Desain Simulasi Robot Kesetimbangan Dua Roda Dengan Kecerdasan Buatan

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Ratna Hartayu
Santoso Santoso
Abraham Octorio Umbu Kaleka
Moh. Khilmi Musakhol

Abstract

Dalam penelitian dijelaskan salah satu metode alternatif analisa kontrol pada robot kesetimbangan dua roda dengan menggunakan progam simulasi. Program simulasi menggunakan software Matlab. Penelitian ini menghasilkan analisa simulasi kontrol, berupa analisa data sensor  gyroscope, simulasi PID dan logika fuzzy. Pada simulasi PID nilai kestabilan didapat pada Kp=100, Ki=200, Kd=10, hasil analisa data gyroscope didapat nilai minimum pada 0,074616, nilai maksimum 0,110321, dengan nilai rata-rata 0,092469, standar deviasi 0,025247, jumlah data 0,184937. Penerapan logika fuzzy pada deteksi sudut dan pemberian nilai PWM, menghasilkan data kestabilan nilai konstanta PID. Penelitian ini diharapkan menjadi acuan pemberian nilai kontrol pada robot, dan untuk penelitian berikutnya dapat dikembangkan dengan menambahkan filter komplement atau kalman untuk menghasilkan kestabilan gerak robot.

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References

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