Design and implementation of multi-functional digital servos control system

This paper designs a scheme of multi-functional digital servos control system based on STM32. The basic functions of each module are described; the hardware and software structure and working principle of the system are analyzed. In the system three working modes which are Motor mode, Servo mode and Wait mode are provided. There are wired and wireless communication modes between the master chip and PC. The master chip uses a typical PID algorithm to process the position information that is read by contactless magnetic rotary encoder and output the corresponding PWM to control the position and speed of the servos precisely.