三相直流無刷電機(jī)驅(qū)動(dòng)程序.doc

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1.檢測(cè)霍爾傳感器的值可以判斷出轉(zhuǎn)子的位置，再使能相應(yīng)的上下橋臂，則能驅(qū)動(dòng)電機(jī)運(yùn)動(dòng)；若要讓電機(jī)持續(xù)轉(zhuǎn)動(dòng)，則必須再次檢測(cè)傳感器值及使能相應(yīng)的上下橋臂。這里采用的是將霍爾傳感器輸出的三根線相邊的IO口配置成外部中斷，并且為邊沿觸發(fā)，在中斷函數(shù)中加入傳感器檢測(cè)與上下橋臂切換程序，如此電機(jī)就能持續(xù)運(yùn)轉(zhuǎn)了。 2.上橋臂的控制采用IO口置高低電平來控制上橋臂的通斷，下橋臂則使用單片機(jī)內(nèi)部集成的三路PWM波來控制，通過控制PWM波的占空比，可以實(shí)現(xiàn)對(duì)電機(jī)的調(diào)速了。實(shí)際測(cè)得，占空比與電機(jī)的速度成正比例關(guān)系，在PWM波頻率為20KHz時(shí)，占空比增加1%，速度增加60rpm，并在占空比為53%時(shí)達(dá)到額定轉(zhuǎn)速3000rpm（空載）。 3.速度測(cè)量則采用如下公式： 電機(jī)每轉(zhuǎn)一圈，霍爾值改變6次x5個(gè)周期=30次，記錄邊沿觸發(fā)的中斷次數(shù)N/30=電機(jī)轉(zhuǎn) 過的圈數(shù),設(shè)運(yùn)轉(zhuǎn)時(shí)間為t(s)則電機(jī)轉(zhuǎn)速v=N/30/t*60 rpm。即動(dòng)轉(zhuǎn)時(shí)間為2s時(shí)，霍爾值改變次數(shù)即為速度值，單位rpm。 4.調(diào)速：給定速度，由電機(jī)驅(qū)動(dòng)板自動(dòng)由當(dāng)前速度平滑過渡到給定速度。實(shí)際測(cè)試發(fā)現(xiàn)，速度變化量很大時(shí)，電機(jī)會(huì)有突然加速或減速時(shí)的沖擊；因此，調(diào)速應(yīng)有一個(gè)緩沖的過程。即加速或減速應(yīng)以小步進(jìn)緩慢增加或減少占空比來讓速度漸漸達(dá)到最終值。 #include "stm32f10x.h" #include "driver_motor.h" #define PWM_PERIOD_T 400 #define U_Up_On GPIOB->BSRR = GPIO_Pin_13 #define U_Up_Off GPIOB->BRR = GPIO_Pin_13 #define U_Dn_On GPIOA->BSRR = GPIO_Pin_8 #define U_Dn_Off GPIOA->BRR = GPIO_Pin_8 #define V_Up_On GPIOB->BSRR = GPIO_Pin_14 #define V_Up_Off GPIOB->BRR = GPIO_Pin_14 #define V_Dn_On GPIOA->BSRR = GPIO_Pin_9 #define V_Dn_Off GPIOA->BRR = GPIO_Pin_9 #define W_Up_On GPIOB->BSRR = GPIO_Pin_15 #define W_Up_Off GPIOB->BRR = GPIO_Pin_15 #define W_Dn_On GPIOA->BSRR = GPIO_Pin_10 #define W_Dn_Off GPIOA->BRR = GPIO_Pin_10 #define SU_HOR GPIOA->IDR & GPIO_Pin_15 #define SV_HOR GPIOA->IDR & GPIO_Pin_12 #define SW_HOR GPIOA->IDR & GPIO_Pin_11 //u8 Motor_Dir=0; //u8 Motor_EN=0; //u8 Hor_Value=7; //u16 TIM2_Conter=0; u16 Hall_Conter=0; MotorStruct Motor={CLOCK,40,STOP}; /******************************************************************************* * 函數(shù)：void IO_Init(void) * 描述：IO * 參數(shù)： * 返回： * 其它： *******************************************************************************/ void IO_Init(void) { GPIO_InitTypeDef GPIO_InitStruct; EXTI_InitTypeDef EXTI_InitStructure; //GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); /*使能SWD 禁用JTAG*/ /**********************LED Light***********/ GPIO_InitStruct.GPIO_Pin=GPIO_Pin_12; GPIO_InitStruct.GPIO_Mode=GPIO_Mode_Out_PP; GPIO_InitStruct.GPIO_Speed=GPIO_Speed_2MHz; GPIO_Init(GPIOB, &GPIO_InitStruct); /***********************霍爾傳感器中斷**********/ GPIO_InitStruct.GPIO_Pin=GPIO_Pin_11|GPIO_Pin_12|GPIO_Pin_15; GPIO_InitStruct.GPIO_Mode=GPIO_Mode_IN_FLOATING; GPIO_InitStruct.GPIO_Speed=GPIO_Speed_2MHz; GPIO_Init(GPIOA, &GPIO_InitStruct);//Harl GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource11); GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource12); GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource15); EXTI_InitStructure.EXTI_Line = EXTI_Line11 | EXTI_Line12|EXTI_Line15; EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt; EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising_Falling; EXTI_InitStructure.EXTI_LineCmd = ENABLE; EXTI_Init(&EXTI_InitStructure); } /*************************************************************************** 函數(shù)：void PWM_Init(void) 描述：配置PWM定時(shí)器TIM1 參數(shù)： 返回：無 ***************************************************************************/ void PWM_Init(void) { GPIO_InitTypeDef GPIO_InitStructure; TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct; TIM_OCInitTypeDef TIM_OCInitStructure; //TIM_BDTRInitTypeDef TIM_BDTRInitStructure; TIM_Cmd(TIM1 , DISABLE); TIM_CtrlPWMOutputs(TIM1, DISABLE);//禁止OC輸出 //IO口設(shè)置 GPIO_SetBits(GPIOA, GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10); //PWM口 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_Init(GPIOA, &GPIO_InitStructure); GPIO_SetBits(GPIOB, GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15);//普通IO口 