基于STM32的激光追踪器控制系统设计

Design of laser tracker control system based on STM32

激光追踪器中控制系统是其中最关键环节,直接关系到激光追踪器的追踪性能和距离测量精确度。为此,基于STM32单片机设计一种激光追踪器控制系统。系统控制结构分为三部分,即状态信息采集部分、控制量计算部分和电机驱动部分;系统主要硬件组成包括激光追踪器、STM32单片机、信号采集设备、信号传输设备、电机驱动设备和操控显示设备等;系统软件部分结合PID控制器,通过给定值与实际输出值之间的差值对PID进行不断校正,使得控制量不断接近最优控制值,从而不断优化控制精度。结果表明:通过系统仿真测试,系统控制性能各项指标均满足设定的控制目标,由此证明该系统的控制性能达到设计要求。

The control system of laser tracker is one of the most critical links, which is directly related to the tracking performance of laser tracker and the accuracy of distance measurement. Therefore, a laser tracker control system is designed based on STM32 microcontroller. The control structure of the system is divided into three parts, namely the state information acquisition part, the control quantity calculation part and the motor drive part. The main hardware components of the system include laser tracker, STM32 single chip microcomputer, signal acquisition equipment, signal transmission equipment, motor driving equipment and control display equipment, etc. Combined with PID controller, the system software continuously corrects the PID through the difference between the given value and the actual output value, so that the control quantity is closer to the optimal control value, and thus the control accuracy is constantly optimized. The results show that, through the system simulation test, the control performance of the system meets the set control objectives, thus proving that the control performance of the system meets the design requirements.