基于EC5-1719CLDNA(嵌入之星）的單目視覺反饋運(yùn)動(dòng)平衡系統(tǒng)研究

       視覺反饋平面坐標(biāo)運(yùn)動(dòng)平衡系統(tǒng)是一個(gè)典型的多變量、非線性控制系統(tǒng)，是桿球系統(tǒng)的二維擴(kuò)展。其控制對象是具有2個(gè)相互垂直的旋轉(zhuǎn)軸的板，目的是讓一個(gè)自由滾動(dòng)的球能夠平衡在板上的特定位置，或使其沿著特定軌跡運(yùn)動(dòng)。本作品的硬件設(shè)計(jì)包括電源的放置，數(shù)字?jǐn)z像頭的架設(shè)，基于1394總線的圖像采集卡，基于PCI總線的交流伺服電機(jī)控制卡以及物理模型與“嵌入之星”工業(yè)控制板間的電路連接，機(jī)械部分的三維設(shè)計(jì)及加工等；軟件設(shè)計(jì)主要是開發(fā)了系統(tǒng)控制軟件，包括圖像實(shí)時(shí)處理及目標(biāo)識別，電機(jī)控制驅(qū)動(dòng)設(shè)計(jì)，以及友好的用戶接口界面等。模型算法分析主要建立了小球在平板上的動(dòng)力學(xué)模型，以及基于灰度二值化的小球質(zhì)心計(jì)算模型，同時(shí)利用經(jīng)典PID控制算法對小球位置進(jìn)行控制，并在此基礎(chǔ)上探索了PID控制算法與模糊控制算法相結(jié)合的控制模式，通過MATLAB仿真工具SIMULINK的仿真，表現(xiàn)出了較好的動(dòng)態(tài)和靜態(tài)特性。本系統(tǒng)的工作過程為：數(shù)字?jǐn)z像頭將采集到的圖像存入計(jì)算機(jī)內(nèi)存，通過程序讀取內(nèi)存中小球與平板的圖像數(shù)據(jù)，分析獲取小球位置偏差和偏差變化率，并傳送給PID控制器，驅(qū)動(dòng)電機(jī)使小球在平板上滾動(dòng)。本作品在理論仿真的基礎(chǔ)上，借助“嵌入之星”工業(yè)控制板強(qiáng)大的數(shù)據(jù)處理能力對實(shí)際物理系統(tǒng)進(jìn)行了調(diào)試開發(fā)，并且實(shí)現(xiàn)了小球的定點(diǎn)控制、直線運(yùn)動(dòng)以及走矩形軌跡等。

The visual feedback plate coordinate movement balance system is a typical multi-variable, non-linear control system. It is the two-dimensional expansion of the ball and beam system. Its control object is a plate with two mutually perpendicular shafts, and its purpose is to balance a freely rolling ball in a specific location or to make it move following the specific trajectory on the plate. The hardware designs include power placement, digital video camera installation, image acquisition card based on the 1394 bus, AC servo motor control cards based on the PCI bus, the circuit board connection between physical model and Embedding Star control board, and the 3-D mechanical design and processing. The software developments include real-time image processing and target identification, motor control drive program, and user-friendly interface. Model algorithm analysis mainly establishes a dynamic model of the small ball moving on the plate, and a ball of heart model(小球質(zhì)心計(jì)算模型) based on the value of the gray. The classic PID algorithm is used to control the position of ball, and on this basis the combining control model of PID control algorithm with fuzzy control algorithm is explored. By using the MATLAB software simulation tool SIMULINK, it shows a good dynamic and static characteristic. The system processes as follows: The images collected by a digital video camera are stored into computer's memory; The program reads the data of the ball and the plate images, and analyzes the ball position deviation and deviations rate; Then the information is sent to PID controller, it drive the motors to make the ball rolling on the plate. Finally, the actual physical system based on the simulation in theory by using the powerful data processing capability of the industrial control board (Embedded Star) is debugged and developed, and it achieves the stability control of the ball.

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