Implementation of PID Control as a One Axis Balancing Control System on the Bicopter Vehicle

This Bicopter is an unmanned aircraft with two brushless motor drive systems connected to propellers in a horizontal parallel position. The problem that often occurs in bicopters is stability or flight balance. When the vehicle cannot control or maintain its balance angle, it is most likely that the bicopter vehicle will fall while flying. Thus, a research design is carried out that can develop and overcome problems in Bicopter stability through PID Control Implementation as a One Axis Balancing Control System on the Bicopter Vehicle. This study aims to find out how to apply the PID control system as a balance controller on the bicopter and to see the results of the dynamic response generated by the PID control system using testing methods using different load weights and load positions. The research results show that the prototype of the bicopter vehicle with PID controller has been successfully made and can work well in carrying out balance control. By providing a value of Kp = 2.4329, Ki = 0.000821, Kd = 603.98901, and a Throttle of 1600 rpm, it produces a dynamic response in the form of the smallest Steady State Error value of 0.16 and the largest value of 9.29, the smallest Rise Time is 0.22s and the largest is 1.92s, The biggest overshoot is 6.68 and the smallest is -0.17. The biggest settling time is 3.36s, and the smallest is 0.92s