计算速度

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                    <p>前言</p> 
<p>无刷直流 （Brushless Direct Current， BLDC）电机是一种正快速普及的电机类型，它可在家用电器、汽车、航空航天、消费品、医疗、工业自动化设备和仪器等行业中使用。正如名称指出的那样，BLDC 电机不用电刷来换向，而是使用电子换向。BLDC 电机和有刷直流电机以及感应电机相比，有许多优点。其中包括：</p> 
<p>• 更好的转速－转矩特性</p> 
<p>• 快速动态响应</p> 
<p>• 高效率</p> 
<p>• 使用寿命长</p> 
<p>• 运转无噪音</p> 
<p>• 较高的转速范围此外，</p> 
<p>由于输出转矩与电机体积之比更高，使之在需要着重考虑空间与重量因素的应用中，大有用武之地。</p> 
<p><img alt="" class="has" height="222" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC83YjM0ZjZhMDI2ZDI4N2M1NWUzYmZmYjZiOWViMWNmMi8w?x-oss-process=image/format,png" width="246"></p> 
<p>无刷电机</p> 
<p>&nbsp;</p> 
<p>前面已经讲了很多关于BLDC电机的一些知识，那么如计算出BLDC电机（带HALL传感器）的实际转速呢，其实可以利用hall传感器及中断事件计算电机转速，以1对极BLDC电机为例，电机转动一圈，会产生6个HALL状态，每个状态对机60度的机械角度，如果使用了STM32 定时器的HALL传感器接口功能，可能直接在定时器的中断里计算电机转速speed = 60/360/t (转每秒)，t为对两次中断的时间间隔，可以很简单地通过定时器中获得， 本节将基于NUCLEO-F103RB和X-NUCLEO-IHM07M1 3SH实现BLDC电机转速计算！</p> 
<p>本节所用电机为2836无刷电机,电机有两组线（hall传感器线和电机三相线）,工作电压24V，最大转速12000rpm：</p> 
<p><img alt="" class="has" height="194" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC9kMDcwMTI3YzVjNWQ2MzhkYzlhMzcwZDI1MmNjY2Q4YS8w?x-oss-process=image/format,png" width="550"></p> 
<p><img alt="" class="has" height="320" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC9iYjhlMGM4YmRmODhlNmQwYjk1ZmM4ZmQzYmZlNzRlYy8w?x-oss-process=image/format,png" width="550"></p> 
<p>示例详解</p> 
<p>本节用到ST官方推出的NUCLEO-F103RB和X-NUCLEO-IHM07M1 3SH 开发板。</p> 
<p><img alt="" class="has" height="408" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC8wYmE5ODViMTY0NGI3NzZkZWVjODI5ODVlMjJiYmI0OC8w?x-oss-process=image/format,png" width="550"></p> 
<p><img alt="" class="has" height="426" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC80YWZiYjE0YTU5MzU0MDIyNDg0NjQ0MTEwODlmOGMzOS8w?x-oss-process=image/format,png" width="550"></p> 
<p>NUCLEO-F103RB对应的大致原理接线图：</p> 
<p><img alt="" class="has" height="255" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC84N2FmZTFhMjUyZWUyOThhNjdhOGRlMDE2MDRkNGZiZi8w?x-oss-process=image/format,png" width="550"></p> 
<p>X-NUCLEO-IHM07M1 3SH部分原理图：</p> 
<p><img alt="" class="has" height="547" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC9mY2ZiYjg3ZDRjMGRiM2MwNDIwMGRiNjg2Y2Y1Yzc5Yy8w?x-oss-process=image/format,png" width="550"></p> 
<p><img alt="" class="has" height="238" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC82ZmI0MGM0NzZkMmY3MjY2ZWUzMjJlYzQ2ZTFiNTZhMC8w?x-oss-process=image/format,png" width="550"></p> 
<p><img alt="" class="has" height="261" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC8zZGZlMGNmMDJjNjA3ZGJhMzAwMWM3NjFmMjNlNmQzZS8w?x-oss-process=image/format,png" width="550"></p> 
