| Summary: | 碩士 === 國立臺灣科技大學 === 電機工程系 === 103 === The thesis aims to utilize a FPGA chip for the implementation of the visual feedback ball-balancing beam control system. The FPGA system described herein includes two modules: the image processing module,
and a ball and beam balance control module. The image processing module implements the image transformation of the color space, morphological operation, and object color recognition. A ball and beam balance control module is used to achieve balance control the ball and beam use of the PI control and look-up table. The first and second modules are realized on the hardware digital logic circuit programed by the Verilog hardware description language (HDL). The two modules are implemented based on the same FPGA chip. First, the image information captured by the CMOS image sensor and examined by image processing module is employed to detect the tilt angle of the beam and the ball position.Then, the beam is reached to the horizontal position in terms of the use of PI control. Finally, the visual feedback to complete the beam balance control is achieved with the central position of beam followed by a balanced ball as well as with a command value in different angle via a look-up table corresponded with a ball position .
|
|---|
