带有时变计算时延的倒立摆视觉实时控制研究
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摘要
针对倒立摆视觉实时控制系统中,通过每帧图像处理检测小车位移和摆杆偏角带来的时变图像处理计算时间,直接影响控制系统采样周期和系统性能的问题,不同于目前不考虑图像处理计算时间或将其视为定时滞进行倒立摆视觉实时控制的研究方法,本文首先构建了倒立摆视觉伺服控制实验平台,考虑倒立摆的小车与摆杆特征,提出了小车位移和摆杆偏角的实时计算方法;然后统计分析了图像处理计算时间的特性并设计了视觉传感事件触发采样策略,进一步刻画了时变时延与计算时间的直接关系,进而建立了带有时变计算时延的倒立摆视觉控制系统闭环模型,证明了系统稳定性并建立了反映图像处理计算时间与系统稳定性之间的关系.最后,仿真和实时控制实验验证了所提方法的可行性和有效性.
In inverted pendulum visual real-time control system, the sampling period and performance of control system are directly affected by the time-varying image processing computational time from measuring cart position and pendulum angular from each image. Unlike the existing methods on inverted pendulum visual servoing control system without considering image processing computational time or with constant image processing computational time, an experimental inverted pendulum visual servoing control platform is constructed firstly. Considering the characters of the pendulum and the cart, a real-time calculation method for cart position and pendulum angular are then proposed, and the event-triggered sampling mechanism of visual sensor is designed according to the statistical character of image processing computational time. Furthermore, image processing computational time is converted to time-varying delay, and a closed loop control system model of inverted pendulum system with time-varying delay is established. The system stability is proved, while the system stability condition reflects the relationship between time-varying computational delay and system performance.Finally, simulation and experimental results confirm the feasibility and effectiveness of the proposed method.
In inverted pendulum visual real-time control system, the sampling period and performance of control system are directly affected by the time-varying image processing computational time from measuring cart position and pendulum angular from each image. Unlike the existing methods on inverted pendulum visual servoing control system without considering image processing computational time or with constant image processing computational time, an experimental inverted pendulum visual servoing control platform is constructed firstly. Considering the characters of the pendulum and the cart, a real-time calculation method for cart position and pendulum angular are then proposed, and the event-triggered sampling mechanism of visual sensor is designed according to the statistical character of image processing computational time. Furthermore, image processing computational time is converted to time-varying delay, and a closed loop control system model of inverted pendulum system with time-varying delay is established. The system stability is proved, while the system stability condition reflects the relationship between time-varying computational delay and system performance.Finally, simulation and experimental results confirm the feasibility and effectiveness of the proposed method.
引文
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[24]TRAN A,MANZANERA A.A versatile object tracking algorithm combining particle filter and generalised hough transform[C]//2015International Conference on Image Processing Theory,Tools and Applications(IPTA).New York:IEEE,2015:105–110.
[25]XU Z,SHIN B S,KLETTE R.Accurate and robust line segment extraction using minimum entropy with Hough transform[J].IEEE Transactions on Image Processing,2015,24(3):813–822.
[26]PRASAD L B,TYAGI B,GUPTA H O.Optimal control of nonlinear inverted pendulum system Using PID controller and LQR:performance analysis without and with disturbance input[J].International Journal of Automation and Computing,2014,11(6):661–670.
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[2]WANG L,NI H Q,ZHOU W F,et al.MBPOA-based LQR controller and its application to the double-parallel inverted pendulum system[J].Engineering Applications of Artificial Intelligence,2014,36(C):262–268.
[3]LI Z J,ZHANG Y N.Robust adaptive motion/force control for wheeled inverted pendulums[J].Automatica,2010,46(8):1346–1353.
[4]PRASAD L B,TYAGI B,GUPTA H O.Optimal control of nonlinear inverted pendulum system using PID controller and LQR:performance analysis without and with disturbance input[J].International Journal of Automation and Computing,2014,11(6):661–670.
[5]ZHANG Yongli,CHENG Huifeng,LI Hongxing.The swing-up and stabilization of the triple inverted pendulum[J].Control Theory&Applications,2011,28(1):37–45.(张永立,程会锋,李洪兴.三级倒立摆的自动摆起与稳定控制[J].控制理论与应用,2011,28(1):37–45.)
[6]LI Xuebing,MA Li,DING Shihong.A new second-order sliding mode control and its application to inverted pendulum[J].Acta Automatica Sinica,2015,41(1):193–202.(李雪冰,马莉,丁世宏.一类新的二阶滑模控制方法及其在倒立摆控制中的应用[J].自动化学报,2015,41(1):193–202.)
