Rancang Bangun Auto Balancing Robot Menggunakan Metode Kendali PID
DOI:
https://doi.org/10.15575/telka.v5n1.15-23Kata Kunci:
balancing robot, kendali PID, mikrokontroler, sensor MPU GY-6050Abstrak
Balancing robot (robot penyeimbang) beroda dua merupakan suatu mobile robot dengan dua buah roda di sisi kanan dan kirinya yang tidak akan seimbang apabila tidak diberi pengendali selama geraknya. Balancing robot ini merupakan pengembangan dari model bandul terbalik (inverted pendulum) yang diletakkan di atas robot beroda. Proses penyeimbangan selama robot bergerak memerlukan metode kendali yang baik dan handal untuk mempertahankan posisi robot secara tegak lurus terhadap permukaan bumi, tanpa memerlukan gaya dari luar. Makalah ini menguraikan tentang prototipe sebuah auto balancing robot dengan metode kendali PID (proportional integral derivative) untuk menjaga badan robot tetap seimbang dalam posisi tegak lurus terhadap permukaan bumi selama geraknya. Komponen utama dalam implementasi auto balancing robot beroda dua ini menggunakan sensor MPU GY-6050 dan Mikrokontroler Arduino Uno. Sensor MPU GY-6050 digunakan untuk mendeteksi kemiringan dan kecepatan sudut dari badan robot selama bergerak, sedangkan Mikrokontroler Arduino Uno berfungsi sebagai pengendali proses penyeimbangan robot melalui teknik kendali PID. Proses penyeimbangan dilakukan oleh aktuator berupa motor listrik DC. Hasil pengujian prototipe tersebut menunjukkan bahwa proses penyeimbangan dapat dilakukan dengan baik. Torsi motor menghasilkan pergerakan robot sedemikian sehingga robot berada dalam posisi tegaknya.Referensi
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