SoPC Implementation to the Balance Control of a Vision-Based Two-Dimensional Inverted Pendulum System

• Main Authors: Hung-Chih Chen, 陳泓志
• Other Authors: 徐元寶
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/p7htzq

碩士 === 國立虎尾科技大學 === 資訊工程研究所 === 101 === An inverted pendulum system is a non-linear, unstable systems. With its simple mechanical structure, the inverted pendulum system has been a good testbed for verifying a variety of control theories. In this thesis, we implement a system which can drive a three-wheeled vehicle to balance a two-dimensional inverted pendulum which is mounted on the top of the vehicle. The system is implemented on the FPGA (Field Programmable Gate Array) of a SoPC (System on a Programmable Chip). Euler-Lagrange method is applied to derive the dynamic model of the two-dimensional inverted pendulum structure. Simulation results show that the resulting model is well controlled by the PID method. Conventionally, inverted pendulum systems usually used tiltmeters or gyro sensors to measure their angle of inclination. In this thesis, we employed a CMOS camera as the measurement sensor instead. By the concept of software and hardware co-design the hardware modules, including image processing and inclination calculation modules, and the software modules, including the PID and other miscellaneous modules, are combined together and realized on the SoPC. Experiment results show that the resulting system can not satisfy the design goal and we suggest that it is not suitable utilizing the omni-directional wheel on this kind of applications.