CN104615153A - TMX320F28335 floating point DSP (Digital Signal Processor) based two-shaft photoelectric tracking system - Google Patents

Abstract

The invention provides a TMX320F28335 floating point DSP (Digital Signal Processor) based two-shaft photoelectric tracking system, belongs to the technical field of control of servo movement, and aims at solving the problems of low tracking precision and inconvenient mounting, dismounting and repairing due to the DSP based control for the two-shaft photoelectric tracking system in the prior art. The system comprises a detection device, a servo control module, an angle measuring loop module, a speed measuring loop module, a power amplification driving loop module, a communication loop module, an upper computer module and an image processing module; the angle position information and angle rate information measured by a photoelectric encoder and a gyro of the detection device are respectively sent to the servo control module through the angle measuring loop module and the speed measuring loop module; the image processing module is used for processing the acquired module to obtain the miss distance of a characteristics target; the servo control module is used for acquiring control quantity according to the angle position information, the angle rate information, the miss distance, an instruction of an upper computer and a set working mode and sending to the power amplification driving loop module to drive the detection device to track the characteristics target on real time. The system is applied to the field of military tracking.

Description

A kind of two axle photoelectric follow-ups based on TMX320F28335 Floating-point DSP

Technical field

The invention belongs to servo control field.

Background technology

Since 20th century, Control Science and Engineering play the important and pivotal role in the developing history of the mankind, are that the key of the scientific-technical progress of the mankind weighs factor.The breakthrough of control field technology contributes for solving a lot of challenge in the world today, and the robotization for a lot of industrial field realization production provides the way of thinking of science.Dynamic target tracking technology is a part for control field, and it is mainly used in the fields such as military affairs, space flight, traffic at present, has played vital role especially obtain successfully in military field.Photoelectric tracking control system is the key components of the applications such as tracking, scouting, location, navigation, and its key technical indexes has load and load weight, size, slewing area, positional precision, speed range, acceleration range etc.Two axle photoelectric follow-ups can realize the functions such as the angle orientation of photoelectric detection equipment in given range, rate scanning, gyrocontrol and target following, for vehicle mounted infrared, TV objects tracking, are configured in target range and use.In future, photoelectric follow-up will be subject to applying more widely, play prior effect.

What current two axle photoelectric follow-up servo motions were most widely used is adopts DSP to control, but to there is tracking accuracy low for existing this two axle photoelectric follow-ups, and device structure is complicated, is not easy to install, dismounting and maintenance.

Summary of the invention

The object of the invention is to carry out control two axle photoelectric follow-up to solve existing employing DSP to there is tracking accuracy low, be not easy to install, the problem of dismounting and maintenance, the invention provides a kind of two axle photoelectric follow-ups based on TMX320F28335 Floating-point DSP.

A kind of two axle photoelectric follow-ups based on TMX320F28335 Floating-point DSP of the present invention,

Described two axle photoelectric follow-ups comprise sniffer, servo control module, angle measurement return circuit module, the return circuit module that tests the speed, power amplifier drive circuit module, communication loop module, upper computer module and image processing module;

Sniffer, for utilizing photoelectric encoder to carry out measurement of angle to pitch axis and azimuth axis, utilizes two single axis fiber gyros to carry out angular rate measurement to azimuth axis and pitch axis direction respectively; Described two orthogonal settings of single axis fiber gyro; Utilize image information that is infrared or camera head acquisition characteristics target; Also for receiving pitch axis drive volume and azimuth axis drive volume, and following according to described pitch axis drive volume and azimuth axis drive volume drived control pitch axis module and azimuth axle component movement respectively, realizing the real-time follow-up to characteristic target;

Angle measurement return circuit module, for the angle position information of real-time reception photoelectric encoder;

Test the speed return circuit module, for the angular rate information of real-time reception two single axis fiber gyros;

Servo control module, for receiving operational order, mode of operation, miss distance, angle position information and angular rate information, and then obtains controlled quentity controlled variable, and exports; Described servo control module adopts TMX320F28335 Floating-point DSP to realize as core processor;

Power amplifier drive circuit module, for receiving controlled quentity controlled variable, is converted to pitch axis drive volume and azimuth axis drive volume by described controlled quentity controlled variable;

Communication loop module, for the communication of upper computer module and servo control module;

Upper computer module, for receiving operational order, setting mode of operation and miss distance, also carries out Autonomous test for controlling described tracker, when described tracker is working properly, and transmit operation instruction, mode of operation and miss distance;

Image processing module, for receiving the image information of acquisition characteristics target, and follows according to described image information acquisition miss distance.

