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All Journal KARMAPATI (Kumpulan Artikel Mahasiswa Pendidikan Teknik Informatika) ISSN: 2252-9063 JUTIK : Jurnal Teknologi Informasi dan Komputer JURNAL TEKNIK INFORMATIKA DAN SISTEM INFORMASI WIDYABHAKTI Jurnal Ilmiah Populer Jurnal Sistem Komputer dan Informatika (JSON) ADMA: Jurnal Pengabdian dan Pemberdayaan Masyarakat Jurnal Algoritma Amaluna: Jurnal Pengabdian Masyarakat
Putu Devi Novayanti
Institut Teknologi Dan Bisnis STIKOM Bali
Religion Humanities Computer Science & IT Control & Systems Engineering Economics, Econometrics & Finance Education Engineering Languange, Linguistic, Communication & Media Nursing Social Sciences Other

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PID-Controlled Gyroscopic Stabilization for Roll Balancing: A Simulation and Experimental Study Crisnapati, Padma Nyoman; Putu Devi Novayanti; Ni Ketut Ira Permata Adi; I Putu Agung Mas Aditya Warman; Anak Agung Istri Cintya Prabandari; I Made Darma Susila
Jurnal Sistem Komputer dan Informatika (JSON) Vol. 7 No. 2 (2025): Desember 2025
Publisher : Universitas Budi Darma

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.30865/json.v7i2.9001

Abstract

In marine engineering, stabilizing boat roll motion under wave-induced disturbances is a crucial problem where traditional approaches frequently have drawbacks in terms of responsiveness, energy efficiency, and adaptability. In this study, a PID-controlled gyroscopic stabilization system for boat roll balancing is designed, simulated, and experimentally validated. To capture the coupled dynamics of servo motor behavior, gyroscopic torque generation, and boat roll motion, a thorough dynamic model was created. Four gain configurations—Low, Moderate, High, and Very High—were evaluated using the model-guided PID parameter tuning that was implemented in Python. The mechanical system incorporates a gyroscopic flywheel driven by BLDC and mounted on a servo-controlled cradle. An ESP32 microcontroller processes real-time roll angle feedback from an MPU6050 sensor. According to simulation results, the ideal balance between rise time (~300 ms), overshoot (~2°), and settling time (~1 s) was reached with moderate PID gains. While High and Very High gains displayed instability because of unmodeled vibrations and sensor noise, a scaled physical prototype that was built and tested under controlled disturbances demonstrated strong alignment with simulation trends for Low and Moderate gains. The results show that moderate gains, which offer both quick stabilization and reliable performance, offer the most useful configuration for real-world applications. This work contributes a validated methodology for optimizing PID-controlled systems in dynamic environments by bridging the gap between theoretical modeling and practical implementation of marine gyroscopic stabilization.
Co-Authors Anak Agung Istri Agung Ambuja Savitri Anak Agung Istri Cintya Prabandari Astika Pande, I Made Suandana Ayu Juli Astari, Ni Made Ayu Ratih Cantika Dewi Dian Pramana Duika Adi Sucipta, I Kadek Gusti Ngurah Putra Arimbawa, I Hendayanti, Ni Putu Nanik I Komang Agus Ady Aryanto I Made Darma Susila I Putu Agung Mas Aditya Warman I Putu Hendika Permana I Wayan Ardiyasa IGKG Puritan Wijaya ADH Komang Wirayudha Wizu Diaz Luh Putu Maitri Maha Dewi Ni Ketut Ira Permata Adi Ni Luh Gede Pivin Suwirmayanti, S.Kom, MT, Ni Luh Gede Pivin Ni Luh Putu Unix Sumartini Ni Made Ayu Juli Astari Padma Nyoman Crisnapati Padma Nyoman Crisnapati Panji Anggara, Dicky Putu Adi Guna Permana Ricky Aurelius Nutanto Diaz, Ricky Aurelius Yuda Danuarta, I Putu