Comparison of Control Methods PD, PI, and PID on Two Wheeled Self Balancing Robot

Suprapto, Bhakti Yudho and Amri, Djulil and Dwijayanti, Suci (2014) Comparison of Control Methods PD, PI, and PID on Two Wheeled Self Balancing Robot. In: International Conference on Electrical Engineering, Computer Science and Informatics (EECSI 2014), 20-21 August 2014, Yogyakarta, Indonesia.


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A robot must employ a suitable control method to obtain a good stability. The Two-Wheeled Self Balancing Robot in this paper is designed using a MPU-6050 IMU sensor module and ATmega128 microcontroller as its controller board. This IMU sensor module is employed to measure any change in the robot?s tilt angle based on gyroscope and accelerometer readings contained in the module. The tilt angle readings are then utilized as the setpoint on the control methods, namely PD (Proportional Derivative), PI (Proportional Integral), or PID (Proportional Integral Derivative). Based on the conducted testing results, the PID controller is the best control strategy when compared to the PD and PI control. With parameters of Kp = 14, Ki = 0005 and Kd = 0.1, the robot is able to adjust the speed and direction of DC motor rotation to maintain upright positions on flat surfaces.

Item Type: Conference or Workshop Item (Paper)
Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK1-9971 Electrical engineering. Electronics. Nuclear engineering > TK1 Electrical engineering--Periodicals. Automatic control--Periodicals. Computer science--Periodicals. Information technology--Periodicals. Automatic control. Computer science. Electrical engineering. Information technology.
Divisions: 03-Faculty of Engineering > 20201-Electrical Engineering (S1)
Depositing User: Dr. Bhakti Yudho Suprapto
Date Deposited: 03 Oct 2019 03:19
Last Modified: 03 Oct 2019 03:19

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