Design And Algorithm Of Wireless Position Servo Control System

In order to make up for low precision of the current position tracking system and inconvenient of the data cable transmission, through the study of wireless position tracking control system, from module selection, control algorithm and software program optimization, designing a kind of high precision and wireless angular position tracking control system.Adopt multirange and higher accuracy L3G4200 DH triaxial gyro as angular position sensor, realized the data transmission by 2.4G NRF24L01 wireless radio frequency transceiver chip, use STM32F103RBT6 as micro controller, which is produced by ST company, and belong to ARM Cortex- M3 series production, servo motor is controlled by fuzzy PID full closed loop control algorithm, and add advanced correction and feed-forward links, among them, advanced correction can make the output signal earlier than the input signal, so that improve response lag of angle input, consequently, decrease the error of the system. At the same time, use the wireless video module to monitor servo motor state in real time, realize the precision control for servo motor.First, this paper introduces the home and abroad research development in the field of wireless position servo control, and simply introduces the principle and research significance of the wireless position control system. Second, from system scheme, module selection, control algorithm and strategy, key codes, propose the whole design scheme of system and fuzzy PID full closed loop control algorithm. Finally, analysis the main error sources, then modeling and simulation for the control algorithm. Through the simulation and experimental results prove the servo system has improved greatly in accuracy and real time, the dynamic following error can up to 10-3, the result shows the system has good following characteristic, meanwhile, wireless data transmission mode will give remote control and special working environment to bring a great convenience.