TRABALHOS DE FIM DE CURSO @PUC-Rio
| Título: | OPTIMIZATION OF A BALL AND PLATE CONTROL VIA WEBCAM | ||||||||||||
| Autor(es): |
LUIZ FELIPE MONTEIRO DE A FONSECA |
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| Colaborador(es): |
WOUTER CAARLS - Orientador |
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| Catalogação: | 05/FEV/2020 | Língua(s): | PORTUGUESE - BRAZIL |
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| Tipo: | TEXT | Subtipo: | SENIOR PROJECT | ||||||||||
| Notas: |
[pt] Todos os dados constantes dos documentos são de inteira responsabilidade de seus autores. Os dados utilizados nas descrições dos documentos estão em conformidade com os sistemas da administração da PUC-Rio. [en] All data contained in the documents are the sole responsibility of the authors. The data used in the descriptions of the documents are in conformity with the systems of the administration of PUC-Rio. |
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| Referência(s): |
[pt] https://www.maxwell.vrac.puc-rio.br/projetosEspeciais/TFCs/consultas/conteudo.php?strSecao=resultado&nrSeq=46731@1 [en] https://www.maxwell.vrac.puc-rio.br/projetosEspeciais/TFCs/consultas/conteudo.php?strSecao=resultado&nrSeq=46731@2 |
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| DOI: | https://doi.org/10.17771/PUCRio.acad.46731 | ||||||||||||
| Resumo: | |||||||||||||
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This project describes the development of a control system for a rolling ball on a plate with two degrees of freedom, with each axis acted upon by a direct current motor and a camera observing the ball s position. Two independent PID controllers were tuned so that upon operating the motors the ball would be taken to a specific desired position and then stay balanced where it stood. The table s control is implemented on an Arduino board that is in contact through serial communication with a Python program, which in turn runs the processing and segmentation for the camera image as well as control of the ball s position. This work encompasses the understanding of the type of control implemented as well as the system model, experimental challenges and results, plus a final challenge of trajectory control.
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