem robot ini membutuhkan kombinasi dari Kp, Ki, dan Kd tertentu untuk dapat mempertahankan posisi tegaknya. Sejumlah pengujian dilakukan untuk mencari kombinasi Kp, Ki, dan Kd yang tepat untuk sistem robot pada penelitian ini. Pengujian yang dilakukan ini menghasilkan grafik reaksi robot yang dapat dianalisis. Pengujian dilakukan dengan metode manual tuning, yaitu dengan trial and error, dimulai dari mencari nilai Kp baru kemudian Ki, dan Kd. Metode ini menentukan nilai Kp, Ki, dan Kd yang optimal untuk sistem robot ini adalah 13, 15, dan 0.4. Pengujian untuk navigasi dengan kontroler Bluetooth juga sudah dilakukan, menunjukkan Self Balancing Robot ini dapat dikontrol dengan baik sampai sejauh 20 meter. / In this final project, a Self Balancing Robot was designed and built that can maintain its upright position only with 2 wheels. Also a controller application for Android smartphone has been made to navigate the robot. The robot using a Bluetooth connection to communicate with Android smartphone. It has a Bluetooth module connected to the Arduino Uno to accept Bluetooth connection from Android smartphone. The robot also has a GY-521 module, a motor driver, and 2 12V DC motors with Li-Po battery as its power supply. PID controller has been used as the main robot’s control system. The robot’s system measure the slope angle using the GY-521 module, and provide that data to PID controller as input that to be processed to be a reference direction and speed of the DC motors. The PID controller has three parameters, Kp, Ki, and Kd which could affect the output of the process. The robot’s system requires a certain combination of Kp, Ki, and Kd in order to maintain its upright position. Some tests were done to find the right combination of Kp, Ki, and Kd for the robot’s system in this project. The performed test provides graph that can be analyzed. The tests were done by manual tuning method, which is by trial and error, starting from Kp value, then Ki, and Kd. This method determines the optimum value of Kp, Ki, and Kd for this robot’s system are 13, 15, and 0.4. The test for navigation with Bluetooth controller also has been done, shown that this Self Balancing Robot can be well controlled as far as 20 meters.

Item Type: Thesis (Bachelor)
Creators:
CreatorsNIMEmail
Iskandar, CalvinUNSPECIFIEDUNSPECIFIED
Contributors:
ContributionContributorsNIDN/NIDKEmail
Thesis advisorTjahyadi, HendraUNSPECIFIEDUNSPECIFIED
Thesis advisorPratiwi, Heni IspurUNSPECIFIEDUNSPECIFIED
Additional Information: SK 83-12 ISK s
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK7885-7895 Computer engineering. Computer hardware
Divisions: University Subject > Historic > Faculty/School > Computer System Engineering
Historic > Faculty/School > Computer System Engineering
Depositing User: Ms Hamardiati Saptarini
Date Deposited: 30 Nov 2018 07:53
Last Modified: 13 Sep 2021 09:00
URI: http://repository.uph.edu/id/eprint/2251

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