Kontrol robot penyeimbang beroda dua menggunakan smartphone = Two-Wheeled balancing robot control using smartphone

Owen, Owen (2021) Kontrol robot penyeimbang beroda dua menggunakan smartphone = Two-Wheeled balancing robot control using smartphone. Bachelor thesis, Universitas Pelita Harapan.

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Abstract

Penelitian ini meliputi pekerjaan merancang sebuah robot penyeimbang yang dapat dikontrol dengan smartphone. Robot tersebut dibuat menggunakan desain robot penyeimbang beroda dua pada umumnya dengan menggunakan akrilik yang berukuran 15 cm × 9 cm dan memiliki dua buah motor stepper sebagai roda robot agar dapat mempertahankan posisi tegak dengan stabil. Stabilisasi robot dilakukan dengan membaca sensor giroskop dan akselerometer pada modul MPU-6050 untuk mendapatkan sudut kemiringan dari robot. Sudut kemiringan robot menjadi masukan pada sistem kontrol PID dan dibandingkan dengan nilai set point hingga hasil keluaran tersebut akan sesuai dengan masing-masing motor berdasarkan nilai parameter PID yang di-tune dengan menggunakan metode Ziegler-Nichols dan metode eksperimental. Berdasarkan hasil pengujian, robot penyeimbang beroda dua berhasil mempertahankan keseimbangannya dengan menggunakan metode eksperimental dengan Kp, Ki, dan Kd masing-masing sebesar 10, 1, dan 20 sedangkan metode Ziegler-Nichols dengan Kp, Ki, dan Kd masing-masing sebesar 10.2, 0.3, dan 89.25. Robot penyeimbang beroda dua juga dilengkapi dengan modul transceiver bluetooth HC-05 yang akan terhubung dengan modul Arduino Nano untuk menerima koneksi Bluetooth melalui smartphone. Aplikasi kontroler bluetooth robot dibuat dengan menggunakan aplikasi MIT Application Inventor. Jarak maksimal modul HC-05 ketika menyambungkan koneksi smartphone adalah 10 meter dan lebih dari itu modul tersebut sudah tidak dapat terkoneksi karena sinyal yang diterima sangat lemah. Waktu delay sistem yang dibutuhkan pada sistem ini adalah 50 ms – 52 ms. Robot penyeimbang dapat dikontrol maju, mundur, belok kiri, belok kanan, dan stop dengan menggunakan smartphone. / This research covers the designed of a balancing robot that can be controlled using a smartphone. The robot is made using a design generally used for two-wheeled balancing robots constructed from acrylic plate with the size of 15 cm x 9 cm and has two stepper motors as a robot wheel in order to maintain a stable upright position. This stabilized robot state can be achieved by reading the gyroscope and accelerometer sensors on MPU-6050 module to obtain the robot’s tilt angle. This tilt angle becomes the input for the PID control system which will be compared with a set point value until the output matches each motor based on the PID parameter value tuned using the Ziegler-Nichols method and experimental methods. Based on the results, the two-wheeled balancing robot successfully maintains balance by using the experimental method where Kp, Ki, and Kd are 10, 1, and 20, respectively while the Ziegler-Nichols method with Kp, Ki, and Kd are 10.2, 0.3, and 89.25, respectively. The two-wheeled self-balancing robot is also equipped with the HC-05 Bluetooth module that connects with the Arduino Uno module to receive Bluetooth connection via a smartphone. The Bluetooth robot controller application is made using the MIT Application Inventor. To ensure a stable connection, the maximum distance between the HC-05 Bluetooth module and a smartphone is 10 meters. Beyond 10 meters, the module cannot connect to the smartphone due to weak signals. The system delay time measured in this system is 50 ms - 52 ms. The balancing robot can be controlled forward, backward, turn left, turn right, and stop using a smartphone.

Item Type: Thesis (Bachelor)
Creators:
CreatorsNIMEmail
Owen, OwenNIM01032170005owenxu1411@gmail.com
Contributors:
ContributionContributorsNIDN/NIDKEmail
Thesis advisorUranus, HenriNIDN0302126304h.p.uranus@gmail.com
Uncontrolled Keywords: smartphone; PID; arduino nano; bluetooth; MIT application inventor Inventor.
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: University Subject > Current > Faculty/School - UPH Karawaci > Faculty of Science and Technology > Electrical Engineering
Current > Faculty/School - UPH Karawaci > Faculty of Science and Technology > Electrical Engineering
Depositing User: Users 3925 not found.
Date Deposited: 03 Mar 2021 01:45
Last Modified: 15 Mar 2022 10:40
URI: http://repository.uph.edu/id/eprint/25965

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