Image-Based Control of 2-DOF Ball Balancing System

oleh: Hüseyin Can GURSOY, Nurettin Gökhan ADAR

Format: Article
Diterbitkan: Bursa Technical University 2022-12-01

Deskripsi

In this study, the Ball-Plate stabilization system is designed to control with image processing algorithms. The position of the ball is aimed to control by tilting the plate on which the ball is located at a certain position and velocity. The system has two rotational degrees of freedom and is unstable. In the system, two DC motors are used as an actuator, and a camera is used as a feedback sensor. The camera captures the position of the ball and image processing algorithm calculates the that position to blance the plate..PID control is selected for servo motors. Thus, the position of the ball can be controlled so that it converges to the desired point on the plate. Realtime tests are conducted, and Maximum Overshoot and Steady State Error are calculated for both the x and y-axis, and results are given in figures. For the setpoint (15 cm, 15 cm) the Maximum Overshoot and Steady State Error were measured at 40.6% - 8% on the x-axis and 48.6% - 8.6% on the y-axis, while for the setpoint (10 cm, 10 cm). The Maximum Overshoot and Steady State. Error were measured at 40.6% - 8% on the x-axis and 48.6% - 8.6% on the y axis