以SoPC實現影像式二維倒單擺系統之平衡控制

SoPC Implementation to the Balance Control of a Vision-Based Two-Dimensional Inverted Pendulum System

陳泓志(Hung-Chih Chen)

指導教授 ： 徐元寶

國立虎尾科技大學/電機資訊學院/資訊工程研究所/碩士(2013年)

摘要

倒單擺系統是一種非線性、不穩定系統，但是其機械結構簡單，因此常被用來驗證許多複雜的控制理論。本論文研究如何控制三全方位輪台車之運動，以維持在台車上一個二維倒單擺之平衡，並將整個系統以SoPC實現。論文中以Euler-Lagrange方法推導二維倒單擺之動態數學模型，並以PID（Proportional Integral Derivative）控制方法控制所推導出的模型，也模擬出令人滿意的控制效果。
二維倒單擺平衡系統，以往是使用傾斜儀或陀螺儀等感測器測量倒單擺傾斜角度。本研究以CMOS攝影機當感測元件，利用影像資訊來計算傾斜的角度及方向，並以軟硬體協同設計的概念，搭配PID控制方法，實現二維倒單擺系統的自我平衡控制，實驗結果證明所完成的系統無法達成設計目標，並建議全方位輪並不適合這種高速、高精密度的應用。

關鍵字

Inverted Pendulum ； PID ； SoPC ； FPGA

並列摘要

An inverted pendulum system is a non-linear, unstable systems. With its simple mechanical structure, the inverted pendulum system has been a good testbed for verifying a variety of control theories. In this thesis, we implement a system which can drive a three-wheeled vehicle to balance a two-dimensional inverted pendulum which is mounted on the top of the vehicle. The system is implemented on the FPGA (Field Programmable Gate Array) of a SoPC (System on a Programmable Chip). Euler-Lagrange method is applied to derive the dynamic model of the two-dimensional inverted pendulum structure. Simulation results show that the resulting model is well controlled by the PID method.
Conventionally, inverted pendulum systems usually used tiltmeters or gyro sensors to measure their angle of inclination. In this thesis, we employed a CMOS camera as the measurement sensor instead. By the concept of software and hardware co-design the hardware modules, including image processing and inclination calculation modules, and the software modules, including the PID and other miscellaneous modules, are combined together and realized on the SoPC. Experiment results show that the resulting system can not satisfy the design goal and we suggest that it is not suitable utilizing the omni-directional wheel on this kind of applications.

並列關鍵字

Inverted Pendulum ； PID ； SoPC ； FPGA

參考文獻

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