The output of the controlled quentity controlled variable of described servo controller module adopts PID Controller to regulate, and the mathematical model of described PID regulator is:

$u\left(t\right)=K_{p}e\left(t\right)+K_i{\∫}_0^{t}e\left(t\right)\mathrm{dt}+K_d\frac{\mathrm{de}\left(t\right)}{\mathrm{dt}}$

K wherein _p, K _iand K _dbe respectively scale-up factor, integral coefficient and differential coefficient, the controlled quentity controlled variable of u (t) for exporting, e (t) is the margin of error, adopts the pid algorithm that integration is separated, e (t) is replaced by sampling point value, and PID regulator exports sampling point value and is:

$u\left(k\right)=K_{p}e\left(k\right)+K_l{K}_i\underset{j=1}{\overset{k}{\mathrm{\Σ}}}e\left(j\right)+K_d[e\left(k\right)-e(k-1)]$

In formula:

Parameter $K_l=\left\{\begin{array}{cc}1,& \left|e\left(j\right)\right|\≤A\\ 0,& \left|e\left(j\right)\right|>A\end{array}\right.$

Wherein, A is setting threshold value.

Described servo control module comprises master controller DSP module, peripheral interface FPGA module, power module, photoelectric encoder decoder module, digital gyro decoder module, simulation gyro A/D sampling module, D/A module and I/O module; Master controller DSP module is TMX320F28335 Floating-point DSP;

Photoelectric encoder decoder module, digital gyro decoder module, simulation gyro A/D sampling module, D/A module and I/O module carry out serial communication with peripheral interface FPGA module simultaneously, and peripheral interface FPGA module and master controller DSP module are by parallel bus communication;

Power module is master controller DSP module, peripheral interface FPGA module, photoelectric encoder decoder module, digital gyro decoder module, simulation gyro A/D sampling module, D/A module and I/O module provide working power.

Described peripheral interface FPGA module adopts chip EP2C5T144I8 to realize.

Down conversion process is adopted to described TMX320F28335 Floating-point DSP, makes the frequency of operation of TMX320F28335 Floating-point DSP be down to 125MHz.

Image processing module comprises Video Decoder, SDRAM module, FLASH module, DSP module, video encoder and communication interface modules;

Described DSP module is chip TMS320DM642;

The TV signal of collection or infrared simulation signal are decoded by Video Decoder, decoded signal sends to DSP module, DSP module processes decoded signal, obtains the miss distance of characteristic target, and sends to video encoder to encode described miss distance;

SDRAM module, for storing data for DSP module;

FLASH module, for storage running program and configuration parameter;

Communication interface modules, communicates with one another for DSP module and host computer.

Described upper computer module is for adopting chip TMX320F28335 solid line.

Angle measurement return circuit module, test the speed return circuit module and communication loop module all adopt MAX3490 full duplex RS422 transceiver to realize.

Beneficial effect of the present invention is, servo control module of the present invention, angle measurement return circuit module, test the speed return circuit module and power amplifier drive circuit module composition control case, control box is placed in sniffer base, sniffer comprises pitch axis module and azimuth axle assembly, diaxon system wobble error all can reach and be not more than 5 " requirement, be mechanical axis architecture.The invention provides supporting auxiliary mould support, follow the tracks of for infrared, TV to target, and adopt TMX320F28335 Floating-point DSP as core processor, compared with prior art lighter the and tracking accuracy of equipment increases.

The present invention adopts modular design, and each comprising modules is convenient to install, dismantle and maintenance, to each ingredient of system, structure is carried out the parts that rational deployment needs often dismounting, accomplishes simple and efficient.