<p><img alt="" class="has" height="375" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC84ZGM1ODEwMDllN2E3OTQyNjhlOTUyODU5NTkzMTkxYy8w?x-oss-process=image/format,png" width="550"></p> 
<p>&nbsp;</p> 
<p>&nbsp;</p> 
<ol><li> <p>准备操作</p> 
  <ol><li> <p>X-NUCLEO-IHM07M1 3SH是一款专门用于PMSM（永磁同步）或BLDC（直流无刷 ）的电机驱动板，其电机驱动板驱动芯片型号为L6230（详细数据手册可在st官网下载）,本节需用到IN1,IN2, IN3和OUT1,OUT2，OUT3， HALL传感器信号接口H1,H2,H3以及单电阻电流采样接口PC1。</p> </li></ol></li></ol>
<p><img alt="" class="has" height="234" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC82OWQ1MWMwZGViYmE0ODQ2YmVmZDk2MGE3Y2I1YmRmMS8w?x-oss-process=image/format,png" width="550"></p> 
<p><img alt="" class="has" height="268" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC84NWZhOWFjODYwZWFhMjM5YzU3M2YwZDdjZTk4ODk4OC8w?x-oss-process=image/format,png" width="358"></p> 
<p><img alt="" class="has" height="118" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC83ZDc3MDMyMjdjZWVmZTVlY2RhOTBmNTFlMzU2OTJlMS8w?x-oss-process=image/format,png" width="464"></p> 
<p>&nbsp;</p> 
<div class="table-box"><table><tbody><tr><td colspan="1" rowspan="1"> <p>需要用到的信号</p> </td><td colspan="1" rowspan="1"> <p>对应MCU引脚</p> </td></tr><tr><td colspan="1" rowspan="1"> <p>EN1</p> </td><td colspan="1" rowspan="1"> <p>PC10</p> </td></tr><tr><td colspan="1" rowspan="1"> <p>IN1</p> </td><td colspan="1" rowspan="1"> <p>PA8</p> </td></tr><tr><td colspan="1" rowspan="1"> <p>EN2</p> </td><td colspan="1" rowspan="1"> <p>PC11</p> </td></tr><tr><td colspan="1" rowspan="1"> <p>IN2</p> </td><td colspan="1" rowspan="1"> <p>PA9</p> </td></tr><tr><td colspan="1" rowspan="1"> <p>EN3</p> </td><td colspan="1" rowspan="1"> <p>PC12</p> </td></tr><tr><td colspan="1" rowspan="1"> <p>IN3</p> </td><td colspan="1" rowspan="1"> <p>PA10</p> </td></tr><tr><td colspan="1" rowspan="1"> <p>H1</p> </td><td colspan="1" rowspan="1"> <p>PA15</p> </td></tr><tr><td colspan="1" rowspan="1"> <p>H2</p> </td><td colspan="1" rowspan="1"> <p>PB3</p> </td></tr><tr><td colspan="1" rowspan="1"> <p>H3</p> </td><td colspan="1" rowspan="1"> <p>PB10</p> </td></tr><tr><td colspan="1" rowspan="1"> <p>电流采样接口</p> </td><td colspan="1" rowspan="1"> <p>PC1</p> </td></tr></tbody></table></div>
<p>&nbsp;</p> 
<p>本节直接使用STM32的TIM1产生三路PWM波对应信号IN1、IN2、IN3，通过调节PWM波占空比实现电机的速度控制；将EN1、EN2、EN3配置成普通输出IO口输出模式，H1,H2,H3配置成TIM2的hall传感器模式，并开启T1的捕获中断，中断触发模式为双边触发模式，在中断服务程序中实理更加快带的电机换相（6步换步）操作，PC1配置成AD采样引脚，本节以电机在2个PWM周期内采多个64，以这64个点的平均值作为电机的平均电流。</p> 
<p><img alt="" class="has" height="676" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC85NzAzMjc3OWY4NjU0ZjgyYWUzMDg2NmQxYWRiOTZiNS8w?x-oss-process=image/format,png" width="550"></p> 
<p>&nbsp;</p> 
<ol><li> <p>在STM32CubeMX中，有专门的NUCLEO-F103RB工程模板，新建一个Cube工程，芯片型号为st32f103rb：</p> </li></ol>
