本研究設計並建立一套能對特定顏色動態目標物，進行辨識及追蹤系統，此系統利用反作用力來模擬衛星監控之控制方式，並分為五個模組。影像擷取與無線傳輸模組包含裝載於轉盤邊緣上之CCD攝影機及無線傳輸組件，可擷取彩色影像資訊並傳送至主控電腦，由影像處理與控制模組在主控電腦接收CCD攝影機擷取影像資訊以進行程式運算，辨識追蹤目標物在影像上形心位置與速度，決定控制器之參數及送出控制命令。電子與電力模組包含單版微電腦（PC104）、電力系統及控制電路，功能為接收控制命令與驅動致動機構。機構傳動模組由步進馬達、反應輪及CCD攝影機裝載組成，透過控制馬達使反應輪角速度改變，可轉動裝載CCD攝影機之轉盤至180度內任意角度，並利用模糊理論結合傳統PD控制方法來設計控制器。從模擬與硬體實驗的結果，均能達成追蹤任務，證明我們所提出模型與控制方法之效益。

The objective of this study is to design and construct the identification and tracking camera system that can follow moving object with specified color. Utilizing the reaction torque, the system, including five modules, emulates the control fashion of spacecraft observation. Image acquisition and telemetry module, containing a CCD camera which sits on the edge of circular plate and a wireless transmission electronics, takes in color images and sends to a monitoring computer. Image processing and control module is a set of software processors in the monitoring computer which receives the images from the camera, identifies the tracking object, estimates the position and velocity of the object, determines the control gains, and sends out the control commands. Electronic and power module, including a micro-computer, PC104, a set of control electronics, and a power unit, receives the control commands and drives the actuating mechanism. Mechanism transmission module consists of a stepping motor, a reaction wheel, and a camera holding plate. Through the change of angular rate of the reaction wheel governed by the motor, the circular plate with CCD camera is able to rotate a given angle accordingly within 180 degrees. Also, the fuzzy theory coupled with classical PD control method is utilized to design the controller. Successful tracking results from simulation and hardware experiment indicate the effectiveness of the proposed modeling of observation and control method.

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