Accompanying drawing explanation

Fig. 1 is the principle schematic of a kind of two axle photoelectric follow-ups based on TMX320F28335 Floating-point DSP described in embodiment one.

Fig. 2 is the principle schematic of a kind of two axle photoelectric follow-ups based on TMX320F28335 Floating-point DSP described in embodiment three.

Fig. 3 is the principle schematic of a kind of two axle photoelectric follow-ups based on TMX320F28335 Floating-point DSP described in embodiment six.

Embodiment

Embodiment one: composition graphs 1 illustrates present embodiment, a kind of two axle photoelectric follow-ups based on TMX320F28335 Floating-point DSP described in present embodiment, described two axle photoelectric follow-ups comprise sniffer, servo control module, angle measurement return circuit module, the return circuit module that tests the speed, move and put drive circuit module, communication loop module, upper computer module and image processing module;

Sniffer, for utilizing photoelectric encoder to carry out measurement of angle to pitch axis and azimuth axis, utilizes two single axis fiber gyros to carry out angular rate measurement to azimuth axis and pitch axis direction respectively; Described two orthogonal settings of single axis fiber gyro; Utilize image information that is infrared or camera head acquisition characteristics target; Also for receiving pitch axis drive volume and azimuth axis drive volume, and following according to described pitch axis drive volume and azimuth axis drive volume drived control pitch axis module and azimuth axle component movement respectively, realizing the real-time follow-up to characteristic target;

Angle measurement return circuit module, for the angle position information of real-time reception photoelectric encoder;

Test the speed return circuit module, for the angular rate information of real-time reception two single axis fiber gyros;

Servo control module, for receiving operational order, mode of operation, miss distance, angle position information and angular rate information, and then obtains controlled quentity controlled variable, and exports; Described servo control module adopts TMX320F28335 Floating-point DSP to realize as core processor;

Power amplifier drive circuit module, for receiving controlled quentity controlled variable, is converted to pitch axis drive volume and azimuth axis drive volume by described controlled quentity controlled variable;

Communication loop module, for the communication of upper computer module and servo control module;

Upper computer module, for receiving operational order, setting mode of operation and miss distance, also carries out Autonomous test for controlling described tracker, when described tracker is working properly, and transmit operation instruction, mode of operation and miss distance;

Image processing module, for receiving the image information of acquisition characteristics target, and follows according to described image information acquisition miss distance.Present embodiment, when setting Working mould, is accepted the instruction of operator, sets the mode of operation of two axle photoelectric follow-ups, and then input to upper computer module by keyboard and operating rod;

In present embodiment image processing module obtain miss distance time, also show for controlling display.

In present embodiment, the collection of the detector image video information such as infrared or TV on the load platform that image processing module mainly realizes sniffer, display and process, characteristic target is identified, calculates the position of characteristic target in visual field, that is: miss distance;

In present embodiment, according to two axle photoelectric follow-ups for putting intensive reading 20 " technical requirement; and the requirement such as environment for use condition, structure installment; select the photoelectric encoder of absolute type as the measurement of angle element of two axles; to select optical fiber rate gyro as the inertial measurement component of platform, the angle position information of upper computer module real-time reception photoelectric encoder and the angular rate information of gyro.

Present embodiment, adopts that two single axis fiber gyros are orthogonal to be arranged on load platform, respectively the position angle of corresponding detector and the angle of pitch.When causing vehicle and two axle photoelectric follow-ups to produce rocking of orientation and pitch orientation due to road bump or external interference, gyro sensitivity can go out this disturbance, and drive servomotor compensate this disturbance and suppress, thus detector is stablized based on inertial space in the sensing of orientation and pitch orientation, ensure that detector is to the aiming of distant object, tracking and identification.

