Rolling ball system motion control method based on multi-closed-loop cascade control

Abstract

The invention relates to a rolling ball system motion control method based on multi-closed-loop cascade control, and the control method is applicable to a rolling ball system which takes a camera as asingle sensor. The rolling ball system comprises a rolling ball, a target point, a flat plate, a camera and a control mechanism, wherein the control mechanism controls the motion of the rolling ballby adopting a multi-closed-loop cascade control scheme; according to the multi-closed-loop cascade control scheme, the data information acquired in real time through the camera is used as feedback, and the motion of the rolling ball is adjusted; the multi-closed-loop cascade control scheme comprises the following steps that double-closed-loop cascade control based on a speed ring and an acceleration ring is adopted when the distance between the rolling ball and a target point is greater than a preset first distance; the speed ring takes the speed of the rolling ball on the flat plate as the feedback signal; and the acceleration ring takes the acceleration speed of the rolling ball on the flat plate as the feedback signal. Compared with the prior art, the motion control method of the rolling ball system is easy to implement, the control effect is high, and the rolling ball can quickly, accurately and stably reach the target point on the flat plate.

Description

technical field [0001] The invention relates to the field of motion control of a rolling ball system, in particular to a motion control method of a rolling ball system based on multi-closed-loop cascade control. Background technique [0002] The rolling ball control system is a typical multivariable and non-linear control system. It collects information such as the position and speed of the ball through a camera or other sensors, and uses a specific rolling ball motion control algorithm to control the operation of the actuator. The method realizes the control of the moving target and the moving speed of the rolling ball, so as to realize the positioning control and trajectory tracking of the rolling ball. The rolling ball control system is a typical experimental platform for studying intelligent control algorithms. Its research content involves image processing, intelligent control, motion control, etc. It has far-reaching significance for the research on the control method ...

AI Technical Summary

Problems solved by technology

[0006] The rolling ball control method controls the rolling ball movement through a double closed loop based on the position loop and the speed loop, without considering the speed increase of the rolling ball, and this control method does not take into account some unexpected situations during the rolling ball movement, stability, etc. not guaranteed

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