### DESAIN KENDALI TWIN ROTOR PADA SELF BALANCING MENGGUNAKAN METODE OPTIMASI GENETIC ALGORITHM

Nugroho Surya Dwi Putra, Muhamad Syariffuddien Zuhrie, Bambang . Suprianto, I Gusti Putu Asto

#### Abstract

Abstrak

Kata Kunci : Self Balancing, Optimasi, PID, Genetic Algorithm

Abstract

Twin Rotor is combination of two motor DC brushless that have been attach at the propeller (baling-baling). This divice can be apply to unman aircraft as supporting the needs  of  air transportation in the military field. Self balancing is a prototype design like a seesaw which has function to show the twin rotor works on the right and left sides horizotally in adjusting the balance. For its performance twin rotor needs a controller which can run in accordance with the expected angle position. This research aims to create the solve of the balancing problem when the twin rotor is operated by utilizing genetic algorithm optimization methods to reduce overshoot so its can speed up response performance time to reach a desired angle position. Genetic algorithm is one type of optimization method that utilizes the theory of earth’s evolution. There are 3 important steps at genetic algorithm optimization methods to obtain an optimal Kp, Ki, Kd values, including selection, crossover, mutation. The research approach carried out in the form of quantitative research approach in which the implementation uses deductive thinking patterns with aim to collect data in the form of number, then its tested on the simulation.  Controller that use is PID which is supported by optimization methods. The value obtained in the optimization methods that uses optimization features in the matlab  software including, Kp = 1.069, Ki = 0.668, Kd = 0.565. The tested through the simulation process become optimal, continuous between response graphs and response analysis data by proving the value of ts = 0.0013 s, td = 0.0004 s, tr = 0.0019 s, Ess = 0.042 and Mp = 1.14%  occurs in the set point number 1.

Keywords: Self Balancing, Optimization, PID, Genetic Algorithm

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