| Summary: | 碩士 === 臺灣大學 === 電機工程學研究所 === 98 === This thesis focuses on Altera corporation’s SOPC(System on Programmable Chip) technology, using low-cost FPGA (Cyclone II) implements a embedded visual servo system. Except DAC(Digital/Analog Converter) of VGA monitor, memory unit chip and the power amplifiers of motor driver. Some logic circuit such as vision, motion and computation are implement base on FPGA.
The motion platform includes two DC servo motor such camera have two degree of rotation. After complete the hardware component, this thesis designs a method to build the simulation of motor control system by computer software Matlab/Simulink. Refer to the concept of linear motor; the experimental data is used to modify the non-ideal motor model. Thus, the digital controller which is designed on such environment will be realistic.
In software environment of the embedded visual servo system, a well-known real-time operating system, μC/OS-II, is utilized to ensure the real-time control of two DC servo motors. Visual algorithms and control algorithms are separate tasks under μC/OS-II . According to the result of visual algorithms, camera can track a specific target such that target is always in the center of picture.
Embedded visual servo system not only resolves the cost problem, but also reduces the circuit area. Additionally, hardware architecture is flexible because of the characteristic of SOPC. A complete system can integrate extra IP (Intellectual Property) to extend system function, and promotes the vision algorithm by hardware-software co-design. So that embedded visual servo system are fitter in other application situation.
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