Design of Air Tracking Servo System Based on STM32F103

In order to implement fast, precise and stationarily tracking, digital air tracking servo system is designed. The system uses the MPU STM32F103 as the control center, UBA2032 H-bridge driver as the motor driver, velocity-measuring motor unit as the power and velocity sensor, rotary transformer as the angle sensor. ADC MAX1270 converts the analog data to digital data, which is transformed to STM32F103 through SPI interface. Angle, velocity and current which compose three-closed loop are measured and feedback and Fuzzy-PID control arithmetic is adopted. Route tracking experiments prove that the stability of the system is good and its static and dynamic target can satisfy the precision requirements.