In view of the position-servo real-timing and reliability requirements to the unmanned aerial vehicle actuator controlling system, for the first time a novel digital actuator controlling system is put forward based on STM32 micro-controller. In the hardware part the structural graph of the system hardware is brought forward, and the micro-controller and the hardware circuit is briefly introduced. To improve the reliability of data transmission, CAN bus is used. In the software part, STM32 standard peripherals firmware library is briefly introduced at first. Then the arithmetic implement of the three closed loop digital modulation and the interruption task is mainly recommended. In addition the emulation model of the unmanned aerial vehicle digital actuator controlling system is built, and the system performance is validated.%针对无人机舵机控制系统对位置伺服的实时性和可靠性的要求,首次提出了以STM32为微控制器的新型数字控制系统;硬件部分给出了系统硬件结构图,并简要介绍了主控制芯片和硬件电路结构,为了提高系统数据传输的可靠性,引入CAN总线传输方式;在软件部分,首先简要介绍了STM32的标准外设固件库函数,然后介绍了三闭环数字调节算法的实现和中断任务;另外,搭建了无人机数字舵机数字控制系统的仿真模型,通过仿真研究验证了控制策略的可行性.
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