視覚的測定に基づく1自由度磁気浮上システムの制御

抄録

Recently, visual measurements have been used widely for automatic control systems, such as self-driving cars, robots, drones, etc. Since a camera can detect multiple objects and degrees of freedom, there are significant advantages for magnetic levitation system over conventional sensors such as simplification of control system and reduction of the number of sensors. However, the measurement by the camera has a trade-off relationship between sampling-rate and resolution, and only one can obtain high accuracy. In addition, there is a disadvantage that there is a delay due to detection and image processing. In this paper, we use an inexpensive USB camera and applied vision-based control to a single-degree-of-freedom magnetic levitation system. We describe the measurement algorithm and control system in the magnetic levitation system, and show the results of levitation tests.