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PENELITIAN | PENGUJIAN | PELATIHAN | BIMBINGAN TEKNIS

Image-based closed-loop motor control

This was our final setup for the course Embedded System Laboratory, back then in summer 2013. It was always great to work in group with Prithivi Ram Duraisingam. Basically, the task is to make the red circle on the rotating wheel follow wherever the green mark moves. The problem was solved as follows. First, the movement of the green mark was captured by a webcam, which was controlled by Gumstix Overo Fire, an OMAP3530-based computer-on-module. Streaming of images from the webcam was then processed in order to track the position of the green mark. The Gumstix then told Altera DE0-Nano board to rotate the the smaller wheel, which was coupled with the larger one that has the red circle. To do its job, the Altera DE0-Nano board was programmed to have a CPU core and dedicated FPGA-based PWM controller and quadrature encoder. A digitally implemented PID controller was in charge to move the wheel as fast as possible with minimal overshoot. 

Demonstration video and the final report are available in here:

https://yoppychia.wordpress.com/2017/02/13/image-based-closed-loop-motor-control/

Penulis: Yoppy S.T., M.Sc.

Sumber: intra.lipi.go.id

 

Diposting oleh hard Pada 09-Januari-2018 14:51:44

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