基于双目视觉的振动测量及控制
Vibration Measurement and Control Based on Binocular Vision

针对柔性板的低频振动问题，研究了一种基于双目视觉测量其低频振动和反馈的控制方法。采用视觉传感器采集柔性板振动过程中的图像序列，通过图像处理的方法分析图像序列，从而得到柔性板的振动信息。以此信息作为控制反馈信号，采用最小控制合成算法（minimal control synthesis，简称MCS）抑制柔性板的振动。在相同的条件下，比较MCS算法和比例微分（proportion differentiation，简称PD）算法的控制效果。实验结果验证了基于双目视觉测量和MCS算法的可行性，且MCS算法的控制效果要优于PD算法。
For the low frequency vibration of a flexible plate, a kind of measurement and control method based on binocular vision is investigated. Visual sensors are used to capture images of the vibration of the flexible plate, and then these images are analyzed by the method of image processing (e.g., image segmentation, stereo matching, etc.) to obtain the vibration information of the flexible plate. The obtained vibration signal is used as feedback control signal. Minimal control synthesis (MCS) control method is adopted to suppress the vibration of the flexible plate. Under the same conditions, the control effect of MCS algorithm and the control effect of proportion differentiation (PD) algorithm is compared. The experimental results demonstrate that the measurement method based on binocular vision and MCS control algorithms are feasible. Also, the control effect of the applied MCS algorithm is superior to that of the PD algorithm.