Kontrol robot beroda dua dengan modul mikrokontroler arduino = two-wheeled robot control using arduino microcontroller module

Kusumo, Ivan (2017) Kontrol robot beroda dua dengan modul mikrokontroler arduino = two-wheeled robot control using arduino microcontroller module. Bachelor thesis, Universitas Pelita Harapan.

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Abstract

A two-wheeled robot is devised in this experiment, which equipped with a control system so the robot can maintain its stabilized and up-straight state. This stabilized robot state can be achieved by obtaining inputs from gyroscope and accelerometer sensor which is then filtered with complementary filter 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, resulting in a corresponding output to each motor according to the PID coefficient value which is tuned by Ziegler-Nichols method and experimental method. All of these stages starting with obtaining sensors’ data, complementary filtering, PID control system, and adjusting output to motors are being done by the Arduino 101 microcontroller module that already has IMU embedded with it. Experiments show that the Ziegler-Nichols method produces a delay time of 18,574 ms, rise time of 39,695 ms, peak time of 76,527 ms, maximum overshoot of 6,4°, settling time of 111,769 ms, and RMS error value of 0,5832°~0,642°. Meanwhile, the experimental method produces a delay time of 19,071 ms, rise time of 38,144 ms, peak time of 73,977 ms, maximum overshoot of 7,28°, settling time of 161,352 ms, and RMS error value of 0,5423°~0,5955° in unloaded condition. For the loaded condition, the robot could take a load up to 600 grams while maintaining its stabilized state./ Dalam penelitian ini dilakukan perancangan dan demonstrasi robot beroda dua yang ditambahkan sistem kontrol sehingga robot tersebut dapat berdiri tegak dengan stabil. Stabilisasi robot dilakukan dengan mengambil informasi dari sensor giroskop dan akselerometer yang kemudian diproses dengan menggunakan complementary filter untuk mendapatkan sudut kemiringan dari robot. Sudut kemiringan tersebut menjadi masukan bagi sistem kontrol PID yang kemudian dibandingkan dengan nilai set point sehingga dihasilkan keluaran yang sesuai ke masing-masing motor berdasarkan nilai koefisien PID yang di-tuning dengan menggunakan metode Ziegler-Nichols dan metode eksperimental. Semua tahap ini yang dimulai dari pembacaan sensor, complementary filtering, sistem kontrol PID, hingga mengatur keluaran ke motor dilakukan oleh modul mikrokontroler Arduino 101 yang telah memiliki IMU tertanam di dalamnya. Hasil penelitian yang telah dilakukan menunjukkan metode Ziegler-Nichols memberikan delay time 18,574 ms, rise time 39,695 ms, peak time 76,527 ms, maximum overshoot 6,4°, settling time 111,769 ms, dan nilai error RMS 0,5832°~0,642°. Sementara itu, metode eksperimental memberikan delay time 19,071 ms, rise time 38,144 ms, peak time 73,977 ms, maximum overshoot 7,28°, settling time 161,352 ms, dan nilai error RMS 0,5423°~0,5955° pada kondisi tanpa beban. Untuk kondisi berbeban, robot dapat membawa beban hingga 600 gram dengan tetap mempertahankan kestabilannya.

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