The Application Of DSP And CAN Bus Technology In Some Photoelectric Tracking Control System

In this thesis, the coarse-fine composite control of photoelectric automatic tracking and pointing device on mobile is studied, so that the device can acquire, track and point targets at high-speed and high-precision. A control board based on TMS320LF2407A DSP is designed.The analog of the position deviation feeded back by video tracker is collected real time with the rich peripheral circuits of DSP.,and after analog-digital conversion the control quantity is produced through PID control algorithm to make the CCD camera track the target quickly. Steering info of the robot is acquired through the output pulse of photoelectric encoder collected by DSP real-time an, then the motors are driven, and finally the robot's moving is controlled accurately. The sofrware of five UART is accomplished based on Verilog HDL,and the hardware and the interface with DSP are designed with FPGA as key processed unit. The software simulation of the modle is taken in the software of QUARTUSII,and the hardware debugging was finished using SignalTapII, an embedded logical analyzing instrument.The driving program based on CANopen high level communication protocol is accomplished based on CAN2.0B controller of DSP as hardware.,realizing experiment test of the profiled velocity model and the profiled position model,and the program flowchart of the PVT model is given.