本文旨在以FPGA 實現即時影像追蹤之球與球桿平衡控制系統設計。系統架構分為影像處理模組與控制器模組，本系統在FPGA 下以Verilog 語言實現。利用影像感測器擷取即時球與球桿機構之影像，從回授影像中計算球體位置及球桿角度資訊。本文使用系統識別、狀態空間方程式、PID 控制與模糊控制設計控制器，將控制器輸出之命令，經由直流伺服馬達進行球與球桿平衡控制。將控制器分別進行球體定點與多定點位置控制實驗，並比較不同控制架構之間的控制性能與FPGA 消耗資源。實現即時影像追蹤球與球桿平衡控制系統之球體定點與多定點位置控制。

This research designs a real-time visual tracking ball-and-beam system via FPGA. The structure of ball-and-beam balance control system includes image processing module and controller module. The system is implemented on FPGA and programming with Verilog. The system applies image sensor to capture the real-time ball-and-beam information, and calculates ball position and beam angle. In this research, we applied system identification, state space equation, PID control, and fuzzy logic control to design controllers. Control performance and FPGA implemented resources are compared from the experiment results. This thesis achieves both the single-point and multi-point ball position control on real-time visual tracking ball-and- beam system.

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