前面发布的文章虽然把电机驱动,但是电机抖动换相有问题,找了很久的解决办法今天将电机完美驱动,无任何问题。还是一样先看我上一个文章,再看这个文章,没基础的先找资料学习基础,我直接上程序。
void gpio_config(void)
{
rcu_periph_clock_enable(RCU_GPIOA);
rcu_periph_clock_enable(RCU_GPIOB);
// gpio_mode_set(GPIOB, GPIO_MODE_OUTPUT, GPIO_PUPD_PULLDOWN, GPIO_PIN_0);
// gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_0);
gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_8);
gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_8);
gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_9);
gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_9);
gpio_mode_set(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_10);
gpio_output_options_set(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_10);
gpio_af_set(GPIOA, GPIO_AF_2, GPIO_PIN_8);
gpio_af_set(GPIOA, GPIO_AF_2, GPIO_PIN_9);
gpio_af_set(GPIOA, GPIO_AF_2, GPIO_PIN_10);
gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_13);
gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_13);
gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_14);
gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_14);
gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO_PIN_15);
gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_15);
gpio_af_set(GPIOB, GPIO_AF_2, GPIO_PIN_13);
gpio_af_set(GPIOB, GPIO_AF_2, GPIO_PIN_14);
gpio_af_set(GPIOB, GPIO_AF_2, GPIO_PIN_15);
//霍尔引脚初始化
gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_PULLUP, GPIO_PIN_4);
gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_4);//HB
gpio_af_set(GPIOB, GPIO_AF_1, GPIO_PIN_4);
gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_PULLUP, GPIO_PIN_5);
gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_5);//HA
gpio_af_set(GPIOB, GPIO_AF_1, GPIO_PIN_5);
gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_PULLUP, GPIO_PIN_8);
gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_8);//HC
gpio_af_set(GPIOB, GPIO_AF_1, GPIO_PIN_8);
gpio_mode_set(GPIOB, GPIO_MODE_AF, GPIO_PUPD_PULLUP, GPIO_PIN_0);
gpio_output_options_set(GPIOB, GPIO_OTYPE_PP, GPIO_OSPEED_50MHZ, GPIO_PIN_0);//HC
gpio_af_set(GPIOB, GPIO_AF_1, GPIO_PIN_0);
}
void timer0_config(void)
{
timer_oc_parameter_struct timer_ocintpara={0};
timer_parameter_struct timer_initpara={0};
timer_break_parameter_struct timer_Breakinitpara={0};
timer_ic_parameter_struct timer_icinitpara = {0};
timer_parameter_struct timer_initpara2={0};
gpio_config();
rcu_periph_clock_enable(RCU_TIMER0);
rcu_periph_clock_enable(RCU_TIMER2);
timer_deinit(TIMER2);
timer_initpara2.prescaler = 71; // 预分频:72MHz / 72 = 1MHz
timer_initpara2.alignedmode = TIMER_COUNTER_EDGE;
timer_initpara2.counterdirection = TIMER_COUNTER_UP; // 向上计数模式
timer_initpara2.period = (65536 - 1);
timer_initpara2.clockdivision = TIMER_CKDIV_DIV1; // 输入时钟1分频
timer_init(TIMER2,&timer_initpara2);
timer_icinitpara.icpolarity = TIMER_IC_POLARITY_BOTH_EDGE;
timer_icinitpara.icselection = TIMER_IC_SELECTION_DIRECTTI;
timer_icinitpara.icprescaler = TIMER_IC_PSC_DIV1; // 时钟1分频
timer_icinitpara.icfilter =5;
timer_input_capture_config(TIMER2, TIMER_CH_0, &timer_icinitpara);
timer_input_capture_config(TIMER2, TIMER_CH_1, &timer_icinitpara);
timer_input_capture_config(TIMER2, TIMER_CH_2, &timer_icinitpara);
timer_hall_mode_config(TIMER2,TIMER_HALLINTERFACE_ENABLE);//使能定时器霍尔传感器模式
timer_master_output_trigger_source_select(TIMER2,TIMER_TRI_OUT_SRC_CH0);//触发源为捕获比较触发 主模式
timer_channel_control_shadow_config(TIMER2,ENABLE );
timer_auto_reload_shadow_enable(TIMER2);// 使能重装载影子
