PROYEK INTELLIGENT DIFFERENTIALLY DRIVEN TWO WHEELS PERSONAL VEHICLE (ID2TWV): SKEMA KECERDASAN PADA KONTROL GERAK ID2TWV MENGGUNAKAN PENDEKATAN LOGIKA FUZZY (An Intelligent Scheme For ID2TWV Motion

摘要

udTwo wheeled vehicles that have a balance has a working principle based on the inverted pendulum and is suitable as a means of personal transportation. Forward and backward movement control based on the degree of slope of the vehicle due to changes in the driver's center of gravity. Good control method is needed for this vehicles remain in a balanced position while moving forward and backward with a different speed. This final project use Fuzzy Logic approach as control the movement of this vehicle. This method is a powerful control method to be applied on systems that have more than one input on this vehicle. Input system on this vehicle is a vehicle tilt from gyroskop sensor obtained from the slope and the difference obtained by deducting from the current data with previous data. Output is the value of PWM to drive each motor. With this Fuzzy control method on this system, we applied stable balance.