MSP430系列单片机已广泛应用于许多数字电子控制领域。研究设计中利用光敏感器件对特定光波长范围的光信号敏感原理，将四象限光电位置探测器与MSP430系列单片机相结合，根据四象限光电探测器输出电压与光斑位置的线性关系，通过数字PID闭环控制输出电压调节单片机输出PWM 的占空比来实现精确稳定的搜寻和小范围跟踪目标。研究中利用MSP430F169单片机低功耗、功能完善的特点，配合地动仪式机械结构，实现了一套结构简单，功能丰富，结果稳定精确的实验研究类光电跟踪伺服系统。%The MSP430 MCU has been widely used in many digital electronic control fields. The sensitive principle that the photosensitive device is sensitive to the light signal in a certain wavelength was utilized in the photoelectric tracking system de-sign to combine the four-quadrant optical position detector with the MSP430 MCU. According to the linear relationship between the four-quadrant photodetector output voltage and light spot position,the output voltage is controlled by the digital PID closed-loop to regulate the duty cycle of micro-controller output PWM to achieve precise and stable search and small-scale target tracking. An optoelectronic tracking servo system applied to experimental study was realized by utilizing the characteristics of MSP430F169 micro-controller’s low power consumption,perfect function and seismograph type mechanical structure. It has the advantages of simple structure,full function,running stability and tracking accuracy.
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