摘要
文章介绍了自主研制的平面视觉跟踪系统的组成,对基于单片机的云台运动控制部分作了重点描述,说明了该控制系统的硬件组成、软件流程图及实现的功能,设计了基于目标速度反馈的PID控制算法,解决了普通图像直接反馈控制方法由于非线性原因而产生控制效果差的现象。并通过实验检验了该视觉跟踪系统的控制性能。
In this paper, components of the self - designed plane tracking system are introduced, the control part of moving terrace based on microcontroller is mainly described, the components, flow chat and function of the microcontroller system is depicted , and the target velocity feedback PID control algorithm is schemed out, this algorithm improved the poor effect issued from non - linear control of the normal image direct feedback control algorithm. And the capability of the visual tracking system is tested by experiments.
出处
《机械设计与制造》
北大核心
2005年第5期125-127,共3页
Machinery Design & Manufacture
关键词
视觉跟踪
PID控制
图像处理
视觉伺服
Visual tracking
PID control
Image proceeding
Visual servoing