<p><img alt="" class="has" height="300" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC82YWExNDk4NzY5MWIzMTQ3M2NhNjhlM2I4N2I2YWI0Mi8w?x-oss-process=image/format,png" width="550"></p> 
<p><img alt="" class="has" height="241" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC9hYWZjMWVkN2QxZGEwNzEzYzc5ODc5YWI3ZmI1ZmM4Ni8w?x-oss-process=image/format,png" width="550"></p> 
<p>生成一个简单的工程模板实现了RCC,SYS，USART2接口的配置，同时还实现了LD2（LED）引脚的配置。接下来手动配置各功能模块，首先是TIM1,配置成三路PWM 模式1输出，PWM载波频率是20Khz = 72M/(2+1)/(1199+1),各通道初始PWM波是500：</p> 
<p><img alt="" class="has" height="225" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC8wMjE1MWQ2NWFhOTIxOTMwZDRmZTRhZmNmNzU4OTRmYy8w?x-oss-process=image/format,png" width="550"></p> 
<p>&nbsp;</p> 
<p><img alt="" class="has" height="626" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC9jZjMwMTAxNmNjYzZhNjE4NDkzZWVhYTc2ODRkYzk0YS8w?x-oss-process=image/format,png" width="550"></p> 
<p>使能TIM1的UPDATA中断，在中断服务程序中完成电流PID运算及控制：</p> 
<p><img alt="" class="has" height="152" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC9lYzk2NmM5MmVmNmNmMjAwYmQxNjcxODM3YzNjYWNjYi8w?x-oss-process=image/format,png" width="550"></p> 
<p>接下来是TIM2配置，开启三路输入捕获功能，使能XOR功能，开启定时器中断：</p> 
<p><img alt="" class="has" height="216" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC80OTE1NTcwOGUxNGE5NzQyZjM2NmIzODM5N2VhMGY3NC8w?x-oss-process=image/format,png" width="550"></p> 
<p><img alt="" class="has" height="301" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC9kYzFhOTE5Mzc1MTQ0YTJjOGMxM2I3MTUzNWNlMWExNi8w?x-oss-process=image/format,png" width="550"></p> 
<p>上图中所述想要直接利用TIM2的HALL传感器功能，仅在CUBE中配置是不点问题的，原因如下，在配置输入捕获通道时，很多模式不可选：</p> 
<p><img alt="" class="has" height="156" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC8zYzRlNzIzYjBmYzYwY2RkYzhiMzJhYmJmNzBlNTcyOS8w?x-oss-process=image/format,png" width="550"></p> 
<p>而要直正实现STM32的定时器HALL传感器接口功能，除了要开启XOR功能外（在CUBE可直接勾选）：</p> 
<p><img alt="" class="has" height="192" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC81MTc0ODkwYjFkMjA4MzFiMDEzMDBiYzVkYmU4ZDQwZS8w?x-oss-process=image/format,png" width="550"> 还需要用到TI1F_ED(直接的双边沿检测)信号，TRC信号..并最终产生CC1I中断，完整的信号流图如下图：</p> 
<p>&nbsp;</p> 
<p><img alt="" class="has" height="543" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC83Mzk0ZDQ4Zjk3MGE0OTgwYmNjNjNmMzgxNjBiOWI3Mi8w?x-oss-process=image/format,png" width="550"></p> 
<p>故还需要开启中断，并最终要在自动生成的TIM.C中进行适当修改（后面源码上有介绍）：</p> 
<p><img alt="" class="has" height="246" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC8zMDQ4YjZiOTY2N2U0ZjVjYTQ2MmIyYzYxOTMyZjdjZS8w?x-oss-process=image/format,png" width="550"></p> 
<p>配置ADC:</p> 
<p><img alt="" class="has" height="216" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC9jYzA2M2Y0OTU1ZGZhZDM2YzMxOWFmNTdjMWNhODVjNC8w?x-oss-process=image/format,png" width="550"></p> 
