滚球系统论文.docxVIP

PAGE 27 板球系统设计及其控制算法的研究 摘要 本文介绍了一种基于视觉的板球控制系统，并重点讨论了其控制算法。该系统通过摄像头采集小球的位置信息，计算得到小球的坐标，通过相应的算法来控制电机的运行。用陀螺仪测量木板的倾斜角度，通过两个直线电机的运行来驱动木板的倾斜，从而驱动小球滚动。其目的是实现小球的滚动控制以及轨迹追踪。其中涉及到的研究内容有：智能控制、运动控制、图像处理等。 文中介绍了系统的整体结构与制作过程，详细讨论了其控制的算法的实现。对单片程序的设计提出了独特的见解，并总结出了一种比较通用的单片程序开发框架。针对装置的特点使用多组PID,相互串联或并联使用来控制系统。对于实际制作和调试过程中所遇到问题及解决方法进行了深入的探讨。 关键词 单片机；板球系统；串联PID控制；单片机程序通用框架；图像处理；电机控制  Design of Ball Plate System and Research of Its Control Arithmetic Student: Zhan Kang, School of Physics Information Engineering Teacher: Qin Gong, School of Physics Information Engineering Abstract This paper introduces a ball plate system based on computer vision and discusses its control algorithm. This system collects the location information of the ball through the camera, and then calculates the coordinates of the ball, and controls the operation of the motor through the corresponding algorithm. Using a gyroscope to measure the tilt angle of the board, the tilt of the board is driven by the operation of two linear motors to drive the ball rolling. The goal is to achieve the ball rolling control and track tracking. The research contents involved include: intelligent control, motion control, image processing, etc. This paper introduces the overall structure and production process of the system, and discusses the realization of the control algorithm in detail. This paper presents a unique view to the design of a single program and summarizes a common single - chip programming framework. In order to control the system, multi-group PID is used, in series or in parallel for the features of the device. The problems and solutions in the process of actual production and debugging are discussed in depth. Keywords MCU; ball plate system; series PID control; frame of MCU program; image processing; motor control. 目 录 TOC \o 1-3 \h \z \u 1 绪论 1 1.1 研究背景和意义 1 1.2 国内外研究现状 2 1.3 论文内容 3 2 板球系统总体设计方案 4 2.1 系统总体结构构建 4 2.2 STM32控制器 5 2.3 动作执行单元 6 2.3.1 电机的选择 6 2.3.2 直线电机 6 2.3