Low Level Controller Analysis using Digital PID Controller on Self Balancing Robot in Corrugated Path Seta Samsiana, Setyo Supratno, Bayu Cendana
Faculty of Engineering, Universitas Islam 45 Bekasi
Abstract
Two-wheel self-balancing robot is a mobile robot that has two wheels on the right and left that will not be balanced without the controller.The PID controller can be used to control the robot^s position in order to maintain its balance whileruns on a bumpy road by adjusting the corresponding proportional constant (Kp), integral constant (Ki) and derivative constant (Kd)by using trial and error method. Control system analysis is based on 3 aspects of analysis, those aretransient response analysis, steady state response analysis and stability analysis. The results of the trial and error method in this study are that the robot can maintain its balance whlie runs on a bumpy road with values of Kp = 50, Ki = 170 and Kd = 2.2. The results of the analysis of the PID parameters are the self balancing robot^s responses included in the overdamped category, with a value of% error steady state =1.078% and robot stability included in the marginal stable category.
Keywords: Self Balancing Robot, PID,Trial and Error
