Research On Trajectory Tracking Control Method Of Ball And Plate System Based On Visual Servo

The ball and plate system based on visual feedback is a typical underactuated system,and it has the characteristics of multivariable,strong coupling,nonlinearity,etc.The control object is the ball disk.Two servo motors are used to control the specified movement of the ball on the ball disc.In other disciplines such as intelligent control theory,modern control theory,computer image processing,etc.,the ball and plate system can be used as a platform for testing and researching various algorithms,so it has certain significance for ball and plate system research.The work of this paper is as follows:Firstly,the physical model of the ball and plate system is briefly introduced.Lagrange is used to model the system according to force analysis.Because there are many variables and nonlinearity in the cricket system,and many factors will affect the cricket system to some extent.At the same time,the slab system is further analyzed and simplified for the linearization of the model.Secondly,the visual inspection system was studied.Firstly,the transformation between the image coordinate system,the camera coordinate system and the world coordinate system during the camera calibration process is introduced.The internal and external parameters of the ball and plate system are calibrated by the small hole imaging principle;The image coordinates obtained by Gaussian filtering and edge detection processing on the image acquired by the camera,and the actual position of the ball can be obtained by combining the plane equation of the sphere.Finally,the trajectory tracking control algorithm of the ball is studied.Four control algorithms are designed.According to the mathematical model,the trajectory tracking simulation control experiment of cricket system was carried out on MATLAB.The simulation experimental results show that the four algorithms have better tracking effect when the tracking signal frequency is lower.When the tracking signal frequency increases,the four algorithms have different tracking error and response speed.The fuzzy feed-forward PID control algorithm has the best tracking effect,with smaller tracking error and faster response speed.