Pengembangan Sistem Kendali Kamera Pemantauan Tank Berbasis Gerakan Kepala Menggunakan Pengendali PID (Proportional–Integral–Derivative)

Abstract

Conventional tank monitoring systems using periscopes have problems: limited viewing angle, slow response, and poor night vision. To solve these problems, we developed a pan-mounted monitoring camera control system.‑tilt that follows head movement‑tracking) with the PID method. This system uses an IMU MPU sensor‑6050 in driver's helmet, Arduino Nano to control servo, Bluetooth HC‑05 for wireless communication, and a Raspberry Pi 3B+ that works as Edge Computing and is connected to a Night Vision camera. Every change in the head orientation position is immediately processed in a closed-loop control system. This system continuously corrects errors to keep the camera movement smooth and precise. Tests show that the PID algorithm with the best parameters can stabilize the position in 1.2 to 1.6 seconds without any mechanical overshoot. The system accuracy reaches 98.29% in the Pitch axis and 98.08% in the Yaw axis, with an average of 98.29%.‑Very low average wireless latency, only 50.5 milliseconds. In conclusion, this mechatronic prototype successfully overcomes the limitations of passive systems, providing real-time visual monitoring.‑time, precision, stability and reliability at night, thus increasing the situational awareness of the tank crew.