1-2 STM32H743硬石开发板/驱动板-SVPWM开环控制无刷电机

电焊仙人

已于 2024-03-14 17:48:32 修改

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分类专栏： FOC无刷电机学习文章标签： stm32 嵌入式硬件单片机

于 2024-03-14 17:42:19 首次发布

本文链接：https://blog.csdn.net/2301_80230553/article/details/136714393

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本文详细描述了使用SVPWM算法控制无刷电机的过程，包括软件宏定义、参考电压计算、扇区划分、零矢量作用时间和PWM配置。作者在实践中遇到波形异常和电机噪音问题，希望通过后续学习改进。

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本文记录了我学习FOC的第二步，基于上一篇程序，使用SVPWM控制无刷电机,本文参考了B站UP主热心市民翔先生的视频。

1.SVPWM算法篇

1.1软件宏定义部分

其中 PWM_Period 是用户自己设置的定时器ARR的值，以及一些二分之π，三分之π的数值

1.计算参考电压矢量

定义了一个函数，包括三个形参，D轴电压Ud,Q轴电压Uq,以及电角度。

1.1 Uref

定义了一个Uref,上图中的蓝色所指的直线

Uref按比例缩小，标幺

把Uref限制再三分之根号三中

1.2 float U_alpha,U_beta;

用户输入的Ud.Uq,先使用Park逆变换，算出U_alpha和U_alpha

1.3 angle_el

加上二分之Π，因为Q轴和D轴相差90°

2.扇区判断

2.1 sector

矢量的扇区=（参考电压的相位/三分之Π）+1

例：

第一扇区：0~60度，也就是三分之Π，在这个区间内，都表示在第一扇区。

3.计算相邻矢量和零矢量作用时间

3.1 T1、T2、T0

T1和T2可以当成T4和T6，当sector = 1，在第一扇区时，将下图公式代入可以得到

然后在一个周期内减去相邻两个电压时间就得到剩下的0矢量作用时间

4.计算各桥臂开关时间

4.1 Ta Tb Tc

Ta = T1+T2+T0/2,为什么呢？

由上图可以看出当V4到V6时，三个桥的状态就是100~110,由下列注释可以得到

5. 配置PWM占空比

Ta*PWM_Period

a相的打开时间再乘PWM的周期就得到a相的占空比

6.主函数

延迟记得一定要加

2.现象

这里数字电源给的是12V，3A

使用VOFA+打印出来波形有点奇怪，并不是想要的马鞍波，并且电机在旋转的时候有明显的噪音，并且发热发烫。

参考代码：

svpwm.c

#include "tim.h"
#include <math.h> 

#define PWM_Period	 	5000
#define _PI 			3.14159265359f//圆周率
#define _PI_2 			1.57079632679f
#define _PI_3 			1.0471975512f
#define _2PI 			6.28318530718f
#define _3PI_2 			4.71238898038f
#define _PI_6 			0.52359877559f
#define _SQRT3 			1.73205080757f//根号三

float voltage_power_supply;//直流母线电压值=24V



/*将角度控制再0~2Π之间*/
float _normalizeAngle(float angle)
{
  float a = fmod(angle, _2PI);                     //fmod()对浮点数取模
  return a >= 0 ? a : (a + _2PI);
}



//FOC核心函数：输入Ud、Uq和电角度，输出PWM
void setPhaseVoltage(float Uq, float Ud, float angle_el)
{
	float Uref;//参考电压
	float U_alpha,U_beta;
	float T0,T1,T2;//相邻两个矢量开关的时间
	float Ta,Tb,Tc;//开关桥臂的时间
	int sector;//扇区判断
	
	
	
	/*先进行反park变换*/
	U_alpha=Ud*cos(angle_el)-Uq*sin(angle_el);            //反park变换
	U_beta=Ud*sin(angle_el)+Uq*cos(angle_el);
	
	Uref=_sqrt(U_alpha*U_alpha + U_beta*U_beta) / voltage_power_supply;    //计算参考电压矢量的幅值
	
	
	if(Uref> 0.577f)Uref= 0.577f;                     			//六边形的内切圆(SVPWM最大不失真旋转电压矢量赋值)根号3/3
	if(Uref<-0.577f)Uref=-0.577f; 
	
		//判断参考电压矢量所在扇区：
	angle_el = _normalizeAngle(angle_el+_PI_2);           //标准化电角度值【0,2pi】，加90度后是参考电压矢量的位置
	
	
	sector = (angle_el / _PI_3) + 1; //=参考电压的相位/三分之Π+1
	
	
	T1 = _SQRT3*sin(sector*_PI_3 - angle_el) * Uref;           //计算两个相邻电压矢量作用时间
	T2 = _SQRT3*sin(angle_el - (sector-1.0)*_PI_3) * Uref;
	T0 = 1 - T1 - T2;                                          //零矢量作用时间
	
