带有时变计算时延的倒立摆视觉实时控制研究

发布时间：2018-03-28 01:28

本文选题：倒立摆　切入点：视觉伺服　出处：《控制理论与应用》2017年07期

【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.
[Abstract]:In the inverted pendulum vision real-time control system, the time-varying image processing time brought by detecting the vehicle displacement and the swing rod deflection angle through each frame image processing has a direct impact on the sampling period and system performance of the control system. Different from the current research method of visual real-time control of inverted pendulum without considering the computing time of image processing or considering it as timing delay, this paper first constructs an experimental platform of inverted pendulum visual servo control, considering the characteristics of pendulum and pendulum. A real-time calculation method of vehicle displacement and swing rod deflection angle is proposed, and then the characteristics of image processing computation time are statistically analyzed and a visual sensor event trigger sampling strategy is designed, which further characterizes the direct relationship between time-varying delay and computing time. Furthermore, the closed-loop model of inverted pendulum visual control system with time-varying computational delay is established. The stability of the system is proved and the relationship between the computing time of image processing and the stability of the system is established. Simulation and real-time control experiments show that the proposed method is feasible and effective.
【作者单位】：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;
【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~~
【分类号】：TP13;TP391.41

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