基于STM32的双轴监控云台精准控制系统设计

智能监控系统的快速发展对云台控制精度要求不断提高，由此设计并实现了一款双轴监控云台精准控制系统。本系统利用 USART 串口接收标准数控程序指令 G 代码，通过移植 CNC 雕刻机运动控制器 GRBL 到云台控制器STM32 F103 RBT6中控制两台步进电机协同工作，实现云台精准控制。将数控机床中精准的直线插补和弧形、圆形运动功能运用到监控云台中，提高控制精度，实现云台快速响应和平稳加速以及无冲击的转弯。本系统在智能家居、区域安防等智能监控领域有很好的实用价值，适合现代视频监控领域的发展要求。

Precision Control System for Double-axis Monitoring PTZ Based on STM32

The PTZ control accuracy requirement is increasing with the rapid development of intelligent monitoring system,thus a preci-sion control system for double-axis monitoring PTZ is designed and implemented.The system uses the USART serial port to receive the standards-compliant G code,and PTZ control precision is achieved by transplanting GRBL into PTZ controller (STM32F103RBT6)to control two stepper motors working in coordination.In order to improve the control precision and achieve fast response,the smooth accel-eration and non-impact turn of PTZ are achieved through applying the precise linear interpolation and arc or circular motion in NC ma-chine tool to the monitoring PTZ.The system has good practical value in the field of intelligent monitoring,such as smart home,area safety defending,which is adapt to the development requirements of modern video surveillance.