Sistem Kendali Keseimbangan Berbasis PID Kontrol Pada Drone Quadcopter Arduino Uno

Al Farizin, Muhammad (2026) Sistem Kendali Keseimbangan Berbasis PID Kontrol Pada Drone Quadcopter Arduino Uno. Sarjana (S1) thesis, Universitas Islam 45 Bekasi.

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Abstract

The angular instability of a quadcopter drone is a primary issue that can affect the performance and safety of the flight system, especially due to external disturbances and sensor reading errors that impact the system's dynamic response. Therefore, a control system capable of effectively maintaining roll and pitch stability is required. This study aims to design and analyze a quadcopter drone balance control system based on Proportional Integral Derivative (PID) using an Arduino Uno and an Inertial Measurement Unit MPU6050 sensor. The research methodology includes hardware and software design, IMU sensor calibration, determination of PID parameters through a gradual tuning process, and static balance testing using a test rig. The sensor calibration results show accelerometer offset values of 659.77 LSB on the x-axis, 853.65 LSB on the y-axis, and 851.33 LSB on the z-axis, as well as gyroscope offsets of -581.51 LSB (x), 185.49 LSB (y), and -39.57 LSB (z), with angular reading errors at the 0° position below 0.2°. After obtaining the optimal PID parameters, testing on the roll axis resulted in Kp = 3.6, Ki = 0.0035, and Kd = 0.09 with an overshoot of 9.90°, a steady-state error of 1.88°, and a minimum settling time of 3.3 seconds. The settling time test results on the roll axis ranged from 2.3 s to 8.2 s with an average angular velocity of 5.4 °/s to 3.8 °/s. On the pitch axis, the same PID parameters produced an overshoot of 13.15°, a steady-state error of 2.14°, and a minimum settling time of 4.5 seconds, with a settling time range of 2.3 s to 10.8 s and an average angular velocity decreasing from 5.4 °/s to approximately 2.7–2.9 °/s as the test angle increased, indicating a stable and well-damped system response.

Item Type:	Thesis (TA, Skripsi, Tesis, Disertasi) (Sarjana (S1))
Contributors/Dosen Pembimbing,NIDN Dosen bisa diakses di LINK https://bit.ly/NIDNdosenunismabekasi:	Contribution Contributors / Dosen Pembimbing NIDN UNSPECIFIED Firasanti, Annisa 0412108901 UNSPECIFIED Sikki, Muhammad Ilyas 0409017104
Keywords / Kata Kunci:	drone quadcopter, PID, sistem kendali keseimbangan, IMU MPU6050
Subjects:	Kendali/Kontrol
Faculty:	Fakultas Teknik > Teknik Elektro S1
Depositing User:	Mr Muhammad Al Farizin
Date Deposited:	05 Nov 2026 05:19
Last Modified:	05 Nov 2026 05:19
URI:	http://repository.umindonesia.ac.id/id/eprint/9611

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