結合機器視覺與運動控制之影像伺服技術進行自動對位是精密量測與製造產業中重要的關鍵技術。因為系統組裝與技術整合容易的緣故，現有業界常採用以位置誤差迴授為基礎之影像伺服架構進行精密定位，然而若校正不準確，則會累積定位誤差。因此許多學者紛紛發展影像平面誤差為基礎之影像伺服架構以解決此問題，但其工作範圍小與奇異點等衍生問題也帶來不少應用困境。由於微處理器效能不斷進步與效能要求日益嚴苛，採用可進行限制處理之進階控制方法如模型預測控制獲得影像伺服控制律是一個自動化領域中頗受重視的研究議題。本論文旨在探討模型預測控制器於自動對位系統影像伺服應用之可行性與應用潛力。本文以光機電系統中常見的插銷與孔對位組裝應用為例，首先推導結合攝影機與系統動態之系統數學模型，基於此模型建立模型預測控制設計所需的預測輸出與成本函數。在設計階段便將影像端限制一併納入成本函數，並在每個取樣周期中進行二次規劃求解，獲得馬達各軸最佳控制量。文中以兩組不同顏色的標誌分別代表插銷與孔，將其中一個標誌固定於空間座標中，另一個標誌則置於平台上，藉由所設計控制律以達成對位目的。經由模擬與實驗可知本文所提之結合影像模型預測控制可進行精密定位外，亦能輔以限制處理改善系統整體效能。

As a key technology combining machine vision and motion control, visual servoing has been widely applied to many precise alignment applications for precision measurement and manufacturing. Because of its easy integration and quick assembly, position based visual servo which reduces the feedback position error after image processing is a well-known solution for industrial practitioners. Because position based visual servo is sensitive to image calibration errors, applying image based visual servo which performs tracking task in image plane is an effective alternative for recent researchers. However, some problems in using image based visual servo include limited workspace and singularities, thus motivating the necessity of using advanced controls to achieve precise positioning. This thesis aims to develop a visual servoing method for automatic alignment systems using model predictive control, a practical optimal control strategy which can deal with constraints in process industries. For illustration purpose this study adopts a micro peg-and-hole assembly system commonly seen in optomechatronic systems. Geometric relationship of two image feature points defining the target and moving positions and the system model containing stage dynamics and camera parameters are first derived to build the predicted model and cost function for optimization problem setup. At each sample step the control command is obtained by solving a quadratic programming optimization problem. Simulation and experiments demonstrate some preliminary results and confirm that this method is feasible in automatic alignment applications.

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