抗扰的板球控制系统的设计与应用

The Design and Application of Ball Plate Control System

摘要:

设计与制作集机械设计、控制理论应用、软硬件控制于一身的机电一体化高精度板球控制系统。系统采用微处理器Kinetis K60单片机为主控芯片,选用灰度摄像头OV5116作为滚球位置坐标的反馈模块,使用灰度转化二值图像以及卡尔曼滤波处理,并以MG995舵机作为系统的执行部件。运用位置式PID 闭环控制算法,控制光滑平板的倾斜角度使滚球能在平板上按可设路径滚动,并实现任意可设坐标的定点停留。实验结果表明,板球控制精度高,响应速度快,滚球停于指定位置的误差小于4mm,其滚动路径偏离误差小于4mm,同时系统具有较强的抗干扰能力。

Abstract:

Design and manufacture a mechanical design, control theory application, software and hardware control in one of the mechanical and electrical integration of high-precision cricket control system. The system uses microprocessor Kinetis K60 as the main control chip, gray camera OV5116 as the feedback module of ball position coordinates, gray conversion binary image and Kalman filter processing, and MG995 steering gear as the executing component of the system. The Incremental PID closed-loop control algorithm is used to control the tilt angle of the smooth flat plate so that the ball can roll along the set path on the flat plate, and the fixed-point residence of any set coordinates can be realized. The experimental results show that the cricket control accuracy is high, the response speed is fast, the error of the ball stopping at the designated position is less than 4mm, the deviation error of rolling path is less than 4mm, and the system has strong anti-interference ability.