Perancangan Sistem Kontrol Hybrid Pada Segway Beroda Dua Berbasis Matlab/Simulink

  • I Made Mahatma Tantra Nagendra
  • I Wayan Widhiada
  • Ketut Adi Atmika

Abstrak

Abstractt
Segway is simple transport equipment with electricity power source that is more environmentally friendly and more power efficient. Segway is designed in such a way as to facilitate mobility in short distance transportation both outdoors and indoors. So that the prototype designed in this study, using inverted pendulum theory and control system modeling. This research is only limited to balancing the Segway prototype statically with an external force in the form of a reference angle of 15o and -15o using a hybrid control system. Where the hybrid control system is a combination of PID control system and Fuzzy Logic which is designed using the matlab / Simulink software. In purpose of getting overshoot, error under 5% and minimal settling time.
Keywords: Segway, Balancing robot, Control, Matlab

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Diterbitkan
2021-04-01
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TANTRA NAGENDRA, I Made Mahatma; WIDHIADA, I Wayan; ADI ATMIKA, Ketut. Perancangan Sistem Kontrol Hybrid Pada Segway Beroda Dua Berbasis Matlab/Simulink. Teknik Desain Mekanika, [S.l.], v. 10, n. 2, apr. 2021. ISSN 2302-5182. Tersedia pada: <https://ojs.unud.ac.id/index.php/mekanika/article/view/84556>. Tanggal Akses: 22 nov. 2024
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Terbitan
Vol 10 No 2 (2021): April 2021 : Teknik Desain Mekanika
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