The author ' s study covers project layout , hardware design , mathematic model setup and software design principles . the model machine , based on two micro - step hybrid stepping motors , double - channel rotating transformers and an embedded controller pc / 104 , has achieved system ' s requirements 研制成功的以稀土永磁混合式步進(jìn)電動(dòng)機(jī)為執(zhí)行部件,以雙通道旋轉(zhuǎn)變壓器為天線位置傳感器,以嵌入式計(jì)算機(jī)pc 104為主控單元的xxx天線伺服系統(tǒng)樣機(jī),完全達(dá)到了低速、高精度的系統(tǒng)指標(biāo)要求。