STM32控制BLDC-如何让电机转起来

最新推荐文章于 2024-08-05 23:51:28 发布

gd1984812

最新推荐文章于 2024-08-05 23:51:28 发布

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文章标签： BLDC STM32 IR2110 无刷直流电机霍尔

本文链接：https://blog.csdn.net/gd1984812/article/details/100834511

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无刷直流电机比较流行，很多电机内部加入霍尔元件，通过霍尔元件可以知道电机转子的位置，根据这个位置给电机相线供电，这样电机就转起来了。框图如下所示

霍尔元件输出与相线输入电压的关系可以让BLDC电机厂家提供，一般都提供这个对应关系表，如下图所示

有了上面这些足可以让我们设计电路编写程序让电机转起来！

有上面的框图可以看出，3相电机的驱动需要六个mos管，一般用的是NMOS，大功率的NMOS比较便宜。大功率MOS管有较大的结电容，控制电压也高些，无法用单片机直接驱动，所以需要驱动电路。驱动芯片组成的驱动电路比较简单，常见的有IR2110S，我这里用IR2110S设计了MOS驱动电路，如下图所示，其中C24和D5是自举电路，为了控制Q3抬高电压。

3片IR2110S驱动6个NMOS，如下图

霍尔元件供电是5V，他的输出一般也是5V，可以分压后给单片机用。

单片机用流行STM32，他有高级定时器T1，T8，可以输出3对互补的PWM波，还有刹车信号输入，这些特性对于电机的可控制非常合适。电路如下图所示

BLDC电机控制用到单片机定时器及IO中断，初始化部分如下

void TIM_Config(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;
	TIM_TimeBaseInitTypeDef	TIM_TimeBaseInitStruct;
	TIM_OCInitTypeDef  TIM_OCInitStructure;
	TIM_BDTRInitTypeDef TIM_BDTRInitStructure;
	EXTI_InitTypeDef EXTI_InitStructure;//
	NVIC_InitTypeDef NVIC_InitStructure;
	TIM_ICInitTypeDef TIM_ICInitStructure;
	// ¿ªÆô¶¨Ê±Æ÷Ê±ÖÓ,¼´ÄÚ²¿Ê±ÖÓCK_INT=72M
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_TIM1, ENABLE);
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);
	
   // Êä³ö±È½ÏÍ¨µÀ1 GPIO ³õÊ¼»¯
	GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10 ;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOA, &GPIO_InitStructure);
	
	GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOB, &GPIO_InitStructure);
	//»ô¶ûÊäÈë
	GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_6 | GPIO_Pin_7 ;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
  GPIO_Init(GPIOA, &GPIO_InitStructure);
	GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_0 ;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
  GPIO_Init(GPIOB, &GPIO_InitStructure);
	
	GPIO_EXTILineConfig(GPIO_PortSourceGPIOB,GPIO_PinSource0);
	
	EXTI_InitStructure.EXTI_Line=EXTI_Line0; 
	EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
	EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising_Falling;
	EXTI_InitStructure.EXTI_LineCmd = ENABLE;
	EXTI_Init(&EXTI_InitStructure);
	
	NVIC_InitStructure.NVIC_IRQChannel = EXTI0_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x01;  
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x01;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; 
  NVIC_Init(&NVIC_InitStructure);
	
	GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource6);
	
	EXTI_InitStructure.EXTI_Line= EXTI_Line6; 
	EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
	EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising_Falling;
	EXTI_InitStructure.EXTI_LineCmd = ENABLE;
	EXTI_Init(&EXTI_InitStructure);
	
	NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x01;  
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x02;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; 
  NVIC_Init(&NVIC_InitStructure); 
	
	GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource7);
	
	EXTI_InitStructure.EXTI_Line= EXTI_Line7; 
	EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
	EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising_Falling;
	EXTI_InitStructure.EXTI_LineCmd = ENABLE;
	EXTI_Init(&EXTI_InitStructure);
	
	NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn;
  NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x01;  
  NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x03;
  NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; 
  NVIC_Init(&NVIC_InitStructure); 
	
	TIM_DeInit(TIM1);        //½«ÍâÉèTIM1¼Ä´æÆ÷ÖØÉèÎªÈ±Ê¡Öµ  
	TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1 ;    
	TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up ;  
	TIM_TimeBaseInitStruct.TIM_Period = 1000 ;       
	TIM_TimeBaseInitStruct.TIM_Prescaler = 3 ;     
	TIM_TimeBaseInitStruct.TIM_RepetitionCounter = 0;
	TIM_TimeBaseInit(TIM1, &TIM_TimeBaseInitStruct ) ;       
	
