Research On Servo Controller System Based On Twincat Machine Vision To Capture The Target

With the rapid development of computer technology, more and more machine visualsystems were applied to the servo control system. Vision is the most important organ forhuman being to acquire the information. In the machine visual system, the technology ofimage processing plays an important role to obtain information, by using the concept offeed-back, a closed loop was constructed to drive servo motor quickly and accurately.Therefore, the accuracy and speed of servo control system has become the main factors toevaluate a system of image processing, which were the goals of my project.In mage processing, the images were acquired by camera via image capture card andsaved in the computer. By using the binary image segmentation method to transfer theimage into the binary matrix, and then a method of template matching was employed tolocalize the target quickly. When the corresponding information was transmitted to theservo control system, servo control system will capture the goals, so it is necessary for theservo control system to be stable and rapid.TwinCAT is a PLC programing software embedded in PC, it has some advantages oftraditional PLC, such as easy to understand, high speed and good compatibility ofmodern PCs. In no interface port, TwinCAT can not only transmit data compiled by VC++quickly and reliably, but also be compatible with many communication protocols, such asprofibus、canopen、modbus and ethercat et al.To address the issue, a closed loop model of the servo control system with doubleloops was constructed. The double loops were respectively termed as inside and outsideloops: speed loop and electrical current loop. Inside and outside double loops, thetraditional PI regulator was simple and stable, but it must be dependent on an accuratemodel and it couldn’t self-regulate exactly to fit the dynamics in the system. Therefore, weproposed a fuzzy_PI stategy for the control system，and simulated the fuzzy model byMATLAB/simulink. In the case of same disturbance, the simulations indicated that thefuzzy_stategy worked better than the traditional one in the complex environment.