Under described tracker needs often to be operated in low speed and locked rotor condition, the drive motor in power amplifier drive circuit module adopts direct current torque motor Direct driver; The bringing onto load moment of inertia calculating pitch axis framework is approximately 0.34kgm2, and the bringing onto load moment of inertia of azimuth axis framework is approximately 1.1kgm2; Tracker requires that the peak acceleration of two axles is 30 °/s2 ~ 50 °/s2, and consider the impact of the factors such as interference and unbalanced moments, the moment of pitching and azimuth-drive motor is chosen to be and is not less than 2Nm and 8Nm; Consider the factors such as structure installment again, azimuth axis and pitch axis select J130LYX04 and the J160LYX06J direct current torque motor of Chengdu precision electric motor factory respectively;

The SA160 power amplifier driving chip of Apex company of the U.S. is selected in the driving of described motor, it adopts the PWM mode of full H bridge construction, its maximum output voltage 80V, maximum output current 10A, adopt analog input mode, there is pwm pulse generator able to programme inside, the pwm signal of maximum 250kHz can be produced, insulation crust may be used for heat radiation, maximum internal power consumption 156W, working temperature-40 DEG C ~ 120 DEG C;

Current detecting in power amplifier drive circuit module selects the ACS712 linear current sensing IC of Allegro Microsystems company, and this sensor is based on Hall effect, and maximum detection electric current can reach 30A, and conduction impedance is 1.2m Ω only, and bandwidth reaches 80kHz.

Embodiment two: present embodiment is the further restriction to a kind of two axle photoelectric follow-ups based on TMX320F28335 Floating-point DSP described in embodiment one,

Have employed digital PID regulation algorithm in the control of servo control module, it is in continuous control system that PID regulates, and technology maturation, widely used a kind of control technology, is therefore widely used in various control system.Its feature defines typical structure, parameter tuning and easy to adjust, and structure changes spirit flexibly, strong adaptability;

The output of the controlled quentity controlled variable of described servo controller module adopts PID Controller to regulate, and the mathematical model of described PID regulator is:

$u\left(t\right)=K_{p}e\left(t\right)+K_i{\∫}_0^{t}e\left(t\right)\mathrm{dt}+K_d\frac{\mathrm{de}\left(t\right)}{\mathrm{dt}}$

K wherein _p, K _iand K _dbe respectively scale-up factor, integral coefficient and differential coefficient, u (t) is the controlled quentity controlled variable exported, and e (t) is the margin of error;

The control algolithm of present embodiment adopts position model formula, and e (t) is replaced by the value of sampled point, and integration and differential are realized by numerical integration and difference algorithm, adopt backward rectangular integration and backward difference, and the position formula obtained is:

$u\left(k\right)=K_{p}e\left(k\right)+K_i\underset{j=1}{\overset{k}{\mathrm{\Σ}}}e\left(j\right)+K_d[e\left(k\right)-e(k-1)]$

In order to reduce the overshoot of system, above formula being transformed, adopting the pid algorithm that integration is separated.This algorithm introduces logic function, and PID regulator exports sampling point value and is:

$u\left(k\right)=K_{p}e\left(k\right)+K_l{K}_i\underset{j=1}{\overset{k}{\mathrm{\Σ}}}e\left(j\right)+K_d[e\left(k\right)-e(k-1)]$

In formula:

Parameter $K_l=\left\{\begin{array}{cc}1,& \left|e\left(j\right)\right|\≤A\\ 0,& \left|e\left(j\right)\right|>A\end{array}\right.$

Wherein, A is setting threshold value.

During large deviation, integration item is inoperative, when deviation is within thresholding, introduces integral algorithm, so both can reduce overshoot, integration control can be made again to get a desired effect.

Embodiment three: composition graphs 2 illustrates present embodiment, present embodiment is the further restriction to a kind of two axle photoelectric follow-ups based on TMX320F28335 Floating-point DSP described in embodiment one, and described servo control module comprises master controller DSP module, peripheral interface FPGA module, power module, photoelectric encoder decoder module, digital gyro decoder module, simulation gyro A/D sampling module, D/A module and I/O module; Master controller DSP module is TMX320F28335 Floating-point DSP;

Photoelectric encoder decoder module, digital gyro decoder module, simulation gyro A/D sampling module, D/A module and I/O module carry out serial communication with peripheral interface FPGA module simultaneously, and peripheral interface FPGA module and master controller DSP module are by parallel bus communication;

Power module is master controller DSP module, peripheral interface FPGA module, photoelectric encoder decoder module, digital gyro decoder module, simulation gyro A/D sampling module, D/A module and I/O module provide working power.

