【作者】 李冰；

【导师】 葛曼玲；

【作者基本信息】 河北工业大学 ， 电气工程， 2014， 硕士

【摘要】 近年来，计算机处理器性能和运算速度不断地提高，成本却不断地下降，视觉系统应用到伺服控制系统的设备越来越多，应用范围也越来越大。视觉是人类最重要的器官之一，它能帮助人类获取最想要的信息，在图像处理技术不断发展的今天，人们常利用该技术来获取信息，并作为反馈，从而构成闭环的机器视觉系统，伺服控制系统驱动电机迅速完成控制任务，图像处理的快速性和准确性成为评价系统优劣的主要指标。本文主要从两个方面进行研究，在图像处理阶段，图像采集卡通过摄像头对图像进行采集，并且把它保存到电脑硬盘中，利用阈值分割法获得我们所需要的目标区域；然后，利用二值图像分割法把图像转化为0/1二进制的矩阵，有助于后期数字化处理；最后，利用模版匹配的方法进行图像匹配，可迅速找到目标的实际位置，把相应的信息传送给伺服控制系统，伺服控制系统对目标进行抓取。TwinCAT是一款嵌入到PC机中的PLC编程软件。它既具有传统PLC的编程语言通俗易懂的优点，又有现代PC机处理速度快、兼容性好、稳定性高的优点。TwinCAT不但可以与VC++在不需要任何接口的情况下进行数据传输，传输速度快，可靠性高，而且它支持很多通讯协议，例如，profibus、canopen、modbus和ethercat等等。伺服系统控制电机，不但要有稳定性，还要有快速性。本课题为此构建了内外双环的闭环模型：速度环和电流环。内外双环均采用算法简单、稳定性好的PI调节器。传统的PI调节器虽然也算法简单、稳定性好，但是必须依赖于准确的数学模型，并且系统变化时不能准确地进行自我调节。针对这一缺点本文提出了模糊-PI控制系统的方案，并在MATLAB/simulink环境下进行仿真，在相同的干扰下，通过仿真比较传统的PI与模糊-PI波形变化情况，结果显示模糊-PI鲁棒性能更强，能更好的适应复杂环境，使系统具有更好的稳定性。更多还原

【Abstract】 With the rapid development of computer technology, more and more machine visualsystems were applied to the servo control system. Vision is the most important organ forhuman being to acquire the information. In the machine visual system, the technology ofimage processing plays an important role to obtain information, by using the concept offeed-back, a closed loop was constructed to drive servo motor quickly and accurately.Therefore, the accuracy and speed of servo control system has become the main factors toevaluate a system of image processing, which were the goals of my project.In mage processing, the images were acquired by camera via image capture card andsaved in the computer. By using the binary image segmentation method to transfer theimage into the binary matrix, and then a method of template matching was employed tolocalize the target quickly. When the corresponding information was transmitted to theservo control system, servo control system will capture the goals, so it is necessary for theservo control system to be stable and rapid.TwinCAT is a PLC programing software embedded in PC, it has some advantages oftraditional PLC, such as easy to understand, high speed and good compatibility ofmodern PCs. In no interface port, TwinCAT can not only transmit data compiled by VC++quickly and reliably, but also be compatible with many communication protocols, such asprofibus、canopen、modbus and ethercat et al.To address the issue, a closed loop model of the servo control system with doubleloops was constructed. The double loops were respectively termed as inside and outsideloops: speed loop and electrical current loop. Inside and outside double loops, thetraditional PI regulator was simple and stable, but it must be dependent on an accuratemodel and it couldn’t self-regulate exactly to fit the dynamics in the system. Therefore, weproposed a fuzzy_PI stategy for the control system，and simulated the fuzzy model byMATLAB/simulink. In the case of same disturbance, the simulations indicated that thefuzzy_stategy worked better than the traditional one in the complex environment.更多还原