带有时变计算时延的倒立摆视觉实时控制研究  

Research of visual real-time control for an inverted pendulum with time-varying computational delay

作　　者：杜大军[1] 李汪佩 詹斌 费敏锐[1] 

机构地区：[1]上海大学机电工程与自动化学院上海市电站自动化技术重点实验室,上海200072

出　　处：《控制理论与应用》2017年第7期986-995,共10页Control Theory & Applications

基　　金：国家自然科学基金项目(61473182;61633016;61533010);国家重大科学仪器设备开发专项课题项目(2012YQ1500870302);上海市科委项目(14JC1402200;15JC1401900)资助~~

摘　　要：针对倒立摆视觉实时控制系统中,通过每帧图像处理检测小车位移和摆杆偏角带来的时变图像处理计算时间,直接影响控制系统采样周期和系统性能的问题,不同于目前不考虑图像处理计算时间或将其视为定时滞进行倒立摆视觉实时控制的研究方法,本文首先构建了倒立摆视觉伺服控制实验平台,考虑倒立摆的小车与摆杆特征,提出了小车位移和摆杆偏角的实时计算方法;然后统计分析了图像处理计算时间的特性并设计了视觉传感事件触发采样策略,进一步刻画了时变时延与计算时间的直接关系,进而建立了带有时变计算时延的倒立摆视觉控制系统闭环模型,证明了系统稳定性并建立了反映图像处理计算时间与系统稳定性之间的关系.最后,仿真和实时控制实验验证了所提方法的可行性和有效性.In inverted pendulum visual real-time control system,the sampling period and performance of control systemare directly affected by the time-varying image processing computational time from measuring cart position and pendulumangular from each image.Unlike the existing methods on inverted pendulum visual servoing control system withoutconsidering image processing computational time or with constant image processing computational time,an experimentalinverted pendulum visual servoing control platform is constructed firstly.Considering the characters of the pendulum andthe cart,a real-time calculation method for cart position and pendulum angular are then proposed,and the event-triggeredsampling mechanism of visual sensor is designed according to the statistical character of image processing computationaltime.Furthermore,image processing computational time is converted to time-varying delay,and a closed loop controlsystem model of inverted pendulum system with time-varying delay is established.The system stability is proved,whilethe system stability condition reflects the relationship between time-varying computational delay and system performance.Finally,simulation and experimental results confirm the feasibility and effectiveness of the proposed method.

关 键 词：倒立摆 视觉伺服 图像处理 计算时间 时变时延 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程] TP391.41[自动化与计算机技术—控制科学与工程]