1、机器机器人和人和视觉系统的视觉系统的 PID 控制器设计控制器设计 摘要摘要 PID 控制是最早发展起来的经典控制策略, 是用于过程控制最有效的策略之一。 由于其 原理简单、技术成功，在实际应用中较易于整定, 在工业控制中得到了广泛的应用。它最大 的优点是不需了解被控对象精确的数学模型,只需在线根据系统误差及误差的变化率等简单 参数, 经过经验进行调节器参数在线整定, 即可取得满意的结果, 具有很大的适应性和灵 活性。 机器视觉系统是指用计算机来实现人的视觉功能， 也就是用计算机来实现对客观的三维 世界的识别。按现在的理解，人类视觉系统的感受部分是视网膜，它是一个三维采样系统。 三维物体的可见
2、部分投影到网膜上， 人们按照投影到视网膜上的二维的像来对该物体进行三 维理解。 本文使用 PID 控制器对机器视觉系统进行调节，使其优化，并使用 MATLAB 对系统进行 建模仿真。 关键字关键字：PID 控制器 机器视觉系统 MA TLAB Abstract Classical control strategy of PID control was first developed, is one of the most effective strategies for process control. Due to its simple in principle, technology su
3、ccess, and in practice easier setting, it has been widely used in industrial control applications. Its greatest advantage is that do not need to know precise mathematical model of the object being controlled just online based on a change of system errors and error rate and other simple parameters, a
4、fter the experienced regulator parameters line setting, you can achieve satisfactory results, with a great deal of adaptability and flexibility. Machine vision systems are systems that use computers to achievement of human visual function, which use computers to achieve of the objective recognition of three dimensional world. According to present understanding, feel part of the human visual system is the retina, which is a three dimensional sampling system. Three dimensional on the visible p
