一种数字式对空跟踪伺服系统设计与实现

摘要

A digital air tracking servo system is designed in order to implement fast, precise and stationary tracking. The system use the MPU STM32F103 as the control center, permanent-magnetic torque and velocity-measuring motor set as the power and velocity sensor, H - bridge circuit composed of MOSFET as the motor driver, rotary transformer as the angle sensor. MAX1270 converts the analog data to digital data, which is transformed to STM32F103 via SPI. Angle, velocity and current which compose three-closed loop are measured and feedback and Fuzzy- PID control arithmetic is adopted. Target route tracking experiments prove that the stability of the system is good and its static and dynamic target can satisfy the precision requirements.%为实现对目标快速、精确、平稳的跟踪,设计了一种数字式对空跟踪伺服系统；该系统以嵌入式微处理器STM32F103为核心构建,设计采用永磁直流力矩测速机组作为动力装置和速度传感器,并以场效应管组成H型桥式电路作为电机驱动器,正余弦旋转变压器为角度传感器,利用MAX1270将各种传感器模拟量转换为数字量,通过串行外设接口SP1传输至STM32F103,实现位置、速度和电流反馈,组成三闭环控制结构,并采用模糊数字PID控制算法;对模拟空中飞行目标跟踪实验表明该系统稳定性好,静态、动态指标满足设计精度要求.