Image Based Control of 2-Dof Ball Balancing System

Abstract

In this study, 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 certain positions and speeds. The system has two rotational degrees of freedom and is an unstable system. Accordingly, a closed-loop controller is designed using a PID controller, the error in the system response is calculated, and the communication is established with the sensors and actuators. In this way, the position of the ball can be controlled so that it converges to the center point on the plate. In the system, two DC motors are used as an actuator and a camera is used as a feedback sensor. In order to generate the transfer function, the mathematical modeling of the system is calculated. The image taken from the camera is processed and the position information of the ball is obtained. The motors are driven with the obtained position information. Maximum Overshoot and Steady State Error is calculated for both x-y axis and results are given in figures.