Computer vision systems have had great importance in research of different industrial processes. Videos and photographs have been used to characterize the bed behavior in a rotary drum; in this way, the bed motion, repose angles, trajectories, and particle velocity can be determined. This work shows the development of a computer vision system that measures the bed inclination angle in industrial rotary drums. The purpose of the vision system is to capture the images when the angular velocity on the drum changes. Eventually, with the data measured during the two experiments in industrial rotary drums, we have identified two input–output models representing the slumping motion. Based on the control objective, we considered two approaches: regulation and tracking. PI and PII² controllers have been designed to show that a bed inclination angle can be stabilized for rolling motion considering plants that represent slumping motion and the inclination angle as the measured variable.

中文翻译：

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利用计算机视觉稳定转鼓床倾角

计算机视觉系统在不同工业过程的研究中具有非常重要的意义。录像和照片已被用来表征转鼓中的床行为。以这种方式，可以确定床的运动，休止角，轨迹和粒子速度。这项工作表明了计算机视觉系统的发展，该系统可测量工业旋转鼓中的床身倾斜角度。视觉系统的目的是在感光鼓上的角速度发生变化时捕获图像。最终，利用在工业转鼓上进行的两次实验所测得的数据，我们确定了代表落体运动的两个输入-输出模型。基于控制目标，我们考虑了两种方法：调节和跟踪。PI和PII ² 控制器已被设计为表明，考虑到代表下沉运动和倾角作为测量变量的设备，可以为滚动运动稳定床倾角。