Perancangan Sistem Kendali Self-balancing Robot Berbasis Field Programmable Gate Array

Rahmawati, Emi (2024) Perancangan Sistem Kendali Self-balancing Robot Berbasis Field Programmable Gate Array. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Mobilitas mikro seperti segways merupakan alternatif yang dapat meningkatkan aksesibilitas transposisi dan kualitas udara. Akan tetapi, perangkat tersebut memiliki konfigurasi yang tidak seimbang sehingga membutuhkan kemampuan keseimbangan penggunanya. Penelitian ini bertujuan untuk menyeimbangkan prototipe Self-balancing Robot. Selain dapat menyeimbangkan dirinya, robot ini juga dilengkapi fitur komunikasi yang memudahkan pengguna untuk mengontrol gerakan robot dari jarak jauh. Dalam proses perancangan sistem kendali, dinamika prototipe akan diturunkan menggunakan persamaan Lagrange. Dengan model matematika yang telah dilinearisasi terhadap titik ekuilibriumnya, sistem kendali akan didesain menggunakan Field Programmable Gate Array (FPGA). Pada prototipe ini terdapat MPU6500 IMU sebagai sensor utama dan Kalman Filter untuk mengatasi hasil pengukuran IMU yang terkontaminasi oleh gangguan. Penyusunan algoritma sistem kendali dilakukan pada perangkat lunak Intel Quartus Prime dan NIOS II Eclipse. Untuk mendapatkan pengendali yang memenuhi kebutuhan desain, dilakukan proses tuning lanjutan sehingga diperoleh Angle Control Closed-Loop (PD), Speed Control Closed-Loop (PI), dan Turn Control Closed-Loop (PD) terbaik pada variasi gain ke-20 dan 21. Hasil pengujian menunjukkan bahwa robot dapat seimbang dengan simpangan maksimum 4°, baik pada variasi gain ke-20 maupun ke-21, ketika posisi diam dan tanpa pembebanan. Berikutnya, robot menunjukkan respon yang baik karena mampu kembali ke posisi seimbangnya dalam waktu maksimum 6 detik dengan simpangan terjauh sebesar -16° ketika diberi beban 250, 500, dan 1000 gram. Robot juga dapat menerima dan merespon perintah IR TX untuk maju, mundur, kanan, kiri, dan berhenti.
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Micromobility such as segways is an alternative that can improve transposition accessibility and air quality. However, the device configuration is not balance, so it requires the user’s balance ability. This research aims to balance the Self-balancing Robot prototype. Besides being able to balance itself, this robot is also equipped with communication features that make it easier for users to control the robot's movements remotely. In designing balancing control system, the prototype dynamics will be derived using the Lagrange equation. With the mathematical model linearized against its equilibrium point, the controller will be designed using Field Programmable Gate Array (FPGA). In this prototype, there is MPU6500 IMU as the main sensor and Kalman Filter to overcome IMU measurement results contaminated by interference. The control system algorithm is performed on the Intel Quartus Prime and NIOS II Eclipse software. To get a controller that meets the design requirements, an advanced tuning process is carried out so that the best Angle Control Closed-Loop (PD), Speed Control Closed-Loop (PI), and Turn Control Closed-Loop (PD) are obtained at the 20th and 21st gain variations. The test results show that the robot can be balanced with a maximum deviation of 4°, both at the 20th and 21st gain variations, when the robot is stationary and not loaded. In addition, the robot showed a good response because it was able to return to its equilibrium position in a maximum time of 6 seconds with the farthest deviation of -16° when given a load of 250, 500, and 1000 grams. The robot can also receive and respond to the TX's IR commands to forward, backward, right, left, and stop.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	Field Programmable Gate Array, Kalman Filter, PID, Self-balancing Robot
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics.
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Mechanical Engineering > 21201-(S1) Undergraduate Thesis
Depositing User:	Emi Rahmawati
Date Deposited:	10 Aug 2024 06:14
Last Modified:	15 Aug 2024 01:21
URI:	http://repository.its.ac.id/id/eprint/115252

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