KONTROL KESEIMBANGAN BALANCING ROBOT MENGGUNAKAN METODE PID ZIEGLER-NICHOLS

PUTRA, MAIDO ARFINDRA and Ubaya, Huda (2018) KONTROL KESEIMBANGAN BALANCING ROBOT MENGGUNAKAN METODE PID ZIEGLER-NICHOLS. Undergraduate thesis, Sriwijaya University.

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Abstract

Balancing robot is a mobile robot that can balance itself. Balancing robots are also often referred to as inverted pendulums. To control the robot so that it can balance itself, it takes a controller and controller that is used in this study is a PID controller. The PID controller consists of proportional gain Kp, integral gain Ki and Derivative gain Kd. To determine the value of proportional gain Kp, integral gain Ki and Derivative gain Kd, this research uses Ziegler-Nichols tuning method. Setting value of Ku is 15 and Tu is 0.2 with the angle range of -5o to 5o . and setting value of Ku is 10 and Tu is 0.1 with the angle range of -8o to 8o .

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Balancing robot, PID Control, Ziegler-Nichols method.
Subjects:	T Technology > TS Manufactures > TS155-194 Production management. Operations management > TS183.G76 Manufacturing processes, Automation. Production control. CAD/CAM systems. Computer integrated manufacturing systems. Robots, Industrial.
Divisions:	09-Faculty of Computer Science > 56201-Computer Systems (S1)
Depositing User:	Mrs Sri Astuti
Date Deposited:	26 Sep 2019 03:27
Last Modified:	26 Sep 2019 03:27
URI:	http://repository.unsri.ac.id/id/eprint/8947

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