	
	/*第一扇区					
	Ta  Tb  TC	
T1=	1	0 	0 ~ 

	Ta  Tb  TC
T2=	1   1	0	
	
	
	Ta = T1+T2
	Tb = T2
	Tc = 0
	
	第二扇区
	Ta  Tb  TC	
T1=	1	1 	0 

	Ta  Tb  TC
T2=	0   1	0
	
	Ta = T1
	Tb = T1+T2
	Tc = 0
	*/

	
	switch(sector)
	{
		case 1:
			Ta = T1 + T2 + T0/2;
			Tb = T2 + T0/2;//
			Tc = T0/2;//
			break;
		case 2:
			Ta = T1 +  T0/2;
			Tb = T1 + T2 + T0/2;
			Tc = T0/2;
			break;
		case 3:
			Ta = T0/2;
			Tb = T1 + T2 + T0/2;
			Tc = T2 + T0/2;
			break;
		case 4:
			Ta = T0/2;
			Tb = T1+ T0/2;
			Tc = T1 + T2 + T0/2;
			break;
		case 5:
			Ta = T2 + T0/2;
			Tb = T0/2;
			Tc = T1 + T2 + T0/2;
			break;
		case 6:
			Ta = T1 + T2 + T0/2;
			Tb = T0/2;
			Tc = T1 + T0/2;
			break;
		default:  // possible error state
			Ta = 0;
			Tb = 0;
			Tc = 0;
	}
	
	printf("%.6f,%.6f,%.6f\r\n",Ta,Tb,Tc);
	__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,Ta*PWM_Period);      //输出PWM,配置占空比
	__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_2,Tb*PWM_Period);
	__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_3,Tc*PWM_Period);
}

main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */


void setPhaseVoltage(float Uq, float Ud, float angle_el);
extern float voltage_power_supply;
/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MPU_Config(void);
/**
  * 函数功能: 重定向c库函数printf到DEBUG_USARTx
  * 输入参数: 无
  * 返 回 值: 无
  * 说    明：无
  */
int fputc(int ch, FILE *f)
{
  HAL_UART_Transmit(&huart3, (uint8_t *)&ch, 1, 0xffff);
  return ch;
}

/**
  * 函数功能: 重定向c库函数getchar,scanf到DEBUG_USARTx
  * 输入参数: 无
  * 返 回 值: 无
  * 说    明：无
  */
int fgetc(FILE * f)
{
  uint8_t ch = 0;
  HAL_UART_Receive(&huart3,&ch, 1, 0xffff);
  return ch;
}
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
	

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
	
	float angle_el = 0.0f;//电角度
  /* USER CODE END 1 */

  /* MPU Configuration--------------------------------------------------------*/
  MPU_Config();

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM1_Init();
  MX_USART3_UART_Init();
  /* USER CODE BEGIN 2 */

	HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
	HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_2);
	HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_3);
	
	HAL_TIMEx_PWMN_Start(&htim1,TIM_CHANNEL_1);
	HAL_TIMEx_PWMN_Start(&htim1,TIM_CHANNEL_2);
	HAL_TIMEx_PWMN_Start(&htim1,TIM_CHANNEL_3);
	
	voltage_power_supply = 24;
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
	  
	setPhaseVoltage(0,2,angle_el);	//开环控制Ud<2
	angle_el += 2;				//估计电角度
	
	HAL_Delay(1);
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Supply configuration update enable
  */
  HAL_PWREx_ConfigSupply(PWR_LDO_SUPPLY);

  /** Configure the main internal regulator output voltage
  */
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  while(!__HAL_PWR_GET_FLAG(PWR_FLAG_VOSRDY)) {}

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 5;
  RCC_OscInitStruct.PLL.PLLN = 160;
  RCC_OscInitStruct.PLL.PLLP = 2;
  RCC_OscInitStruct.PLL.PLLQ = 2;
  RCC_OscInitStruct.PLL.PLLR = 2;
  RCC_OscInitStruct.PLL.PLLRGE = RCC_PLL1VCIRANGE_2;
  RCC_OscInitStruct.PLL.PLLVCOSEL = RCC_PLL1VCOWIDE;
  RCC_OscInitStruct.PLL.PLLFRACN = 0;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2
                              |RCC_CLOCKTYPE_D3PCLK1|RCC_CLOCKTYPE_D1PCLK1;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.SYSCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB3CLKDivider = RCC_APB3_DIV2;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV2;
  RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/* MPU Configuration */

void MPU_Config(void)
{
  MPU_Region_InitTypeDef MPU_InitStruct = {0};

  /* Disables the MPU */
  HAL_MPU_Disable();

  /** Initializes and configures the Region and the memory to be protected
  */
  MPU_InitStruct.Enable = MPU_REGION_ENABLE;
  MPU_InitStruct.Number = MPU_REGION_NUMBER0;
  MPU_InitStruct.BaseAddress = 0x0;
  MPU_InitStruct.Size = MPU_REGION_SIZE_4GB;
  MPU_InitStruct.SubRegionDisable = 0x87;
  MPU_InitStruct.TypeExtField = MPU_TEX_LEVEL0;
  MPU_InitStruct.AccessPermission = MPU_REGION_NO_ACCESS;
  MPU_InitStruct.DisableExec = MPU_INSTRUCTION_ACCESS_DISABLE;
  MPU_InitStruct.IsShareable = MPU_ACCESS_SHAREABLE;
  MPU_InitStruct.IsCacheable = MPU_ACCESS_NOT_CACHEABLE;
  MPU_InitStruct.IsBufferable = MPU_ACCESS_NOT_BUFFERABLE;

  HAL_MPU_ConfigRegion(&MPU_InitStruct);
  /* Enables the MPU */
  HAL_MPU_Enable(MPU_PRIVILEGED_DEFAULT);

}

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */