Research And Implementation Of Ball Control System Based On Machine Vision

The ball control system is a complex mechanical device based on visual feedback.This device is also called ball and plate system in the field of automatic control.Due to the inherent non-linear,time-delay,underactuation and other characteristics of ball control system,it has become a typical experimental platform for many scholars at home and abroad to verify the control effect of the new non-linear control algorithm.From the perspective of practical teaching,the wide range of knowledge involved in this system also makes it a course design platform for many college students to expand horizons and improve practice ability.A new construction scheme of ball control system is proposed,a fuzzy PID controller and a sliding mode controller based on model reference for ball control system are designed for the target position stabilization control and trajectory tracking of ball,and the effectiveness of the proposed control strategy is verified in the actual system.Firstly,the overall framework and mathematical model of the ball control system are constructed.Based on certain simplified assumptions and Lagrangian dynamic equations,the equation of state of the system is derived from the rotation angle acceleration control and the inclination angle control of the plate respectively,and the final model is selected according to the control characteristics of two kinds of control variables.Secondly,the fuzzy PID control strategy of ball control system is proposed.Through the analysis of the algorithm,the difficulty of parameter setting when the classical PID control is applied to the system is pointed out and the fuzzy PID controller of this system is designed.Then the simulation results verify the effectiveness of the algorithm in improving the dynamic performance of ball motion control.Thirdly,the sliding mode controller based on model reference of the ball control system is designed considering the time delay of the actual system.By introducing the response delay in the system model,this paper points out how the actual delay problems affect the performance of the controller in the system,and proposed the sliding mode control strategy based on model reference of ball control system.Then the simulation results show that using the output of ideal reference model without delay to force the actual system following the action of reference model can effectively reduce the delay on the control performance of the system.Finally,by comparing different hardware structure schemes,the software and hardware design of the actual ball control system is completed,and the performance test of the designed controller is realized based on the system.Then the stabilization control and trajectory tracking control of the ball are also completed.