timer_master_slave_mode_config(TIMER2, TIMER_MASTER_SLAVE_MODE_ENABLE); // 使能主模式
// timer_slave_mode_select(TIMER2,TIMER_SLAVE_MODE_EXTERNAL0);//从模式选择 外部时钟源模式
// timer_primary_output_config(TIMER2,ENABLE);//开启主模式输出
timer_interrupt_flag_clear(TIMER2, TIMER_INT_FLAG_CH0); // 清除通道0中断标志位
timer_interrupt_enable(TIMER2, TIMER_INT_CH0); // 使能通道0中断
nvic_irq_enable(TIMER2_IRQn, 0); // 使能中断服务,抢占优先级为0
timer_enable(TIMER2); // 使能定时器2
timer_deinit(TIMER0);//初始化定时器0
timer_initpara.prescaler = 0;
timer_initpara.alignedmode = TIMER_COUNTER_EDGE;
timer_initpara.counterdirection = TIMER_COUNTER_UP;
timer_initpara.period = 9999;
timer_initpara.clockdivision = TIMER_CKDIV_DIV1;
timer_initpara.repetitioncounter = 0;
timer_init(TIMER0, &timer_initpara);
timer_ocintpara.outputstate = TIMER_CCX_ENABLE;
timer_ocintpara.outputnstate = TIMER_CCXN_ENABLE;
timer_ocintpara.ocpolarity = TIMER_OC_POLARITY_HIGH;
timer_ocintpara.ocnpolarity = TIMER_OCN_POLARITY_HIGH;
timer_ocintpara.ocidlestate = TIMER_OC_IDLE_STATE_LOW;
timer_ocintpara.ocnidlestate = TIMER_OCN_IDLE_STATE_LOW;
timer_channel_output_config(TIMER0, TIMER_CH_0, &timer_ocintpara);
timer_channel_output_config(TIMER0, TIMER_CH_1, &timer_ocintpara);
timer_channel_output_config(TIMER0, TIMER_CH_2, &timer_ocintpara);
timer_master_slave_mode_config(TIMER0, TIMER_MASTER_SLAVE_MODE_ENABLE);//使能主从模式
// timer_slave_mode_select(TIMER0,TIMER_SLAVE_MODE_RESTART);//从模式选择 重启模式
timer_input_trigger_source_select(TIMER0,TIMER_SMCFG_TRGSEL_ITI0);//内部触发源配置为外部触发
timer_channel_output_pulse_value_config(TIMER0, TIMER_CH_0,PWM_velu);
timer_channel_output_mode_config(TIMER0, TIMER_CH_0, TIMER_OC_MODE_PWM0);
timer_channel_output_pulse_value_config(TIMER0, TIMER_CH_1, PWM_velu);
timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_PWM0);
timer_channel_output_pulse_value_config(TIMER0, TIMER_CH_2,PWM_velu);
timer_channel_output_mode_config(TIMER0, TIMER_CH_2, TIMER_OC_MODE_PWM0);
timer_primary_output_config(TIMER0, ENABLE);
timer_enable(TIMER0);
}
定时器肯定是要改的,霍尔传感器的捕获输入改为双边沿触发,这样在中断里检测的霍尔值才完整,之前的定时器会发生缺相现象。
然后就是换相函数,换相函数的时序一定是要符合你的电机,这个电机厂家都会给,别自己瞎研究,下面是我的换相函数。
void BLDC_Convet_anticlockwise(uint16_t phase)
{
InitSysTick();
switch(phase) //
{
case 0x00: //AB ---- Q1 Q5
{
DelayUs(500);
timer_channel_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCX_ENABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_0, TIMER_OC_MODE_PWM0);
timer_channel_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCX_ENABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_PWM0);
timer_channel_output_state_config(TIMER0,TIMER_CH_2,TIMER_CCX_ENABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_2,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_2, TIMER_OC_MODE_PWM0);
timer_event_software_generate(TIMER0,TIMER_SWEVG_CMTG);
}
// break;
case 1: //AB ---- Q1 Q5
{
timer_channel_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCX_ENABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCXN_DISABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_0, TIMER_OC_MODE_PWM0);
timer_channel_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCX_DISABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_HIGH);
timer_channel_output_state_config(TIMER0,TIMER_CH_2,TIMER_CCXN_ENABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_2,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_2, TIMER_OC_MODE_LOW);
timer_event_software_generate(TIMER0,TIMER_SWEVG_CMTG);
