Framework Seeker Digital Controller Design

This thesis studied and designed a frame pattern guided aimer digital controller, described the requirement and target of the frame pattern guided aimer stable track platform designing, as well as the realizing method. Considering DC torque motors have good characters like quick respond, high precision and smooth modulation. This thesis selected DC torque motor as the torquer.A frame pattern guided aimer stable track platform consists of five main parts: optical imaging system& CCD camera, image processor, universal framework, torque motors& feedback devices and controller. The controller is the object of this paper, it includes control computer, sample signal adjust circuit and drive circuit. This thesis studied theory of control loop and hardware and software design of the controller emphatically, on which the core is TMS320F2806 DSP released by TI Inc. The board uses on-chip ADC to sample control signals and feed- back signals, generates 2 groups (4 in total) PWM waveforms by on-chip ePWM module, driving two DC torque motors at the pitching and azimuthal axes through the power amplifying integrate circuit. The control method, with respect to the software, is integral-separated PID based on Z-N formula.Program on controller, including three modules: sampling data, PWM driving and processing data, is designed in a module manner. This thesis executes a simulation of platform model in MATLAB, the result shows that the model is valid. At last, some tests are implemented, the platform performs well as expected.