Automatic Target Tracker Servo Control System Design And Implementation

Target Tracking Technology is one of the key technologies of military development, and has always been a hot point in the military research area, so it has a positive significance for such a research. Against this background, an automatic target tracker is designed. It can be divided into three subsystems, including image acquisition system, communication system and servo control system. This paper has finished the design of the servo control system.This paper gives the main control strategy of the servo control system and designs the location, speed and current regulator based on the analyses of the function requirement and features.The ARM microcontroller(LPC2368) is used as the main control chip. Hardware circuit can be divided into data acquisition module, communication module, signal detection module, motion control module and power module. The hardware design includes device selection, PCB design, electromagnetic compatibility design and system thermal design.Additionally, taking into account the requirements of the servo control system for speedy and accuracy and the defect of general encoder, this system has selected EnDat2.2 digital encoder which is manufactured by HEIDENHAIN. This paper introduces the communication circuit between the encoder and SSP of the main controller, and briefs the software process.System software design includes interface driver and motion control programs. The Interface drivers is divided into UART, SSP, I2C, CAN, A/D. And the motion control software includes regulator algorithm, three closed-loop digital control of position servo system algorithm, PWM motor driver design and failure processes program.Based on the hardware and software design, the communication module, data acquisition module, signal detection module and motor control module are carried out testing. The result shows that the system is running well, and achieved the anticipation.