基于视觉差反馈的三级倒立摆控制过程改进分析  

Inverted Pendulum Control Process Improvement Analysis Based on the Visual Difference Feedback

作　　者：黄孝平[1] 

机构地区：[1]南宁学院机电与质量技术工程学院,南宁530200

出　　处：《科技通报》2016年第11期158-161,201,共5页Bulletin of Science and Technology

基　　金：广西高校科研项目(项目编号:KY2015YB529);广西十二五教育规划2015年资助经费重点课题(立项编号:2015A028);2015年广西高等教育本科教学改革工程项目(项目编号:2015JGB439)

摘　　要：为更有效对三级倒立摆进行稳定控制,提出了基于视觉差反馈的倒立摆控制系统。首先,通过摄像机采集倒立摆运动过程中的实时图像信息,采用Harris算法的角点匹配方法对倒立摆运动视觉图像信息进行识别匹配;然后,建立三级倒立摆系统的数学模型描述物理量和变量之间的联系,得到系统输出量后对系统进行控制,通过引入线性二次型最优控制方法,对倒立摆起摆过程及稳摆过程进行控制并达到平衡稳定的状态。实验证明,利用视觉反馈对三级倒立摆进行实时监测及控制,实现了对控制理论的智能化,为三级倒立摆控制理论的研究提供依据。The control system of inverted pendulum based on visual difference feedback is put forward for the stability control of the three stage inverted pendulum. First, put the real-time image information in the process of movement through the camera stand, using Harris corner matching algorithm matching method to recognize the image information of the inverted pendulum motion; then, establishing mathematical model of three level inverted pendulum system to describe the physical quantities and variables, after the system control system output. By introducing two linear quadratic optimal control method of inverted pendulum stabilization process and process control and balance stability. The experiment proves that the three level inverted pendulum is monitored and controlled in real time by using visual feedback, which can realize the intelligent control theory and provide the basis for the research of the control theory of the three stage inverted pendulum.

关 键 词：三级倒立摆 视觉反馈 线性二次型最优控制 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]