一种新型数字式手柄控制器的设计

介绍了几种数字式手柄控制器的优缺点，针对某数字伺服系统实际需求，设计了一种具有CAN总线通信功能的新型数字式手柄控制器。根据角速度积分原理，详细讨论各部分硬件组成电路，给出软件流程。通过实验比较和效果分析，该手柄不仅能输出任意角位置，还能实现跟踪角速度命令的连续变化。其结构易于实现，开发成本低，有较高灵活性和稳定性，充分发挥软硬件结合的潜力作用。在雷达跟踪、周视监控等数字式伺服控制中有巨大应用前景。

A new-style design of digital handle controller

Advantages and disadvantages of several digital handle controller were discussed in this article. Considering pratical demand of one digital servo control system, a new-style digital handle controller with the communication of CAN-bus was de- signed. Basing the principle of angle rate integral, the hardware structure and software flow chart is persented in this paper. E- valuating after testing through the practice atempt and effect, this handle controller not only outputs discretionary angle-position, but also generates consecutively changing angle-rate of track. It has more flexibility and stability, and advantages of simple struc- ture, low cast and high reliability. There are potential application in digital servo control area such as radar track and monitoring around vision.