}
break;
case 3://0x01: //AC ---- Q1 Q6
{
timer_channel_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCX_ENABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCXN_DISABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_0, TIMER_OC_MODE_PWM0);
timer_channel_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCX_DISABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_LOW);
timer_channel_output_state_config(TIMER0,TIMER_CH_2,TIMER_CCX_DISABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_2,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_2, TIMER_OC_MODE_HIGH);
timer_event_software_generate(TIMER0,TIMER_SWEVG_CMTG);
}
break;
case 2: //CB ---- Q3 Q5
{
timer_channel_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCX_DISABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_HIGH);
timer_channel_output_state_config(TIMER0,TIMER_CH_2,TIMER_CCX_ENABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_2,TIMER_CCXN_DISABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_2, TIMER_OC_MODE_PWM0);
timer_channel_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCX_DISABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_0, TIMER_OC_MODE_LOW);
timer_event_software_generate(TIMER0,TIMER_SWEVG_CMTG);
}
break;
case 5: //BA ---- Q2 Q4
{
timer_channel_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCX_ENABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCXN_DISABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_PWM0);
timer_channel_output_state_config(TIMER0,TIMER_CH_2,TIMER_CCX_DISABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_2,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_2, TIMER_OC_MODE_LOW);
timer_channel_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCX_DISABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_0, TIMER_OC_MODE_HIGH);
timer_event_software_generate(TIMER0,TIMER_SWEVG_CMTG);
}
break;
case 4: //CA ---- Q3 Q4
{
timer_channel_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCX_DISABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCXN_DISABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_LOW);
timer_channel_output_state_config(TIMER0,TIMER_CH_2,TIMER_CCX_ENABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_2,TIMER_CCXN_DISABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_2, TIMER_OC_MODE_PWM0);
timer_channel_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCX_DISABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_0, TIMER_OC_MODE_HIGH);
timer_event_software_generate(TIMER0,TIMER_SWEVG_CMTG);
}
break;
case 6: //BC ---- Q2 Q6
{
timer_channel_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCX_ENABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_1,TIMER_CCXN_DISABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_1, TIMER_OC_MODE_PWM0);
timer_channel_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCX_DISABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_0,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_0, TIMER_OC_MODE_LOW);
timer_channel_output_state_config(TIMER0,TIMER_CH_2,TIMER_CCX_DISABLE);//CC1E
timer_channel_complementary_output_state_config(TIMER0,TIMER_CH_2,TIMER_CCXN_ENABLE);//CC1NE
timer_channel_output_mode_config(TIMER0, TIMER_CH_2, TIMER_OC_MODE_HIGH);
timer_event_software_generate(TIMER0,TIMER_SWEVG_CMTG);
}
break;
default:break;
}
}
到此电机项目全部完成,想要更好的控制电机,接下来要用算法来控制了,最常用的就是PID,三个环电流环,速度环,位置环可以精准控制电机,这个我今天开始研究,研究出来会将代码分享给大家。