为了满足核电无损检测（NDT）自动化检查装备研制的需求，开发了一种以STM32为主控制器的通用型低成本小型直流电机运动控制器。该控制器主要由单片机最小系统、电机驱动电路、编码器信号处理电路和通信电路组成。通过STM32内部的增量PID算法和积分分离位置式PID算法来调节脉宽调制（PWM）输出，达到了快速、稳定、静态误差小的理想控制效果。基于此控制器，设计开发了一套双轴运动控制系统，实现对管道外壁面焊缝区域自动化栅格扫查的应用。

In order to meet the requirements of automatic inspection equipment in non-destructive testing (NDT) of nuclear power plant, a universal, low-cost, small DC motor motion controller based on STM32 is developed. The controller is mainly composed of micro control unit (MCU) minimum system, motor driving circuit, signal processing circuit of encoder and communication circuit. The duty cycle of pulse width modulation (PWM) is adjusted by incremental PID algorithm and integral separation position PID algorithm in STM32, achieving the ideal effect of rapidity, stability and small steady-state error. Based on this controller, a two-axis motion control system is developed to realize the application of automatic raster scan for the weld joint region of the pipeline outer wall.