A Propose of PID Stability Control in A Gyro-Disc Actuator System

This research is focusing on the control of motorbike prototype self balancing automatically. Designing and building a bicycle-shaped robot or called by Two-Wheel Vehicle Prototype (TWPV) capable of driving and balancing without a driver, stability control is very important. The wheel is stripped as an automatic balancing of the bike with a driving motor or called the Gyro Disc Actuator System (GDAS). Stability control applied in bicycle robots is a control using Proportional Integral Derivative (PID). The robot reads the feedback system sensor to maintain balance by detecting the angle of inclination to react correctly to maintain a stable vertical position. Feedback data is inserted into the subtraction unit with reference to control system which produces output in the form of torque to the motor to rotate the reaction wheel. The purpose of this project is to create modelling of plant that implied Gyro Disc Actuator System (GDAS) and use Simulink simulation to analysis stability control and prove controller system response that can balance itself. This prototype can stand equilibrium in a state of initial condition and keep own self from falling that is given by horizontal disturbance.