Open AccessDesign of rolling ball control system based on OpenMV
Author(s) -
Linjie Zhou,
Enyi Xu,
Donghong Chen,
Chang Xu,
Xiai Chen,
Suan Xu,
Ling Wang
Publication year - 2019
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1303/1/012102
Subject(s) - parallelogram , ball (mathematics) , ball screw , control theory (sociology) , microcontroller , control system , cascade , motion control , pid controller , computer science , engineering , control engineering , artificial intelligence , computer hardware , robot , mechanical engineering , mathematics , control (management) , temperature control , mathematical analysis , electrical engineering , chemical engineering , nut
The ball-on-plate system, a non-linear control system with a 2-degree of freedom, is crucial for understanding the control system applications. As increase of the non-linearity with the degree of freedoms, the system can be used to test and identify different aspects of controls. This paper describes the design and implementation of a ball-on-plate system based on OpenMV that includes machine vision modules. Camera OV7725 with chip model of STM32F765 in OpenMV detects and calculates ball position on the plate in real time, and then the OpenMV sends the position data of the ball to the main Micro Controller Unit through a serial port. The MCU calculates the data with a cascade PID controller, and outputs the PWM wave to control the rotation angle of the steering engine. The steering engine drives two vertical parallelogram linkage mechanisms to manipulate the motion of the plate. Thus, the system can exactly control the motion state and position of the ball on the plate in real time.