Perancangan self-balancing boat berbasis arduino = Arduino based self-balancing boat design

Valenstyo, Ryo (2021) Perancangan self-balancing boat berbasis arduino = Arduino based self-balancing boat design. Bachelor thesis, Universitas Pelita Harapan.

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Abstract

Penelitian ini merancang sebuah kapal yang dapat menyeimbangkan dirinya sendiri. Kapal ini dibuat sebagai inovasi dari sistem self-balancing yang sedang berkembang saat ini, juga untuk meningkatkan kenyamanan penumpang kapal. Kapal ini dilengkapi dengan sebuah microcontroller Arduino Uno dan beberapa komponen lainnya, seperti sensor kemiringan (MPU6050), servo (MG996R), baterai (Li-Po), bola besi, DC/DC converter (XL4015), dan power distribution board. Untuk dapat menyeimbangkan dirinya sendiri, kapal ini menggunakan sistem kontrol proportional, integral, dan derivative (PID). Sistem kontrol ini akan bekerja apabila kapal mengalami kemiringan. Sistem kontrol ini akan membantu kapal kembali pada posisi neutral equilibrium (sudut kemiringan = 0). Untuk merancang kapal ini, dilakukan modifikasi pada fisik kapal mainan, perancangan sistem kontrol, dan perancangan sumber daya bagi sistem kontrol. Dari hasil pengukuran dan penelitian ini, sistem penyeimbang berjalan dengan baik dan data berupa konstanta proportional, integral, dan derivative telah berhasil didapatkan. Sensor kemiringan mengalami steady-state error sekitar -6 derajat dan konstanta proportional yang didapatkan dengan metode tuning Ziegler-Nichols = 6,6, sedangkan untuk konstanta integral dan derivative dengan metode tuning Ziegler-Nichols adalah masing-masing 0,0008 dan 13,398. / This research determines a ship that can balance itself. This ship was made as an innovation of the self-balancing system that is currently being developed, also to improve the comfort of the ship's passengers. This ship is equipped with an Arduino Uno microcontroller and several other components, such as a tilt sensor (MPU6050), servo (MG996R), battery (Li-Po), iron ball, DC / DC converter (XL4015), and a power distribution board. To be able to balance itself, this ship uses a proportional, integral, and derivative (PID) control system. This control system will work if the ship is tilted. This control system will help the ship return to a neutral equilibrium position (tilt angle = 0). To design this ship, modifications were made to the physical toy ship, design the control system, and design the resources for the control system. From the results of this measurement and research, the balancing system is running well and data in the form of proportional constants, integrals, and derivatives have been successfully obtained. The tilt sensor has a steady state error of about -6 degrees and the proportional constant obtained using the Ziegler-Nichols tuning method = 6.6, while for the integral and derivative constants using the Ziegler-Nichols method are 0.0008 and 13.398, respectively.

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