<p><img alt="" class="has" height="261" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC8zZGZlMGNmMDJjNjA3ZGJhMzAwMWM3NjFmMjNlNmQzZS8w?x-oss-process=image/format,png" width="550"></p> 
<p>本例ADC采电机电流工作在单电阻采样模式下，如上图所示，电机电流与ADC采样电流之间的关系式为（JP1,JP2不接）： V = 3*0.33*I，其中0.33为采样电阻的阻值，I为电机电流，V为放大3倍后的电机。</p> 
<p>&nbsp;</p> 
<p>&nbsp;</p> 
<p>使能ADC的DMA功能：</p> 
<p><img alt="" class="has" height="252" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC8yOWQ2MDc1M2MyNDI5NzgzZDliMDcxNmQ0MjBlOGZmNS8w?x-oss-process=image/format,png" width="550"></p> 
<p>&nbsp;</p> 
<p>接着将PC10,PC11,PC12普通IO功能配置，GPIO_OUTPUT模式，默认输出为低：</p> 
<p><img alt="" class="has" height="103" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC8wZTM3NDk4OTY3MDM3OGE1NzBmYThhMzJiMDEyMzU3ZC8w?x-oss-process=image/format,png" width="550"></p> 
<p>最后是中断优先级配置：</p> 
<p><img alt="" class="has" height="393" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC84ZWVjMjIyOTA3ZTBmOTIwMzU0ZDAwMjg2NTVmNDgxZi8w?x-oss-process=image/format,png" width="550"></p> 
<p>生成工程：</p> 
<p><img alt="" class="has" height="499" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC9kNzZjOGIyMWJiNDZiN2M0ZjNmNzFkMzAzNmU5MTFjNC8w?x-oss-process=image/format,png" width="550"></p> 
<p>&nbsp;</p> 
<ol><li> <p>打开工程， 加入事先准备好的bldc.c，pid.c, visualscope.c 和bldc.h，pid.h, visualscope.h（.c在src文件夹中 .h在INC文件夹）文件：</p> </li></ol>
<p><img alt="" class="has" height="396" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC9lNWNjNjQzNDdjMDk0Mzc1OTAzNjJkNzg4OTgyODNiMi8w?x-oss-process=image/format,png" width="374"></p> 
<p>同时在tim.c及stm32f1xx_it.c中加入如下代码：</p> 
<p><img alt="" class="has" height="456" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC8wZjljNTI0MmZjN2JiMTk1OWE1YjAzYjQzN2YwNzM3Ni8w?x-oss-process=image/format,png" width="550"></p> 
<p><img alt="" class="has" height="574" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC85MzdiMTkxNDlkOTI4YzFjNTBkMGMzZWMwYWE0NTQ0Ni8w?x-oss-process=image/format,png" width="550"></p> 
<p><img alt="" class="has" height="457" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC82OGQ2MzZiYWY5ZTI1N2ZkMzIyMTdjNjI0YTI5NzI4MS8w?x-oss-process=image/format,png" width="550"></p> 
<p><img alt="" class="has" height="477" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC85YmQ2YTFkYWE1MDNkMzU1OTA1NzI2MTU2ZGRlZTU5ZS8w?x-oss-process=image/format,png" width="550"></p> 
<p>在dma.c中关闭dma中断：</p> 
<p><img alt="" class="has" height="367" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC85Zjg5ZjFhMmM3NDE1NTViMjlhMTc5YTA1NTM2NGVlNi8w?x-oss-process=image/format,png" width="550"></p> 
<p>在adc.c中加入求平均电流代码：</p> 
<p><img alt="" class="has" height="109" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC9hNWEwNTM3NjNiMWNlZGE5OTI2OTExODUwOWI5MjYwNy8w?x-oss-process=image/format,png" width="550"></p> 
