Bakti Dwi Waluyo, Dadang Mulyana, Baharuddin, Arif Rahman, Muhammad Aulia Rahman Sembiring
The two-wheeled balancing robot is a robot that can move with two wheels on the left and the right. However, in order to maintain balance, the robot needs to use both wheels to move. We, therefore, need control to move the two-wheel robot so that it can stand in balance. This system has two inputs, namely accelerometers, used to measure angular acceleration (m/s2) and gyroscopes for measuring angular velocity (rad/s). The accelerometers and gyroscope values were calculated using the complementary filter method to obtain the angle values. The angle obtained is then compared with the setpoint, which is 0°. The difference between the setpoint and the complementary filter angle is processed using the Proportional Integral Derivative (PID) control method. The PID control process results are used to regulate the rotation of the wheel drive motor in the robot. The direction of the wheel drive motor rotation will go forward if the complementary filter angle is less than zero and reverse if it is more than zero. Based on the tests that have been done, the balancing robot can withstand an angle range of -1.5° to 1.5°. While the PID constant value is Kp = 1.5, Ki = 0.2, and Kd = 0.05 and the coefficient value on the complementary filter algorithm is α = 0.96. The two-wheeled balance robot can be operated with an Android smartphone via Bluetooth properly and can move in balance by lifting a maximum load of 40 Kilograms. © 2022 Little Lion Scientific.
Departmen of Electrical Engineering, Faculty of Engineering, Universitas Negeri Medan, Indonesia
