Two-Axis Balancing System for Ship-Table Based on The Proportional Integral Derivative Controller (PID) Methods

Abstract

In shipping, the damage is often caused by not maintaining balance when facing big waves or bad weather. It is necessary to apply a control system to certain objects. This study uses the PID control method to implement a control system on the ship's table. This method is expected to stabilize the table position with a set point angle of 0° on the x (roll) and y (pitch) axes. This balancing system uses the MPU-6050 sensor, Arduino UNO as a microcontroller, and two servo motors as actuators on each axis that maintain the table position at the set point. Mechanical design is needed to support the optimization of the system's performance. The implementation of the control parameter values from the manual tuning carried out obtained values on the x (roll) axis, namely Kp = 10, Ti= 0.192, and Td= 0.0487. The control parameter values on the y-axis (pitch) are Kp = 6, Ti= 0.392, and Td= 0.092. The test results showed the system could work stably, and the response on both axes was as desired. The response values obtained by the x and y axes are the overshoot percentages of 20.05% and 3.85%, the steady-state error is both 0%, the rise time is 0.55 and 0.35 seconds, and the settling time is 1, 06, and 0.74 seconds.