<p><img alt="" class="has" height="571" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC8wZjAyMTdhYzMxNDQwNDlkMWFmZGUxZDg5Y2E0YzNhMy8w?x-oss-process=image/format,png" width="550"></p> 
<p>在adc.h中导出变量及函数名：</p> 
<p><img alt="" class="has" height="597" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC9jMDU0NmM2MGYyODM2MmU1ZGZjMTQwOGQ1MjBlYWRjYS8w?x-oss-process=image/format,png" width="550"></p> 
<p>最后在main.c中加入如下代码：</p> 
<p><img alt="" class="has" height="239" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC8yOThhNmIwZmRkZTUxNTczYjhhNzNiN2QxZTVkMzU1Zi8w?x-oss-process=image/format,png" width="550"></p> 
<p><img alt="" class="has" height="236" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC9jY2EwYjYwN2IwMWYzZjIzYTRmNDY4NTEwMzc0NzQzMy8w?x-oss-process=image/format,png" width="550"></p> 
<p><img alt="" class="has" height="696" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC82MDM4ZTliYTU4ODEwN2I3NzZjZGFmNTg2MDY0MzA4OS8w?x-oss-process=image/format,png" width="550"></p> 
<p>&nbsp;</p> 
<p>&nbsp;</p> 
<p>设置工程下载后自动运行：</p> 
<p><img alt="" class="has" height="410" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC84YmFhZDM5ZjMxMWU1NTRkZGU0ZTAzOGQwZmUwNjQ5Ni8w?x-oss-process=image/format,png" width="550"></p> 
<p><img alt="" class="has" height="444" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC8zYzc0NGJiNzQ3MTAyODRlNjJiYjFiNWJkZTNhNjI4ZS8w?x-oss-process=image/format,png" width="550"></p> 
<p>编译代码，调试代码，本节代码是在上一讲《STM32 电机教程 12 - BLDC 闭环电流控制》基础上实现，自带电流闭环，电机转动起来后（电流闭环参考值不要设太大），在串口示波器上可以看到电机速度的波形，给电机加一点阻力，可以看到电机转速的变化情况：</p> 
<p><img alt="" class="has" height="321" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC8yNzM2OWRmY2Q1NTI1YmYyNmE5ZWE3MzVkOGIxNTc2OS8w?x-oss-process=image/format,png" width="550"></p> 
<p><img alt="" class="has" height="236" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC84MjYyNzhiNzA2M2E3ODFkMjY0OTE4ZWFhZTY3ZTdhYS8w?x-oss-process=image/format,png" width="550"></p> 
<p>OK,本期实验完成！本节BLDC通过HALL传感器计算速度的示例就讲到这里，下一节将基于本节内容实现BLDC电机速度闭环控制。最后如果大家有什么疑问或是有想了解的其它内容，也欢迎大家留言！！最后喜欢这个公众号的同学们记得加关注了，每天都会有技术干货推出！！</p> 
<p>&nbsp;</p> 
<p>&nbsp;</p> 
<p>文中源码及资料下载，关注十三公众号:</p> 
<p><img alt="" class="has" height="287" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC84MDliNzg4ZjY5Zjg1ZDc4ZWI0OGVlYTI2NjRkOGY0My8w?x-oss-process=image/format,png" width="287"></p> 
<p>在公众号里给十三发送 “下载|STM32 电机教程 13” ：</p> 
<p><img alt="" class="has" height="246" src="https://imgconvert.csdnimg.cn/aHR0cHM6Ly9xcWFkYXB0LnFwaWMuY24vdHhkb2NwaWMvMC9hZWU5YTFlNGMzNWI3NmZmNGRjNzM5MjFhNmEwMGU2Zi8w?x-oss-process=image/format,png" width="292"></p> 
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