摘要
本文搭建了一套大型滚球控制系统。系统利用两个舵机分别控制平板的两个自由度,使得滚球在平板上完成静止和指定运动。实验结果证明,滚球识别正确率高达99%,到达目标位置时的中心点坐标误差在±5 mm以内,满足在相对较低精度安装下的高精度控制,且系统整体的鲁棒性较强,为后续相关领域人员的研究提供了解决方案。
In the paper,a set of large ball rolling control system is constructed.The system uses two steering engines to control the two degrees of freedom of the plate respectively,which makes the ball complete static and designated movement on the plate.The experiment results show that the accuracy rate of ball recognition is as high as 99%,the coordinate error of the center point when it reaches the target position is within±5 mm,which satisfies the high-precision control under relatively low accuracy installation,and the overall system is of strong robustness.It provides a solution for subsequent research in related fields.
作者
孙慧慧
胡鹤
张宇轩
马天录
邵晶雅
Sun Huihui;Hu He;Zhang Yuxuan;Ma Tianlu;Shao Jingya(College of Instrumentation and Electrical Engineering,Jilin University,Changchun 130026,China)
出处
《单片机与嵌入式系统应用》
2020年第6期38-41,67,共5页
Microcontrollers & Embedded Systems
关键词
滚球控制系统
图像处理
PID控制
支持向量机
plate and ball control system
image processing
PID control
support vector machine
