Performance Evaluation of Balancing Bicopter using P, PI, and PID Controller
Due to potential features of unmanned aerial vehicles for society, the development of bicopter has started to increase. This paper contributes to the development by presenting a performance evaluation of balancing bicopter control in roll attitude. It aims to determine the best controller structure...
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| Format: | Article |
| Language: | Indonesian |
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Universitas Negeri Semarang
2019-12-01
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| Series: | Jurnal Teknik Elektro |
| Subjects: | |
| Online Access: | https://journal.unnes.ac.id/nju/index.php/jte/article/view/23032 |
| _version_ | 1819063250913853440 |
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| author | Esa Apriaskar Fahmizal Nur Azis Salim Dhidik Prastiyanto |
| author_facet | Esa Apriaskar Fahmizal Nur Azis Salim Dhidik Prastiyanto |
| author_sort | Esa Apriaskar |
| collection | DOAJ |
| description | Due to potential features of unmanned aerial vehicles for society, the development of bicopter has started to increase. This paper contributes to the development by presenting a performance evaluation of balancing bicopter control in roll attitude. It aims to determine the best controller structure for the balancing bicopter. The controller types evaluated are based on Ziegler-Nichols tuning method; they are proportional (P), proportional-integral (PI) and proportional-integral-derivative (PID) controllers. Root locus plot of the closed-loop balancing bicopter system is used to decide the tuning approach. This work considers a difference in pulse-width-modulation (PWM) signal between the left and right rotors as the signal control and bicopter angle in roll movement as the output. Parameters tuned by the method are Kp, Ti and Td which is based on the ideal PID structure. The performance test utilizes rising time, settling time, maximum overshoot and steady-state error to determine the most preferred controller. The result shows that PI-controller has the best performance among the other candidates, especially in maximum overshoot and settling time. It reaches 8.34 seconds in settling time and 3.71% in maximum overshoot. Despite not being the best in rising time and resembling PID-controller performances in steady-state error criteria, PI-controller remains the most preferred structure considering the closeness of the response to the desired value. |
| first_indexed | 2024-12-21T15:11:42Z |
| format | Article |
| id | doaj.art-0cd0afa021ad44269586a8e98b4ac20f |
| institution | Directory Open Access Journal |
| issn | 1411-0059 2549-1571 |
| language | Indonesian |
| last_indexed | 2024-12-21T15:11:42Z |
| publishDate | 2019-12-01 |
| publisher | Universitas Negeri Semarang |
| record_format | Article |
| series | Jurnal Teknik Elektro |
| spelling | doaj.art-0cd0afa021ad44269586a8e98b4ac20f2022-12-21T18:59:15ZindUniversitas Negeri SemarangJurnal Teknik Elektro1411-00592549-15712019-12-011124449http://dx.doi.org/10.15294/jte.v11i2.23032Performance Evaluation of Balancing Bicopter using P, PI, and PID ControllerEsa Apriaskar0Fahmizal1Nur Azis Salim2Dhidik Prastiyanto3Department of Electrical Engineering, Universitas Negeri Semarang, IndonesiaDepartment of Electrical Engineering and Informatics, Vocational College, Universitas Gadjah Mada, IndonesiaDepartment of Electrical Engineering, Universitas Negeri Semarang, IndonesiaDepartment of Electrical Engineering, Universitas Negeri Semarang, IndonesiaDue to potential features of unmanned aerial vehicles for society, the development of bicopter has started to increase. This paper contributes to the development by presenting a performance evaluation of balancing bicopter control in roll attitude. It aims to determine the best controller structure for the balancing bicopter. The controller types evaluated are based on Ziegler-Nichols tuning method; they are proportional (P), proportional-integral (PI) and proportional-integral-derivative (PID) controllers. Root locus plot of the closed-loop balancing bicopter system is used to decide the tuning approach. This work considers a difference in pulse-width-modulation (PWM) signal between the left and right rotors as the signal control and bicopter angle in roll movement as the output. Parameters tuned by the method are Kp, Ti and Td which is based on the ideal PID structure. The performance test utilizes rising time, settling time, maximum overshoot and steady-state error to determine the most preferred controller. The result shows that PI-controller has the best performance among the other candidates, especially in maximum overshoot and settling time. It reaches 8.34 seconds in settling time and 3.71% in maximum overshoot. Despite not being the best in rising time and resembling PID-controller performances in steady-state error criteria, PI-controller remains the most preferred structure considering the closeness of the response to the desired value.https://journal.unnes.ac.id/nju/index.php/jte/article/view/23032bicopterroll attitudeziegler-nicholspid controller |
| spellingShingle | Esa Apriaskar Fahmizal Nur Azis Salim Dhidik Prastiyanto Performance Evaluation of Balancing Bicopter using P, PI, and PID Controller Jurnal Teknik Elektro bicopter roll attitude ziegler-nichols pid controller |
| title | Performance Evaluation of Balancing Bicopter using P, PI, and PID Controller |
| title_full | Performance Evaluation of Balancing Bicopter using P, PI, and PID Controller |
| title_fullStr | Performance Evaluation of Balancing Bicopter using P, PI, and PID Controller |
| title_full_unstemmed | Performance Evaluation of Balancing Bicopter using P, PI, and PID Controller |
| title_short | Performance Evaluation of Balancing Bicopter using P, PI, and PID Controller |
| title_sort | performance evaluation of balancing bicopter using p pi and pid controller |
| topic | bicopter roll attitude ziegler-nichols pid controller |
| url | https://journal.unnes.ac.id/nju/index.php/jte/article/view/23032 |
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