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As the crawler vehicle with the excellent off-road performance, the battlefield survival ability, etc , are widely used in modern weapons systems In order to make teaching model close to the real equipment , designed a tracked vehicle of anti-aircraft gun based on the STM32F103 microcontroller, combined with the H-bridge motor circuit ,photoelectric encoder angle measurement and control principle of single lever operation, experimental results show that the tracked vehicle can complete forward, backward , turning and braking actions in accordance with the control command , with fast dynamic response , high control precision , to meet the design requirements.

A speed control servo system based on STM32 is designed in order to realize the rapid, accurate, smooth speed control of rotary table. the system uses embedded microprocessor STM32F103 as the core, using the absolute encoder as the position sensor.The system achieved control of motor speed by PWM (pulse width modulation).Speed and current double loops control is used,and the expert PID control is used as the control algorithm. Through the analysis of the experimental results can be seen that the system has good stability, and the static and dynamic indicators meet the design accuracy.This design basically has reached the requirement of the servo motor speed control system.

One design method of small digital angle sensor based on microelectronic mechanical system (MEMS) is introduced. The angle sensor is build with the embedded microprocessor STM32F103 as the core. The acceleration value of MEMS accelerometer in X, Y, and Z-axis directions was used to calculate the angle of measured target on the horizontal direction and vertical direction, and the digital and miniaturization of digital angle sensor are realized.

A guide microscope is an important part of a certain photoelectric automatic tracking system, and the angle informations acquisition, processing and transmission are the keys for using the guide microscope. According to the application requirements, a kind of angle information processing system of the guide microscope based on STM32 is designed. This system uses the high-performance STM32F103 as the control core and realizes the angle information acquisition, display and transmission by photoelectric encoders, OLED display and RS-485 bus. Then, the hardware design and software debugging are further explained, that it has the simple circuit and convenient development. The running results show the design has the stable and reliable performance. It can meet the requirements.