球杆控制实验系统的设计与实现  

Design and Implementation of the Ball and Beam Control System

作　　者：李真[1] 余善恩[1] 倪红霞[1] LI Zhen;YU Shanen;NI Hongxia(College of Automation,Hangzhou Dianzi University,Hangzhou 310018,China)

机构地区：[1]杭州电子科技大学自动化学院,杭州310018

出　　处：《实验室研究与探索》2018年第11期92-95,310,共5页Research and Exploration In Laboratory

基　　金：杭州电子科技大学2017年高等教育研究资助项目(YB201734)

摘　　要：设计了一种基于STM32单片机的球杆控制系统,该系统通过数字摄像头OV7725获得小球的位置,从而实现球杆控制。系统硬件部分主要包括处理器STM32F103VET6单片机、执行机构直流减速电动机、检测装置OV7725数字摄像头和自制的碳纤管导轨。软件程序主要实现电动机的控制和处理数字图像获得小球位置,实现对小球的控制。实验结果表明,该系统完成了对小球位置的准确检测,收获了很好的控制效果。The club control system is a classic single input and single output electromechanical control experiment system. In view of the shortcomings of the ball position detection, a ball pole control system based on STM32 microcontroller is designed. The system obtains the position of the ball through the digital camera OV7725, thus realizes the control of the ball bar. The hardware part of the system mainly includes the processor STM32F103VET6 single chip, the actuator DC deceleration motor, the detection device OV7725 digital camera and the self-made carbon fiber guide rail. This design software mainly realizes the control and processing of the motor and obtains the position of the small ball, and realizes the control of the ball. The experimental results show that the system completes the accurate detection of the ball position and gains a good control effect.

关 键 词：球杆控制 数字图像处理 单片机 PID控制算法 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]