【目的】激光通信、激光跟踪和测量以及反无人机系统等对光电跟踪系统的伺服性能要求较高，而现有基于工控机或商用控制器的方案普遍存在技术封闭、难以二次开发以及体积庞大等问题，难以满足小型化和集成化需求，亟需更便携高效的伺服控制系统。【方法】本文基于微控制器设计了一种嵌入式集成化伺服控制器，该控制器采用现场可编程门阵列与STM32的协同架构，具备良好的可定制性与接口扩展性。同时，引入带平滑因子的切换控制算法，对传统比例积分微分(PID)控制进行改进，有效优化了光电跟踪转台的超调量与动态跟踪误差。【结果】基于所设计的伺服控制系统与改进的伺服控制算法，实现了光电跟踪系统高精度伺服控制系统的设计，解决了编码器反馈速率对伺服频率的限制以及商用控制板接口数量不足的问题。在双轴转台上开展试验，结果表明，相比于传统PID控制，采用所提带平滑因子的切换PID控制，使超调量减小了23.36%，正弦跟踪误差减小了59.2%。【结论】本文所设计的伺服控制系统能满足现代光电跟踪系统小型化、集成化的需求，并具有良好的可拓展性，所提算法能有效减小系统超调量，提升系统动态性能。

[Objective] Laser communication, laser tracking and measurement, and anti-unmanned aerial vehicle system require high servo performance in optoelectronic tracking systems. However, the existing solutions based on industrial computers or commercial controllers are often constrained by closed technology, limited potential for secondary development, and large physical footprints, thereby failing to meet the demand for miniaturization and integration. There is a strong need for a more portable and efficient servo control system. [Methods] This paper designed an embedded integrated servo controller based on a microcontroller, which adopted the synergistic architecture of field programmable gate array and STM32, and offered high customizability and flexible interface expansion. At the same time, a switching control algorithm incorporating a smoothing factor was introduced to improve the traditional proportional integral derivative (PID) control, which effectively optimized the overshoot and dynamic tracking error of the optoelectronic tracking turntable. [Results] Based on the designed servo control system and the improved servo control algorithm, the design of a high-precision servo control system for optoelectronic tracking system was realized, which solved the problems of the limitations of the encoder feedback rate on the servo frequency as well as the insufficient number of interfaces of commercial control board. And the experiments were carried out on a two-axis turntable. The experimental results showed that compared with the traditional PID control, the proposed switching PID control incorporating a smoothing factor resulted in a 23.36% reduction in the overshoot and a 59.2% reduction in the sine tracking error. [Conclusion] The servo control system designed in this paper can meet the demand of miniaturization and integration of the modern optoelectronic tracking system and has good expandability, and the proposed algorithm can effectively reduce the overshoot of the system and improve the dynamic performance of the system.

四川省国防科技工业领域XX项目(J0024)