Sekuter Keseimbangan Beroda Dua Berbasis Mikrokontroler

Abstract

Scooters balance is a scooter that has two wheels on the right and left are not balanced if in the absence of control systems and sensors tilt. Scooters is the development

of models of inverted pendulum were placed on top of the train wheels. Balancing two- wheeled scooter requires a method of maintaining control of the scooter in a position

perpendicular to the earth's surface. Needed to maintain a balance scooter accerelometer ADXL345 sensor and gyro IMU 3000 to detect tilt and angular acceleration of the scooter. Driver of the scooter uses two DC motors. Methods of control that are used for the balance of the scooter is PD control system. Then control system that has been implemented in the microcontroller. control signal or output from the PD control in order to control a DC motor scooter can stand perpendicular to the surface of the earth. Tests on the robot in balance defensively using PD control method with parameter kp = 1000 kd= 500. And the result scooters maintain position perpendicular to the earth's surface and oscillating between -3 ° to 3 °.