28BYJ-48步进细分驱动

28BYJ-48步进驱动

学单片机的基本都会学习28BYJ-48这个步进的驱动

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问题描述

平常这个步进的单片机驱动例子多为四拍或八拍电平驱动，但运行噪音较大，下文使用pwm实现细分驱动
参看此文

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原因分析：

噪音来源于机械间隙，以及每步的旋转角度

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解决方案：

将电机的高低电平驱动，转变为pwm脉冲驱动。
以stm32F407为例
时钟配置

  htim8.Instance = TIM8;
  htim8.Init.Prescaler = 41;
  htim8.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim8.Init.Period = 100;
  htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  htim8.Init.RepetitionCounter = 0;
  sConfigOC.OCMode = TIM_OCMODE_PWM1;
  sConfigOC.Pulse = 100;
  sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
  sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
  sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
  sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
  sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_RESET;

中断函数

volatile uint8_t pwm_count=0;
volatile uint16_t indexWave1[]={2  ,	3  ,	5  ,	7  ,	9  ,	10 ,	12 ,	14 ,	16 ,	17 ,	19 ,	21 ,	22 ,	24 ,	26 ,	28 ,	29 ,	31 ,	33 ,	34 ,	36 ,	37 ,	39 ,	41 ,	42 ,	44 ,	45 ,	47 ,	48 ,	50 ,	52 ,	53 ,	54 ,	56 ,	57 ,	59 ,	60 ,	62 ,	63 ,	64 ,	66 ,	67 ,	68 ,	69 ,	71 ,	72 ,	73 ,	74 ,	75 ,	77 ,	78 ,	79 ,	80 ,	81 ,	82 ,	83 ,	84 ,	85 ,	86 ,	87 ,	87 ,	88 ,	89 ,	90 ,	91 ,	91 ,	92 ,	93 ,	93 ,	94 ,	95 ,	95 ,	96 ,	96 ,	97 ,	97 ,	97 ,	98 ,	98 ,	98 ,	99 ,	99 ,	99 ,	99 ,	100,	100,	100,	100,	100,	100,	100,	100,	100,	100,	100,	99 ,	99 ,	99 ,	99 ,	98 ,	98 ,	98 ,	97 ,	97 ,	97 ,	96 ,	96 ,	95 ,	95 ,	94 ,	93 ,	93 ,	92 ,	91 ,	91 ,	90 ,	89 ,	88 ,	87 ,	87 ,	86 ,	85 ,	84 ,	83 ,	82 ,	81 ,	80 ,	79 ,	78 ,	77 ,	75 ,	74 ,	73 ,	72 ,	71 ,	69 ,	68 ,	67 ,	66 ,	64 ,	63 ,	62 ,	60 ,	59 ,	57 ,	56 ,	54 ,	53 ,	52 ,	50 ,	48 ,	47 ,	45 ,	44 ,	42 ,	41 ,	39 ,	37 ,	36 ,	34 ,	33 ,	31 ,	29 ,	28 ,	26 ,	24 ,	22 ,	21 ,	19 ,	17 ,	16 ,	14 ,	12 ,	10 ,	9  ,	7  ,	5  ,	3  ,	2  ,	0  ,
};
volatile uint8_t pwm1_index=0;
volatile uint8_t pwm2_index=0;
volatile uint8_t pwm3_index=0;
volatile uint8_t pwm4_index=0;
volatile uint8_t count;

void TIM8_UP_TIM13_IRQHandler(void)
{
  /* USER CODE BEGIN TIM8_UP_TIM13_IRQn 0 */
	if (__HAL_TIM_GET_IT_SOURCE(&htim8, TIM_IT_UPDATE) != RESET)
	{

//8拍 A-AB-B-BC-C-CD-D-DA
 
  if(count%60==0)
		{
			//pwm_index=0;
			count=0;
			if(pwm_count>7){pwm_count=0;pwm1_index=0;}
			if(pwm_count==1){TIM8->CCER=0x2223; }
			if(pwm_count==2){TIM8->CCER=0x2233; pwm2_index=0;}
			if(pwm_count==3){TIM8->CCER=0x2232; }
			if(pwm_count==4){TIM8->CCER=0x2332; pwm3_index=0;}
            if(pwm_count==5){TIM8->CCER=0x2322;}
			if(pwm_count==6){TIM8->CCER=0x3322; pwm4_index=0;}
			if(pwm_count==7){TIM8->CCER=0x3222;}
			if(pwm_count==0){TIM8->CCER=0x3223; pwm1_index=0;}
			pwm_count++;	
		}
        TIM8->CCR1 = 100-indexWave1[pwm1_index++];	
		TIM8->CCR2 = 100-indexWave1[pwm2_index++];	
		TIM8->CCR3 = 100-indexWave1[pwm3_index++];	
		TIM8->CCR4 = 100-indexWave1[pwm4_index++];
     count++;
  /* USER CODE END TIM8_UP_TIM13_IRQn 0 */
  HAL_TIM_IRQHandler(&htim8);
  /* USER CODE BEGIN TIM8_UP_TIM13_IRQn 1 */

  /* USER CODE END TIM8_UP_TIM13_IRQn 1 */
}
/* USER CODE END 1 */

main函数

int main(void)
{
  /* 复位所有外设，初始化Flash接口和系统滴答定时器 */
  HAL_Init();
  /* 配置系统时钟 */
  SystemClock_Config();
  MX_TIM8_Init();
  /* 板载LED初始化 */
  LED_GPIO_Init();
  
HAL_TIM_PWM_Start(&htim8,TIM_CHANNEL_1);//开启PWM通道1
HAL_TIM_PWM_Start(&htim8,TIM_CHANNEL_2);//开启PWM通道2
HAL_TIM_PWM_Start(&htim8,TIM_CHANNEL_3);//开启PWM通道3
HAL_TIM_PWM_Start(&htim8,TIM_CHANNEL_4);//开启PWM通道4
  /* 在中断模式下启动定时器 */
 HAL_TIM_Base_Start_IT(&htim8);
  /* 无限循环 */
  while (1)
  {
  }
}

运行效果非常安静，手指触摸电机可以感觉到轻微震动
单片机管脚实际输出波形

注意：当八拍频率过快时，28BYJ-48将会卡死