Implementation of self balancing robot based on the proportional integral differential (PID) controller parameter

The self-balancing robot has been widely made using several methods such as complementary filters, low pass filters, and Kalman filters without using the Proportional Integral Differential (PID) control system. In this research, this robot is built using a Proportional Integral Differential (PID) co...

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Bibliographic Details
Main Authors: Hamidi, Eki Ahmad Zaki, Effendi, Mufid Ridlo, Basuni, Ahmad, Wildan, Muamar
Format: Conference Proceeding
Language:English
Subjects:
Accelerometers
Balancing
Control systems
D C motors
Earth surface
Electric motors
Flat surfaces
Inclination angle
Kalman filters
Low pass filters
Proportional integral derivative
Robots
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Summary:The self-balancing robot has been widely made using several methods such as complementary filters, low pass filters, and Kalman filters without using the Proportional Integral Differential (PID) control system. In this research, this robot is built using a Proportional Integral Differential (PID) control system to determine the amount of speed and direction of rotation of a DC motor as a driver, based on the angle of inclination of the robot body to a flat surface. Thus, this two-wheeled robot can maintain its position perpendicular and balance to the earth's surface on a flat plane. The sensor used in this paper is gyroscope and accelerometer. Moreover, only the Y-axis is used so that the robot only rotates on that axis. After a serial of testing and experiment, it is found that the robot is balanced with a value of Kp 48, Ki. 300 and Kd 2.7, which produce quite good data with small oscillations and amplitude ranges.
ISSN:0094-243X
1551-7616
DOI:10.1063/5.0115865