DESIGN AND IMPLEMENTATION OF VISUAL SERVOING CONTROL FOR BALL AND BEAM SYSTEM

摘要

This paper presents a new design and implementation tracking and balancing controller for ball and beam system using a digital camera as a ball position sensor. A new setup, including vision feedback and employing xPC target makes it easy to implement various controllers. System identification and controller design is conducted in real rime manner. New arrangement can be used in a tele-lab operation for educational and research purposes. A Simulink model is developed to do both simulation (analysis, synthesizes and controller design) and real time implementation. Indeed, the proposed method has hardware in the loop property. Ball and beam system is severely nonlinear, so we utilize two stage controller to manage with this problem. Simulation and experimental results show the effectiveness of the proposed controller and exploit rapid prototyping property of the setup as well.