全自动目标跟踪仪的伺服控制系统设计与实现.docx

Prepared on 22 November 2020
全自动目标跟踪仪的伺服控制系统设计与实现
分类号 密级 s 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 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.
Key Words: target tracking, motion control, ARM, EnDat digital encoder
目 录
绪论
课题研究背景及意义
目标跟踪是指计算机根据一定的算法实现对目标的跟踪与定位，并根据目标的动向和位置采取相应的措施[1][2]。在实际应用中，运动目标跟踪技术不仅可以准确地定位目标并提供目标的运动轨迹，为下一步目标行为的理解与分析提供可靠的信息来源，而且也可以为运动目标检测提供帮助。如何精确地对运动目标进行定位跟踪，对于提高军事中的武器制导、武器打击的精确度等有着重要的影响[3]。
在现代战争中，对实时战场信息的获取能力很大程度上决定了战争的胜负。全自动目标跟踪仪以其多样的传感器技术和灵活的使用方式，在现代战争中得到越来越多的应