电机的加减速为了,电机启动停止更加稳定,提高匀速速度。S曲线算法优化电机的运行。
整个过程就是,模仿S曲线设置电机的频率
程序采用,通过s_curve()函数映射一张小于1500个点的表, 输出一次pwm方波,中断一次,计数器step计数一次 ,TIM_SetAutoreload()重新设置arr频率。
S曲线函数,加速和减速同理,返回值是表的个数
uint16_t _stepmotor_calc(uint16_t min, uint16_t max, float rate, float val[1500])
{
uint16_t i;
float Ainf_v;
uint16_t AInf_t;
float end_v;
float start_v;
end_v=100000/min;
start_v=100000/max;
Ainf_v=(end_v-start_v)/2+start_v;
AInf_t=sqrt(2*(Ainf_v-start_v)/rate);
for(i=0;i
代码实现: 电机的配置 :
void RCC_Cfg(void)
{
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOA|RCC_APB2Periph_AFIO,ENABLE);
}
void GPIO_Cfg_gpio_b(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_1;
GPIO_Init(GPIOB,&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4|GPIO_Pin_5|GPIO_Pin_6|GPIO_Pin_7;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_10|GPIO_Pin_11;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
GPIO_WriteBit(GPIOA, GPIO_Pin_4, Bit_RESET); //OE使能
GPIO_WriteBit(GPIOA, GPIO_Pin_5, Bit_RESET); //细分1
GPIO_WriteBit(GPIOA, GPIO_Pin_6, Bit_SET); //细分2
GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_RESET); //ATT1衰减
GPIO_WriteBit(GPIOB, GPIO_Pin_11, Bit_SET); //ATT2衰减
GPIO_WriteBit(GPIOB, GPIO_Pin_0, Bit_RESET); //CW方向
}
void PWM_Cfg(void)
{
TIM_OCInitTypeDef TIM_OCInitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_DeInit(TIM3);
TIM_InternalClockConfig(TIM3);
TIM_TimeBaseStructure.TIM_Period = 65535; //arr
TIM_TimeBaseStructure.TIM_Prescaler = 200; // psc //Tclk/((arr+1)*(psc+1))Tclk;
TIM_TimeBaseStructure.TIM_ClockDivision =0;// TIM_CKD_DIV1
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure);
TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
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 = 0;
TIM_OC4Init(TIM3, &TIM_OCInitStructure);
TIM_CtrlPWMOutputs(TIM3,ENABLE);
}
主函数部分,整个运行的图像是个梯形,先加速在匀速在减速停止
#include "stm32f10x.h"
#include "math.h"
#include "pwm.h"
#define _ACC_DEC_MAX_COUNT 1500
#define _STEP_INT 8000
#define mortor_cw(x) x ? GPIO_SetBits(GPIOB,GPIO_Pin_0):GPIO_ResetBits(GPIOB,GPIO_Pin_0)
void stm32_init(void);
void delay_ms(u32 i);
void once_pwm(void);
int acc_i = 0;
int dec_i = 0;
int cw_buf=0;
uint16_t acc_count;
uint16_t dec_count;
typedef struct
{
int StepCount;
float acc_val[_ACC_DEC_MAX_COUNT];
float dec_val[_ACC_DEC_MAX_COUNT];
}str_mot;
str_mot motor_1;
void Delay(u32 nCount)
{
do{
}
while(nCount--);
}
int main()
{
int i = 0;
float temp = 0;
stm32_init();
RCC_Cfg();
GPIO_Cfg_gpio_b();
motor_1.StepCount=0;
acc_count=0;
dec_count=0;
PWM_Cfg();
TIM_SetCompare4(TIM3,(20/2));
acc_count = _stepmotor_calc(60,250,0.09,motor_1.acc_val);
dec_count = _stepmotor_calc(60,150,0.005,motor_1.dec_val);
for(i = 0;i
= (_STEP_INT-dec_count))
{
TIM_SetAutoreload(TIM3,motor_1.dec_val[(dec_i)]);
TIM_SetCompare4(TIM3,(motor_1.dec_val[(dec_i)]/2));
dec_i++;
}
}
}