	/* ¶¨Ê±Æ÷Êä³öÍ¨µÀ1Ä£Ê½ÅäÖÃ */
  
  TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;	 
  TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable; 
  TIM_OCInitStructure.TIM_Pulse = 1000;
  
  TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
  TIM_OCInitStructure.TIM_OCNPolarity= TIM_OCNPolarity_High;
  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);

  /* Automatic Output enable, Break, dead time and lock configuration*/
  TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
  TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
  TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_OFF;
  TIM_BDTRInitStructure.TIM_DeadTime = 1;
  TIM_BDTRInitStructure.TIM_Break = TIM_Break_Disable;
  TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_High;
  TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Enable;
  TIM_BDTRConfig(TIM1, &TIM_BDTRInitStructure);
  
  TIM_OC1PreloadConfig(TIM1,TIM_OCPreload_Enable);
  TIM_OC2PreloadConfig(TIM1,TIM_OCPreload_Enable);
  TIM_OC3PreloadConfig(TIM1,TIM_OCPreload_Enable);
	
  TIM_ARRPreloadConfig(TIM1, ENABLE);
  TIM_Cmd(TIM1, ENABLE);
  TIM_CtrlPWMOutputs(TIM1, ENABLE); 
  
  TIM_CCxCmd(TIM1,TIM_Channel_1,TIM_CCx_Enable);
  TIM_CCxNCmd(TIM1,TIM_Channel_1,TIM_CCxN_Enable);
  TIM_CCxCmd(TIM1,TIM_Channel_2,TIM_CCx_Enable);
  TIM_CCxNCmd(TIM1,TIM_Channel_2,TIM_CCxN_Enable);
  TIM_CCxCmd(TIM1,TIM_Channel_3,TIM_CCx_Enable);
  TIM_CCxNCmd(TIM1,TIM_Channel_3,TIM_CCxN_Enable);
}

让电机转起来需要知道电机转子的位置，根据霍尔相位对应表驱动电机相线，程序里用中断获取霍尔电平的变化。

void EXTI0_IRQHandler(void) 
{ 
	int i,j;
	if(EXTI_GetITStatus(EXTI_Line0)!=RESET)
	{
		EXTI_ClearITPendingBit(EXTI_Line0);


		step=((GPIOA->IDR & GPIO_Pin_6)>>6)+((GPIOA->IDR & GPIO_Pin_7)>>6)+((GPIOB->IDR & GPIO_Pin_0)<<2);
		if(start==1)
		{
			TIM1->CCER=PHASE_CHANGE[step];
			int_count1++;
		}
	}
}

void EXTI9_5_IRQHandler(void) 
{ 
	int i,j;
	if(EXTI_GetITStatus(EXTI_Line6)!=RESET)
	{
		EXTI_ClearITPendingBit(EXTI_Line6);

		step=((GPIOA->IDR & GPIO_Pin_6)>>6)+((GPIOA->IDR & GPIO_Pin_7)>>6)+((GPIOB->IDR & GPIO_Pin_0)<<2);
		if(start==1)
		{
			TIM1->CCER=PHASE_CHANGE[step];
			int_count2++;
		}

	}
	if(EXTI_GetITStatus(EXTI_Line7)!=RESET)
	{
		EXTI_ClearITPendingBit(EXTI_Line7);

		step=((GPIOA->IDR & GPIO_Pin_6)>>6)+((GPIOA->IDR & GPIO_Pin_7)>>6)+((GPIOB->IDR & GPIO_Pin_0)<<2);
		if(start==1)
		{
			TIM1->CCER=PHASE_CHANGE[step];
			int_count3++;
		}
	}
}

检测到变化后改变定时器输出，从而使电机相线得到驱动，我在程序里做好了数组，把得到了位置通过数组给定时器CCER寄存器，这样电机就转起来了

int PHASE_CHANGE[7]={0x0000,0x0104,0x0041,0x0140,0x0410,0x0014,0x0401};

这是霍尔输出与PWM输出波形的截图

这是定时器3对PWM的输出截图

这是电机和电路板

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STM32控制BLDC-如何让电机转起来

无刷直流电机比较流行，很多电机内部加入霍尔元件，通过霍尔元件可以知道电机转子的位置，根据这个位置给电机相线供电，这样电机就转起来了。框图如下所示霍尔元件输出与相线输入电压的关系可以让BLDC电机厂家提供，一般都提供这个对应关系表，如下图所示有了上面这些足可以让我们设计电路编写程序让电机转起来！有上面的框图可以看出，3相电机的驱动需要六个mos管，一般用的是NMOS，大功率...
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