Low-speed Tracking Servo System

This thesis mainly studies the ultra-low speed tracking and servo system: system composition, servo motor design, steering control electronics, and control software design. In this thesis, the author presents a new method for developing microcontroller software: doing system analysis and design using the Object-oriented method, and designing the software structure using the Message-driven mechanism. Taking a Satellite Antenna Tracking and Servo System (SATSS) for example, the thesis gives step-by-step approach of the new software developing method.The SATSS is an antenna pointing servo system with ultra-low speed and high accuracy, driven by a Rare Earth Permanent Magnet (REPM) brushless DC torque motor. To reduce torque ripple, the REPM brushless DC torque motor has a slotless armature, and uses sinusoidal wave driven technology. The steering control electronics of the SATSS uses an 80C196KC microcontroller, a SA8282 SPWM generator, and a 19-bit resolver digital converter (RDC).