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_Init(GPIOB, &GPIO_InitStructure); //定時(shí)器設(shè)置 TIM_TimeBaseInitStruct.TIM_Period = PWM_PERIOD_T;//5極電機(jī)，3000RPM，每個(gè)Step有10個(gè)脈沖，載波15KHZ TIM_TimeBaseInitStruct.TIM_Prescaler = 2; TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1; TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseInitStruct.TIM_RepetitionCounter = 0; TIM_TimeBaseInit(TIM1 , &TIM_TimeBaseInitStruct); //TIM_ClearITPendingBit(TIM1, TIM_IT_Update); //TIM_ARRPreloadConfig(TIM1, ENABLE); //TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE); //配置PWM輸出 TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable; TIM_OCInitStructure.TIM_Pulse = 1; TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low; TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set; TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set; TIM_OC1Init(TIM1, &TIM_OCInitStructure); TIM_OC2Init(TIM1, &TIM_OCInitStructure); TIM_OC3Init(TIM1, &TIM_OCInitStructure); TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable); TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable); TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable); TIM_ARRPreloadConfig(TIM1, ENABLE); //使能TIMx在ARR上的預(yù)裝載寄存器 TIM_Cmd(TIM1 , ENABLE); TIM_Cmd(TIM1 , ENABLE); TIM_CtrlPWMOutputs(TIM1, ENABLE); } /***************************************************************************************** 函數(shù)：void Motor_Init(void) 描述： 參數(shù)： 返回： *****************************************************************************************/ void Motor_Init(void) { IO_Init(); PWM_Init(); } /***************************************************************************************** 函數(shù)：void Flash_Led(u8 n) 描述： 參數(shù)： 返回： *****************************************************************************************/ void Flash_Led(u8 n) { u8 i=0; for(i=0;iCCR1=pulse; break; case 2 : TIM1->CCR2=pulse; break; case 3 : TIM1->CCR3=pulse; break; default : break; } } /******************************************************************************* 函數(shù)：PWM_T_Output 描述：設(shè)置相應(yīng)的PWM梯形波輸出 參數(shù)：pName上橋臂名稱，nName下橋臂名稱 返回：無 ********************************************************************************/ void PWM_T_Output(u8 pName , u8 nName , u8 mRate) { switch(pName) { case 1: GPIO_SetBits(GPIOB, GPIO_Pin_15 | GPIO_Pin_14 ); GPIO_ResetBits(GPIOB , GPIO_Pin_13); break; case 2: GPIO_SetBits(GPIOB, GPIO_Pin_13 | GPIO_Pin_15 ); GPIO_ResetBits(GPIOB , GPIO_Pin_14); break; case 3: GPIO_SetBits(GPIOB, GPIO_Pin_13 | GPIO_Pin_14 ); GPIO_ResetBits(GPIOB , GPIO_Pin_15); break; default: GPIO_SetBits(GPIOB, GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15); } switch(nName) { case 1: TIM_SetCompare2(TIM1,0); TIM_SetCompare3(TIM1,0); TIM_SetCompare1(TIM1,(u16)(PWM_PERIOD_T * mRate / 100)); break; case 2: TIM_SetCompare3(TIM1,0); TIM_SetCompare1(TIM1,0); TIM_SetCompare2(TIM1,(u16)(PWM_PERIOD_T * mRate / 100)); break; case 3: TIM_SetCompare2(TIM1,0); TIM_SetCompare1(TIM1,0); TIM_SetCompare3(TIM1,(u16)(PWM_PERIOD_T * mRate / 100)); break; default: TIM_SetCompare1(TIM1,0); TIM_SetCompare2(TIM1,0); TIM_SetCompare3(TIM1,0); } TIM_SetAutoreload(TIM1, PWM_PERIOD_T); } /***************************************************************************************** 函數(shù)：PWM_T_Calculation 描述：梯形波計(jì)算 參數(shù)：HallValue霍爾值，mRate調(diào)制百分比，direction方向 返回：無 *****************************************************************************************/ void PWM_T_Calculation(u8 hallValue , u8 mRate , u8 direction) { if(direction == 1) { switch(hallValue) { case 5: PWM_T_Output(1 , 3 , mRate); break; case 1: PWM_T_Output(1 , 2 , mRate); break; case 3: PWM_T_Output(3 , 2 , mRate); break; case 2: PWM_T_Output(3 , 1 , mRate); break; case 6: