基于EC5-1719CLDNA(嵌入之星）的单目视觉反馈运动平衡系统研究

       视觉反馈平面坐标运动平衡系统是一个典型的多变量、非线性控制系统，是杆球系统的二维扩展。其控制对象是具有2个相互垂直的旋转轴的板，目的是让一个自由滚动的球能够平衡在板上的特定位置，或使其沿着特定轨迹运动。本作品的硬件设计包括电源的放置，数字摄像头的架设，基于1394总线的图像采集卡，基于PCI总线的交流伺服电机控制卡以及物理模型与“嵌入之星”工业控制板间的电路连接，机械部分的三维设计及加工等；软件设计主要是开发了系统控制软件，包括图像实时处理及目标识别，电机控制驱动设计，以及友好的用户接口界面等。模型算法分析主要建立了小球在平板上的动力学模型，以及基于灰度二值化的小球质心计算模型，同时利用经典PID控制算法对小球位置进行控制，并在此基础上探索了PID控制算法与模糊控制算法相结合的控制模式，通过MATLAB仿真工具SIMULINK的仿真，表现出了较好的动态和静态特性。本系统的工作过程为：数字摄像头将采集到的图像存入计算机内存，通过程序读取内存中小球与平板的图像数据，分析获取小球位置偏差和偏差变化率，并传送给PID控制器，驱动电机使小球在平板上滚动。本作品在理论仿真的基础上，借助“嵌入之星”工业控制板强大的数据处理能力对实际物理系统进行了调试开发，并且实现了小球的定点控制、直线运动以及走矩形轨迹等。

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(小球质心计算模型) 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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