一、原理图以及简介
电机如下:
通常电机需要正反转会需要一个电机驱动板,电机接到电机接口。
电机驱动板如下:
电机状态表如下:
不同的电机驱动板可能会有略微不同,有的IN1,IN2之外可能还会有ENA输入信号去PWM脉冲信号来调速度,这个电机驱动板就没有,就通过直接给IN1,IN2引脚PWM信号,比如左轮正转,IN1输入PWM的占空比一直为0,IN1和IN2同时为0就不转,IN2输入不同占空比去调速,关于调速下面也会说到。
STM32板子连接电机驱动板,STM32F103C8T对应电机的引脚图:
PWM波形如下:
占空比:
D = t1/T ;
电机的平均转速为:
Va = Vmax*D ;
其中Va指的是电机的平均速度,Vmax是指电机在全通电时最大速度,D指的是占空比。由上面的公式可见,当改变占空比D时,就可以得到不同电机平均速度Va,从而达到调速的目的。
二、代码
初始化电机PWM定时器,初始化定时器3和定时器4作为PWM控制电机,239的预分频,1000的自动重装载值,主时钟是72M,定时器时钟CK_CNT=72,000,000/(239+1),定时器时钟是300,000HZ,1/300000≈3.3us计数一次,计数达到1000次,产生一次中断重新从0开始计数
//初始化电机PWM定时
void setup_car_pwm(void) {
//小车 pwm 初始化
TIM3_Pwm_Init(1000, 239);
TIM4_Pwm_Init(1000, 239);
car_pwm_set(0,0); //设置小车的左右轮速度为0
}
引脚配置如下图:
初始化定时器3的PWM模式,PB0配置成定时器3的PWM模式通道3,PB1配置成定时器3的PWM模式的通道4
void TIM3_Pwm_Init(u16 arr,u16 psc)
{
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1; //对应CH3通道PB0
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
TIM_TimeBaseStructure.TIM_Period = arr;
TIM_TimeBaseStructure.TIM_Prescaler =psc;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_Pulse=500;
TIM_OC3Init(TIM3, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_OC4Init(TIM3, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_Cmd(TIM3, ENABLE);
}
初始化定时器4的PWM模式,PB8配置成定时器4的PWM模式通道3,PB9配置成定时器4的PWM模式的通道4
void TIM4_Pwm_Init(u16 arr,u16 psc) {
GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9; //对应CH3通道PB0
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
TIM_TimeBaseStructure.TIM_Period = arr;
TIM_TimeBaseStructure.TIM_Prescaler =psc;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_Pulse=500;
TIM_OC3Init(TIM4, &TIM_OCInitStructure);
TIM_OC3PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC4Init(TIM4, &TIM_OCInitStructure);
TIM_OC4PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_Cmd(TIM4, ENABLE);
}
小车PWM调速,右轮对应的是IN3、IN4控制,也就是PB8、PB9对应的定时器4的通道3和通道4。左轮对应是IN1、IN2控制,对应PB0、PB1定时器3的通道3和通道4。前进就两个轮子左轮正转右轮正转,设置相同的1~1000范围的CRR调占空比调节速度。退后就是相反的。
//小车控制函数
//参数 左轮速度和右轮速度 范围 -1000 到 1000
void car_pwm_set(int car_left, int car_right) {
static int car_left_bak, car_right_bak;
if(car_left >= CYCLE)car_left = CYCLE-1;
else if(car_left <= -CYCLE)car_left = -CYCLE+1;
else if(car_left == 0)car_left = 1;
if(car_right >= CYCLE)car_right = CYCLE-1;
else if(car_right <= -CYCLE)car_right = -CYCLE+1;
else if(car_right == 0)car_right = 1;
car_left = -car_left;
car_right = -car_right;
car_left = car_left/car_dw;
car_right = car_right/car_dw;
if(car_right>0) {
TIM_SetCompare4(TIM4,1);
TIM_SetCompare3(TIM4,car_right);
} else if(car_right<0){
TIM_SetCompare4(TIM4,-car_right);
TIM_SetCompare3(TIM4,1);
} else {
TIM_SetCompare4(TIM4,CYCLE - 1);
TIM_SetCompare3(TIM4,CYCLE - 1);//CYCLE=1000
}
if(car_left>0) {
TIM_SetCompare4(TIM3,1);
TIM_SetCompare3(TIM3,car_left);
} else if(car_left<0){
TIM_SetCompare4(TIM3,-car_left);
TIM_SetCompare3(TIM3,1);
} else {
TIM_SetCompare4(TIM3,CYCLE - 1);
TIM_SetCompare3(TIM3,CYCLE - 1);
}
return;
}