PWM_T_Output(2 , 1 , mRate); break; case 4: PWM_T_Output(2 , 3 , mRate); break; default: PWM_T_Output(4 , 4 , 0); break; } } else { switch(hallValue) { case 5: PWM_T_Output(3 , 1 , mRate); break; case 1: PWM_T_Output(2 , 1 , mRate); break; case 3: PWM_T_Output(2 , 3 , mRate); break; case 2: PWM_T_Output(1 , 3 , mRate); break; case 6: PWM_T_Output(1 , 2 , mRate); break; case 4: PWM_T_Output(3 , 2 , mRate); break; default: PWM_T_Output(4 , 4 , 0); break; } } } /******************************************************************************* 函數(shù)：PWM_T_Int 描述：定時(shí)器中斷程序，根據(jù)霍爾位置設(shè)置輸出梯形波 參數(shù)：direction=順時(shí)針/逆時(shí)針,mRate調(diào)制率 返回：無 ********************************************************************************/ void PWM_T_Int(u8 direction , u8 mRate) { u8 hallValueTemp; u8 hallValue; hallValueTemp = GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_11) + (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_12) << 1) + (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_15) << 2); hallValue = hallValueTemp; PWM_T_Calculation(hallValue , mRate , direction); } /************************************************************************ 函數(shù)：PWM_Stop 描述：PWM控制信號(hào)使能輸出,禁止TIM1中斷，使能TIM1中斷 參數(shù)：pwmflag=DISABLE,PWM信號(hào)使能輸出，pwmflag=ENABLE,禁止 PWM輸出 返回：無 *************************************************************************/ void PWM_Stop(u8 pwmflag) { NVIC_InitTypeDef NVIC_InitStructure; GPIO_InitTypeDef GPIO_InitStructure; if(pwmflag == ENABLE)//禁止 PWM輸出 { TIM_Cmd(TIM1 , DISABLE); //TIM_Cmd(TIM2 , DISABLE); NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_TIM16_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE; NVIC_Init(&NVIC_InitStructure); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD; GPIO_Init(GPIOA, &GPIO_InitStructure); GPIO_SetBits(GPIOA, GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10); //PWM口 //PWM_T_Output(4 , 4 , 0); } if(pwmflag == DISABLE)//使能PWM輸出 { NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_TIM16_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD; GPIO_Init(GPIOA, &GPIO_InitStructure); // TIM_Cmd(TIM2 , ENABLE); } } /***************************************************************************************** 函數(shù)：void Motor_Start(void) 描述：啟動(dòng)電機(jī) 參數(shù)： 返回： *****************************************************************************************/ void Motor_Start(void) { PWM_T_Int(Motor.Dir,Motor.Speed); } /***************************************************************************************** 函數(shù)：void Motor_Stop(void) 描述：停止 參數(shù)： 返回： *****************************************************************************************/ void Motor_Stop(void) { //U_Up_On;V_Up_On;W_Up_On; //U_Dn_On;V_Dn_On;W_Dn_On; PWM_T_Output(4,4,0); } /***************************************************************************************** 函數(shù)：void EXTI15_10_IRQHandler(u8 dir,u8 hall) 描述：霍爾傳感器中斷 參數(shù)： 返回： *****************************************************************************************/ void EXTI15_10_IRQHandler(void) { Hall_Conter++; if ((EXTI_GetITStatus(EXTI_Line11) != RESET)||(EXTI_GetITStatus(EXTI_Line12) != RESET)||(EXTI_GetITStatus(EXTI_Line15) != RESET)) { if(Motor.State!=STOP) PWM_T_Int(Motor.Dir,Motor.Speed); } EXTI_ClearITPendingBit(EXTI_Line11); //清除標(biāo)志 EXTI_ClearITPendingBit(EXTI_Line12); //清除標(biāo)志 EXTI_ClearITPendingBit(EXTI_Line15); //清除標(biāo)志 } /***************************************************************************************** 函數(shù)：void Test_Motor(u8 dir,u8 hall) 描述：電機(jī)控制 參數(shù)： 返回： *****************************************************************************************/ void Test_Motor(void) { while(1) { switch(Motor.State) { case STOP : Motor_Stop(); break; case RUN : Motor_Start(); Motor.State=FREE; break; default : break; } } }