Servo control module communicates with upper computer module, the functions such as the serial communication of peripheral interface and simulation gyro A/D sampling module, D/A module, I/O module and decoder module are realized, by 16 bit parallel bus exchanging datas between FPGA and DSP by peripheral interface FPGA module.

Servo control module will realize the data acquisition such as photoelectric encoder, gyro, power amplifier modulating output controls, and communicate with upper computer module, complete above-mentioned work with DSP and will consume a large amount of resources, affect servo-controlled real-time and reliability, therefore present embodiment adopts FPGA to realize the function of the simulation gyro A/D sampling module of peripheral interface, D/A module, I/O module, decoder module serial communication, by 16 bit parallel bus exchanging datas between peripheral interface FPGA module and master controller DSP module.

The power supply of two axle photoelectric follow-ups is supplied by vehicle-mounted 28V power supply, and+the 5V needed for servo control module and ± 12V power supply are provided by DC/DC module.The WK3028512T-15M that DC/DC module adopts Xi'an Wei Jing company to produce, module adopts hybrid integration technology, shallow cavate dual inline type metal all-sealed structure, and three road output voltages are respectively 5V, ± 12V, output power 15W.Nominal input voltage is 28VDC, and permission input voltage is 16VDC ~ 40VDC.Frequency of operation is about 430kHz.There is the functions such as synchronous, outside is forbidden, short-circuit protection.+ 3.3V ,+1.8V and the+1.2V power supply of DSP and FPGA need of work are provided by TPS70351PWP and LM1117 of TI company, and REF102AU provides the+10V voltage reference needed for D/A conversion.

Photoelectric encoder adopts RS422 differential serial interface, and gyro adopts analog input interface and RS422 differential serial interface compatibility mode, and communication interface also adopts RS422 differential serial mode.Simulation gyro A/D sampling module adopts the AD7606BSTZ conversion chip of ADI company, and this chip contains 8 road bipolar analog input channels, 16 bit resolutions, parallel output, maximum sampling rate 200kSPS, includes digital filter and over-sampling module, meets the demand that native system gyro signal is measured.

Embodiment four: present embodiment is the further restriction to a kind of two axle photoelectric follow-ups based on TMX320F28335 Floating-point DSP described in embodiment one, described peripheral interface FPGA module adopts chip EP2C5T144I8 to realize.

Described peripheral interface FPGA module adopts frequency to be the clock oscillator of 50MHz, and inner phaselocked loop can be utilized to produce the clock signal needed.

Embodiment five: present embodiment is the further restriction to a kind of two axle photoelectric follow-ups based on TMX320F28335 Floating-point DSP described in embodiment one or three, down conversion process is adopted to described TMX320F28335 Floating-point DSP, makes the frequency of operation of TMX320F28335 Floating-point DSP be down to 125MHz.

Two axle photoelectric follow-up servo motions adopt DSP to control, TMX320F28335 Floating-point DSP in selection TI company 2000 series is as core processor, in the design down conversion process is carried out to DSP, select 25MHz crystal oscillator, through phaselocked loop 5 frequency multiplication, make the frequency of operation of DSP be down to 125MHz, both meet the demand of system to information processing and arithmetic speed, reduced again power consumption and the heating of DSP by the reduction of frequency of operation as far as possible, thus improve the reliability of dsp operation.

Embodiment six: composition graphs 3 illustrates present embodiment, present embodiment is the further restriction to a kind of two axle photoelectric follow-ups based on TMX320F28335 Floating-point DSP described in embodiment one, and image processing module comprises Video Decoder, SDRAM module, FLASH module, DSP module, video encoder and communication interface modules;

Described DSP module is chip TMS320DM642;

The TV signal of collection or infrared simulation signal are decoded by Video Decoder, decoded signal sends to DSP module, DSP module processes decoded signal, obtains the miss distance of characteristic target, and sends to video encoder to encode described miss distance;

SDRAM module, for storing data for DSP module;

FLASH module, for storage running program and configuration parameter;

Communication interface modules, communicates with one another for DSP module and host computer.

