基于STM32的运动耦合伺服转台速度控制系统设计

为实现某跟踪系统中运动耦合伺服转台独立的速度控制,并且达到响应快速、精确、平稳的速度控制,设计了一种基于STM32的速度控制系统.该系统以嵌入式微处理器STM32F103为核心构建,利用速度补偿法实现对耦合伺服转台独立的速度控制;系统通过PWM（脉宽调制）实现对电机转速的控制,采用速度和电流双环控制,控制算法采用模糊PID控制.控制耦合伺服转台按照给定的角速度转动,实验结果表明该系统稳定性好,静态、动态指标满足设计精度要求.

Design of kinematic coupling servo motor speed control system based on STM32

A speed control servo system based on STM32 is designed in order to realize speed control independently for motion coupled servo rotary table of one tracking system and get rapid, accurate, smooth speed control. The system uses embedded microprocessor STM32F103 as the core, and speed compensation method is used to realize independent speed control of the coupling servo rotary table. It achieved control of motor speed by PWM （pulse width modulation）. Speed and current double loops control is used, and the fuzzy PID control is used as the control algorithm. The experimental results show that the system has good stability, and the static and dynamic indicators meet the design accuracy. This design basically has reached the requirement of the servo motor speed control system.