Perancangan dan realisasi sistem papan penyeimbang bola berbasis mikrokontroler arduino = design and realization of ball on plate balancing system based on microcontroller arduino

Jeremiah, Theo (2018) Perancangan dan realisasi sistem papan penyeimbang bola berbasis mikrokontroler arduino = design and realization of ball on plate balancing system based on microcontroller arduino. Bachelor thesis, Universitas Pelita Harapan.

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Abstract

This research is motivated by the desire to create a ball on a plate balancing system based on microcontroller Arduino. This research is limited by the input media which is the resistive touchpad to read the ball position on the plate in the form of the coordinates x and y. The information of ball coordinates will be processed by the microcontroller Arduino and give the output signal to drive two servo motors. Both of these servos will move the board that will tilt the plate to move the ball to a predetermined position. The size of the board is 26cm x 17cm. There are 3 poles, with one main pole at the center of the plate and two other poles fitted together with the servos. Mini threaded rod ends are used to convert the servo output from rotary to linear and install it along with the universal joint to allow the plate to move in any direction. There are four parts of the main program: first, program to read the position of the ball on the plate. Second, program to regulate the setpoint. Third, program for the filter which used to reduce the input noise from the touchpad. Lastly, program to update the servo angles from the output of PID controller. The result of transient response test, PID controller on x axis, 270 ms delay time, 610 ms rise time, 754 ms peak time, no maximum overshoot, 901 ms settling time, and 2,76 mm RMS error. PID controller on y axis, 225 ms delay time, 501 ms rise time, 617 ms peak time, 1 mm maximum overshoot, 955 ms settling time, and 2,42 mm RMS error. System interference test with four different set points results in the system successfully stabilizes the ball. Tracking test for the ball and plate system results in the system successfully control the ball to form different pattern./ Penelitian ini dilatarbelakangi oleh keinginan untuk membuat sebuah sistem papan penyeimbang bola berbasis mikrokontroler Arduino. Penelitian ini dibatasi pada media input yaitu resistive touchpad berfungsi untuk membaca posisi bola di atas papan dalam bentuk koordinat x dan y. Informasi lokasi tersebut akan diolah oleh mikrokontroler Arduino yang sudah diimplementasikan system control PID untuk mengeluarkan sinyal output yang dapat menggerakkan dua servo. Kedua servo ini akan menggerakkan papan pada kemiringan terentu untuk memindahkan bola menuju lokasi yang sudah ditentukan. Menggunakan papan dengan ukuran sebesar 26cm x 17cm. Terdapat 3 tiang penyangga, satu tiang utama pada titik pusat papan dan dua tiang dipasang bersama dengan dua servo. Dengan menggunakan mini threaded rod ends dapat mengubah servo output dari rotary menjadi linier serta memasangnya bersama dengan universal joint membuat papan dapat bergerak ke segala arah. Pemrograman pada mikrokontroler Arduino terbagi atas empat bagian penting yaitu program pertama adalah membaca posisi bola di atas touchpad, program kedua adalah mengatur setpoint, program ketiga adalah filter untuk mengurangi noise dan program terakhir adalah output Kontroler PID untuk update angle servo. Hasil dari pengujian transient response untuk Kontroler PID koordinat x adalah delay time 270 ms, rise time 610 ms, peak time 754 ms, maximum overshoot 0 mm, settling time 901 ms, dan nilai error RMS 2,76 mm. Hasil dari pengujian transient response untuk Kontroler PID koordinat y adalah delay time 225 ms, rise time 501 ms, peak time 617 ms, maximum overshoot 1 mm, settling time 955 ms, dan nilai error RMS 2,42 mm. Hasil dari pengujian gangguan sistem PID kontrol pada empat titik setpoint yang berbeda menunjukkan sistem kontrol dari papan penyeimbang bola ini berhasil menstabilkan bola ketika diberikan gangguan pada keempat setpoint. Hasil dari pengujian tracking untuk sistem papan penyeimbang bola menunjukkan bahwa sistem kontrol sudah dapat mengontrol bola membentuk pola-pola perubahan setpoint yang sudah ditentukan.

Item Type: Thesis (Bachelor)
Creators:
CreatorsNIMEmail
Jeremiah, TheoUNSPECIFIEDUNSPECIFIED
Contributors:
ContributionContributorsNIDN/NIDKEmail
Thesis advisorUranus, Henry P.UNSPECIFIEDUNSPECIFIED
Thesis advisorTjahyadi, HendraUNSPECIFIEDUNSPECIFIED
Additional Information: SK 32-14 JER p
Uncontrolled Keywords: Arduino; Resistive Touchpad; Servo; PID Controller; Mini Threaded Rod Ends; Universal Joint
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Depositing User: Mr Samuel Noya
Date Deposited: 14 Oct 2019 08:00
Last Modified: 14 Oct 2019 08:00
URI: http://repository.uph.edu/id/eprint/4773

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