臺灣博碩士論文加值系統

本文旨在以FPGA 實現即時影像追蹤之球與球桿平衡控制系統設計。系統架構分為影像處理模組與控制器模組，本系統在FPGA 下以Verilog 語言實現。利用影像感測器擷取即時球與球桿機構之影像，從回授影像中計算球體位置及球桿角度資訊。本文使用系統識別、狀態空間方程式、PID 控制與模糊控制設計控制器，將控制器輸出之命令，經由直流伺服馬達進行球與球桿平衡控制。將控制器分別進行球體定點與多定點位置控制實驗，並比較不同控制架構之間的控制性能與FPGA 消耗資源。實現即時影像追蹤球與球桿平衡控制系統之球體定點與多定點位置控制。

This research designs a real-time visual tracking ball-and-beam system via FPGA. The structure of ball-and-beam balance control system includes image processing module and controller module. The system is implemented on FPGA and programming with Verilog. The system applies image sensor to capture the real-time ball-and-beam information, and calculates ball position and beam angle. In this research, we applied system identification, state space equation, PID control, and fuzzy logic control to design controllers. Control performance and FPGA implemented resources are compared from the experiment results. This thesis achieves both the single-point and multi-point ball position control on real-time visual tracking ball-and- beam system.

摘要 ................................................ I
Abstract ........................................... II
致謝 ............................................... III
目錄 ............................................... IV
圖目錄 ............................................. VI
表目錄 ............................................. VIII
第一章 緒論 .......................................... 1
1.1 研究動機 ......................................... 1
1.2 文獻回顧 ......................................... 2
1.3 論文大綱 ......................................... 3
第二章 系統數學模型及硬體架構 .......................... 4
2.1 球桿控制機構 ...................................... 4
2.2 球桿機構數學模型 .................................. 5
2.3 系統硬體架構 ...................................... 8
第三章 球桿機構影像處理 ................................ 10
3.1 影像擷取前置處理 .................................. 11
3.2 YCbCr 色彩空間 ................................... 12
3.3 索貝爾(Sobel)邊緣偵測 ............................. 13
3.4 形態學侵蝕膨脹 .................................... 14
3.5 斷開與閉合 ........................................ 18
3.6 球桿偵測 ......................................... 19
3.7 球位置偵測 ....................................... 22
第四章 球桿機構系統識別與控制器設計 ..................... 24
4.1 球桿機構系統識別 .................................. 25
4.2 PID 控制器設計 .................................... 26
4.3 模糊控制器設計 .................................... 27
4.4 模糊PID 控制器設計 ................................ 30
4.5 LQR 控制器設計 ................................... 32
第五章 球與球桿平衡系統控制實驗 ......................... 34
5.1 球桿傾斜角度控制 .................................. 34
5.2 球桿平衡與球體定點位置控制實驗 ...................... 36
5.3 影像回授之球桿平衡與球體多定點位置控制實驗 ........... 45
5.4 球與球桿平衡控制系統分析與比較 ...................... 55
5.5 相關論文比較 ...................................... 56
第六章 結論與建議 ...................................... 58
6.1 結論 ............................................. 58
6.2 建議 ............................................. 59
參考文獻 .............................................. 60

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