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Vision-based Ball-on-Beam Balancer with Fuzzy Logic Controller

机译：基于视觉的带有模糊逻辑控制器的光束平衡器

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Determining the behavior of a controller involving nonlinear systems is very difficult to test and develop. As a benchmark to test this controller, the ball-beam balancing problem has been used due to its inherent nonlinear dynamics. This study presents a ball-beam balancing system that uses camera vision to determine the position of the ball on top of the beam and beam’s angle. A fuzzy logic algorithm is used to control the motion of the beam to position the ball at its center. Image processing and fuzzy logic concepts are the two main areas applied to this project. Ball’s distance and beam’s angle produced by the image processor are fed as inputs for the fuzzy logic controller to produce the appropriate response for balancing. The next beam angle (output) is sent by FLC to the balancer based on the gathered distance and current beam angle. The results show that the balancer can really put the ball at the center of the beam starting at any position.
机译：确定涉及非线性系统的控制器的行为非常难于测试和开发。作为测试该控制器的基准，由于其固有的非线性动力学特性，已经使用了球梁平衡问题。这项研究提出了一种球光束平衡系统，该系统利用摄像机的视觉来确定球在光束顶部和光束角度上的位置。模糊逻辑算法用于控制光束的运动以将球定位在其中心。图像处理和模糊逻辑概念是应用于此项目的两个主要领域。图像处理器产生的球的距离和光束角度作为模糊逻辑控制器的输入，以产生适当的平衡响应。下一个光束角（输出）由FLC根据收集的距离和当前光束角发送到平衡器。结果表明，平衡器可以真正地将球放在任何位置开始的光束中心。

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