Perbandingan Metode Kontrol P, PD, PI, dan PID pada Robot Self-Balancing Beroda Dua

Abstract

The self-balancing robot is unstable and will fall without external control so an excellent control method is needed so that the robot can automatically maintain a balanced position. This research aims to design and control a two-wheeled self-balancing robot to be able to maintain a good balance perpendicular to a flat surface. In this study, tests were conducted by comparing the P, PD, PI, and PID control methods to obtain the best control method to be applied to the two-wheeled self-balancing robot. The PID controller proved to be the best compared to other control methods. The performance of the PID controller carried out in the study is measured by the length of time the robot can stand stable at rest, in motion, and the presence of external disturbances. The system uses an Inertial Measurement Unit (IMU) sensor to reduce the centrifugal force exerted on the robot, detects the tilt angle and angular velocity, and uses an Arduino as the control center and data process. The self-balancing robot that has been designed can balance itself stably on the PID parameters used, namely , and . With these PID parameters, the robot can maintain an upright and balanced position with or without external disturbances and can stabilize for 600 seconds (10 minutes) even longer as long as battery power is still available.