Radar Iff System Research And Reply Simulator Design

A Brushed DC motor controller is designed for the outdoor mobile robot to control the speed and the current of the motor accurately.The architecture of the controller and the structure of the hardware are designed firstly. The following modules are included:the master control module based on DSP TMS320F2808; the power driver module made of gate driver and4N-H Bridge; the module to detect the current and the speed of the motor; the communication module based on CAN and SCI protocol; the display module depending on ARM and TFT-LCD; other hardware modules.Then the algorithm to control the speed and the current is designed and realized. The method with double closed loop is designed based on the traditional PID controller by using the speed loop as the outside loop and the current loop as the inside loop. Furthermore, the fuzzy PID is used to self-tune the PID parameters on line, which enhances the robustness of the servo system.The experimental results show that the controller can control the speed of the motor and the current of the motor armature accurately to protect the motor to work more reliably in the safety area.