[7]WU Yuqiang,ZHU Chenglong.Energy control parallel double inverted pendulum with restricted cart rail length[J].Control Theory&Applications,2015 32(9):1254–1260.(武玉强,朱成龙.车轨长度受限的并行双摆能量控制[J].控制理论与应用,2015,32(9):1254–1260.)
[8]MURALIDHARAN V,MAHINDRAKAR A D.Position stabilization and waypoint tracking control of mobile inverted pendulum robot[J].IEEE Transactions on Control Systems Technology,2014,22(6):2360–2367.
[9]HUANG S H,PAN Y C.Automated visual inspection in the semiconductor industry:A survey[J].Computers in Industry,2015,66:1–10.
[10]WANG Yaonan,CHEN Tiejian,HE Zhendong,et al.Review on the machine vision measurement and control technology for intelligent manufacturing equipment[J].Control Theory&Applications,2015,32(3):273–286.(王耀南,陈铁健,贺振东,等.智能制造装备视觉检测控制方法综述[J].控制理论与应用,2015,32(3):273–286.)
[11]RIGGIO M,SANDAK J,FRANKE S.Application of imaging techniques for detection of defects,damage and decay in timber structures on-site[J].Construction and Building Materials,2015,101:1241–1252.
[12]ZHANG Hui,WANG Yaonan,WU Chengzhong,et al.Visual detection and recognition for medical infusion automatic production lines[J].Control Theory&Applications,2014,31(10):1404–1413.(张辉,王耀南,吴成中,等.高速医药自动化生产线大输液视觉检测与识别技术[J].控制理论与应用,2014,31(10):1404–1413.)
[13]WANG H P,VASSEUR C,KONCAR V,et al.Modeling and trajectory tracking control of a 2-DOF vision based inverted pendulum[J].Journal of Control Engineering and Applied Informatics,2010,12(3):59–66.
[14]TU Y W,HO M T.Design and implementation of robust visual servoing control of an inverted pendulum with an FPGA-based image co-processor[J].Mechatronics,2011,21(7):1170–1182.
[15]MARIO E,MAGANA,FRANK H.Fuzzy-logic control of an inverted pendulum with vision feedback[J].IEEE Transactions on Education,1998,41(2):165–170.
[16]KIZIR S,OCAK H,BINGUL Z,et al.Time Delay compensated vision based stabilization control of an inverted pendulum[J].International Journal of Innovative Computing,Information and Control,2012,8(12):8138–8145.
[17]BENITEZ-MORALES A,SANTOS O,ROMERO H,et al.Suboptimal robust linear visual servoing for a delayed underactuated system[J].Optimal Control Applications and Methods,2013,34(6):696–711.
[18]WANG Zhongjie,XIE Lulu.Cyber-physical systems:A survey[J].Acta Automatica Sinica,2011,37(10):1157–1166.(王忠杰,谢璐璐.信息物理融合系统研究综述[J].自动化学报,2011,37(10):1157–1166.)
[19]BRADLEY J M,ATKINS E M.Toward continuous state-space regulation of coupled cyber-physical systems[J].Proceedings of the IEEE,2012,100(1):60–74.
[20]GE X H,YAND F W,HAN Q L.Distributed networked control systems:a brief overview[J].Information Sciences,2017,380:117–131.
[21]CANNY J.A computational approach to edge detection[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,1986,8(6):679–698.
[22]HAMME D V,GOEMAN W,VEELAERT P,et al.Robust monocular visual odometry for road vehicles using uncertain perspective projection[J].EURASIP Journal on Image and Video Processing,2015,2015(1):1–21.
[23]LIU M Q,ZHANG X G,ZHANG Y L,et al.Calibration algorithm of mobile robot vision camera[J].International Journal of Precision Engineering and Manufacturing,2016,17(1):51–57.
[24]TRAN A,MANZANERA A.A versatile object tracking algorithm combining particle filter and generalised hough transform[C]//2015International Conference on Image Processing Theory,Tools and Applications(IPTA).New York:IEEE,2015:105–110.
[25]XU Z,SHIN B S,KLETTE R.Accurate and robust line segment extraction using minimum entropy with Hough transform[J].IEEE Transactions on Image Processing,2015,24(3):813–822.
[26]PRASAD L B,TYAGI B,GUPTA H O.Optimal control of nonlinear inverted pendulum system Using PID controller and LQR:performance analysis without and with disturbance input[J].International Journal of Automation and Computing,2014,11(6):661–670.
[27]HAN Q L.Absolute stability of time-delay systems with sectorbounded nonlinearity[J].Automatica,2005,41(12):2171–2176.
[28]PENG C,TIAN Y C.Delay-dependent robust stability criteria for uncertain systems with interval time-varying delay[J].Journal of Computational and Applied Mathematics,2008,214(2):480–494.