The DSP that the hardware design of image processing module adopts is TMS320DM642, it is a high performance digital multimedia processor, the highest arithmetic speed can reach 5760MIPS (million instructions per second), can meet the real time handling requirement of complicated algorithm.The video interface (VP mouth) of DM642 has 3, and wherein VP0 and VP1 is 20,10 for video input, other 10 input for audio frequency.VP2 mouth is also 20, and two-path video can be divided into input.

SDRAM module and Flash module can be connected by the EMIF interface of DM642.Be configured with high performance SDRAM in the present embodiment, it uses when working procedure and data processing.Flash is mainly used for storage system software and configuration parameter in systems in which.

Video Decoder the simulating signal collected is converted to digital signal to carry out calculation process for DSP, system selects the TVP5150A low-power-consumption video processor of TI company, it supports the standards such as NTSC/PAL/SECAM, vision signal can be converted to the ITU-R BT.656 form of 8.

Embodiment seven: present embodiment is the further restriction to a kind of two axle photoelectric follow-ups based on TMX320F28335 Floating-point DSP described in embodiment one, described upper computer module realizes for adopting chip TMX320F28335.

Embodiment eight: present embodiment is the further restriction to a kind of two axle photoelectric follow-ups based on TMX320F28335 Floating-point DSP described in embodiment one, angle measurement return circuit module, test the speed return circuit module and communication loop module all adopt MAX3490 full duplex RS422 transceiver to realize.

Described transceiver adopts 3.3V to power, and can directly be connected with DSP and FPGA.Its maximum communication rate 12Mbps, meets periphery sampling and the communication requirement of system.

The present invention has done the design of security of system/reliability further, ensures that security of system reliably working is the prerequisite that it normally runs, mainly takes following several respects measure: system modularization, reduce the kind of components and parts as much as possible at hardware aspect; The principle that components and parts take derate to use as far as possible; Strict technology is evaluated; Add the quality management in the processes such as strong weld, distribution, assembling.In software, mainly take following measures: introduce house dog, strengthen the automatic recovery ability of software; Software filtering, to overcome the interference in various signal; Strengthen the test job of software; Adopt modular software design approach.The present invention have also been made system maintenance design simultaneously, in the development and design of two axle photoelectric follow-ups, adopts modular design, and each comprising modules should be convenient to install, dismantle and maintenance.Each ingredient of sniffer adopts standard module and general part, improves interchangeability and the versatility of system as far as possible, and electric-control system possesses perfect Anti-misplug measure and distinguishing mark simultaneously.Each device and standard component all meet relevant criterion requirement.To each ingredient of system, structure is carried out the parts that rational deployment needs often dismounting, accomplish simple and efficient.

Claims (8)

1. two axle photoelectric follow-ups based on TMX320F28335 Floating-point DSP, it is characterized in that, described two axle photoelectric follow-ups comprise sniffer, servo control module, angle measurement return circuit module, the return circuit module that tests the speed, power amplifier drive circuit module, communication loop module, upper computer module and image processing module;

Sniffer, for utilizing photoelectric encoder to carry out measurement of angle to pitch axis and azimuth axis, utilizes two single axis fiber gyros to carry out angular rate measurement to azimuth axis and pitch axis direction respectively; Described two orthogonal settings of single axis fiber gyro; Utilize image information that is infrared or camera head acquisition characteristics target; Also for receiving pitch axis drive volume and azimuth axis drive volume, and according to described pitch axis drive volume and azimuth axis drive volume drived control pitch axis module and azimuth axle component movement respectively, realize the real-time follow-up to characteristic target;

Angle measurement return circuit module, for the angle position information of real-time reception photoelectric encoder;

Test the speed return circuit module, for the angular rate information of real-time reception two single axis fiber gyros;

Servo control module, for receiving operational order, mode of operation, miss distance, angle position information and angular rate information, and then obtains controlled quentity controlled variable, and exports; Described servo control module adopts TMX320F28335 Floating-point DSP to realize as core processor;

Power amplifier drive circuit module, for receiving controlled quentity controlled variable, is converted to pitch axis drive volume and azimuth axis drive volume by described controlled quentity controlled variable;

Communication loop module, for the communication of upper computer module and servo control module;

Upper computer module, for receiving operational order, setting mode of operation and miss distance, also carries out Autonomous test for controlling described tracker, when described tracker is working properly, and transmit operation instruction, mode of operation and miss distance;

Image processing module, for receiving the image information of acquisition characteristics target, and according to described image information acquisition miss distance.

