This paper firstly gives a detailed analysis of the working process and structure-changing control scheme of the smart-mine follow-up system.Then it introduces the hardware design of the follow-up system through the analog circuit and numerical circuit,especially the pulse width modulation circuit,code disc signal processing circuit and triangle wave generating circuit.Finally,according to the practical working process,the paper introduces the software system design of MCS-51 and analyzes its control process and main program.%首先详细分析了反直升机雷弹随动系统的工作过程和变结构控制方案，然后分模拟电路和数字电路两个部分对随动系统的硬件设计作了介绍，尤其是其中的电机控制方式、码盘信号处理电路和三角波发生电路，最后结合实际工作过程，详细介绍了基于MCS-51单片的软件系统设计，分析了它的控制流程和主程序。
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