2. a kind of two axle photoelectric follow-ups based on TMX320F28335 Floating-point DSP according to claim 1, it is characterized in that, the output of the controlled quentity controlled variable of described servo controller module adopts PID Controller to regulate, and the mathematical model of described PID regulator is:

$u\left(t\right)=K_{p}e\left(t\right)+K_i{\∫}_0^{t}e\left(t\right)\mathrm{dt}+K_d\frac{\mathrm{de}\left(t\right)}{\mathrm{dt}}$

K wherein _p, K _iand K _dbe respectively scale-up factor, integral coefficient and differential coefficient, the controlled quentity controlled variable of u (t) for exporting, e (t) is the margin of error, adopts the pid algorithm that integration is separated, e (t) is replaced by sampling point value, and PID regulator exports sampling point value and is:

$u\left(k\right)=K_{p}e\left(k\right)+K_l{K}_i\underset{j=1}{\overset{k}{\mathrm{\Σ}}}e\left(j\right)+K_d[e\left(k\right)-e(k-1)]$

In formula:

Parameter $K_l=\left\{\begin{array}{cc}1,& |e\left(j\right)\≤A\\ 0,& \left|e\left(j\right)\right|>A\end{array}\right.$

Wherein, A is setting threshold value.

3. a kind of two axle photoelectric follow-ups based on TMX320F28335 Floating-point DSP according to claim 1, it is characterized in that, described servo control module comprises master controller DSP module, peripheral interface FPGA module, power module, photoelectric encoder decoder module, digital gyro decoder module, simulation gyro A/D sampling module, D/A module and I/O module; Master controller DSP module is TMX320F28335 Floating-point DSP;

Photoelectric encoder decoder module, digital gyro decoder module, simulation gyro A/D sampling module, D/A module and I/O module carry out serial communication with peripheral interface FPGA module simultaneously, and peripheral interface FPGA module and master controller DSP module are by parallel bus communication;

Power module is master controller DSP module, peripheral interface FPGA module, photoelectric encoder decoder module, digital gyro decoder module, simulation gyro A/D sampling module, D/A module and I/O module provide working power.

4. a kind of two axle photoelectric follow-ups based on TMX320F28335 Floating-point DSP according to claim 1, is characterized in that, described peripheral interface FPGA module adopts chip EP2C5T144I8 to realize.

5. a kind of two axle photoelectric follow-ups based on TMX320F28335 Floating-point DSP according to claim 1 or 3, it is characterized in that, down conversion process is adopted to described TMX320F28335 Floating-point DSP, makes the frequency of operation of TMX320F28335 Floating-point DSP be down to 125MHz.

6. a kind of two axle photoelectric follow-ups based on TMX320F28335 Floating-point DSP according to claim 1, it is characterized in that, image processing module comprises Video Decoder, SDRAM module, FLASH module, DSP module, video encoder and communication interface modules;

Described DSP module is chip TMS320DM642;

The TV signal of collection or infrared simulation signal are decoded by Video Decoder, decoded signal sends to DSP module, DSP module processes decoded signal, obtains the miss distance of characteristic target, and sends to video encoder to encode described miss distance;

SDRAM module, for storing data for DSP module;

FLASH module, for storage running program and configuration parameter;

Communication interface modules, communicates with one another for DSP module and host computer.

7. a kind of two axle photoelectric follow-ups based on TMX320F28335 Floating-point DSP according to claim 1, is characterized in that, described upper computer module realizes for adopting chip TMX320F28335.

8. a kind of two axle photoelectric follow-ups based on TMX320F28335 Floating-point DSP according to claim 1, is characterized in that, angle measurement return circuit module, test the speed return circuit module and communication loop module all adopt MAX3490 complete) duplexing RS422 transceiver realizes.