三相直流無刷電機(jī)驅(qū)動(dòng)程序

1、1.檢測霍爾傳感器的值可以判斷出轉(zhuǎn)子的位置，再使能相應(yīng)的上下橋臂，則能驅(qū)動(dòng)電機(jī)運(yùn)動(dòng)；若要讓電機(jī)持續(xù)轉(zhuǎn)動(dòng)，則必須再次檢測傳感器值及使能相應(yīng)的上下橋臂。這里采用的是將霍爾傳感器輸出的三根線相邊的IO口配置成外部中斷，并且為邊沿觸發(fā)，在中斷函數(shù)中加入傳感器檢測與上下橋臂切換程序，如此電機(jī)就能持續(xù)運(yùn)轉(zhuǎn)了。2.上橋臂的控制采用IO口置高低電平來控制上橋臂的通斷，下橋臂則使用單片機(jī)內(nèi)部集成的三路PWM波來控制，通過控制PWM波的占空比，可以實(shí)現(xiàn)對(duì)電機(jī)的調(diào)速了。實(shí)際測得，占空比與電機(jī)的速度成正比例關(guān)系，在PWM波頻率為20KHz時(shí)，占空比增加1%，速度增加60rpm，并在占空比為53%時(shí)達(dá)到額定轉(zhuǎn)速3000

2、rpm（空載）。3.速度測量則采用如下公式：電機(jī)每轉(zhuǎn)一圈，霍爾值改變6次x5個(gè)周期=30次，記錄邊沿觸發(fā)的中斷次數(shù)N/30=電機(jī)轉(zhuǎn) 過的圈數(shù),設(shè)運(yùn)轉(zhuǎn)時(shí)間為t(s)則電機(jī)轉(zhuǎn)速v=N/30/t*60 rpm。即動(dòng)轉(zhuǎn)時(shí)間為2s時(shí)，霍爾值改變次數(shù)即為速度值，單位rpm。4.調(diào)速：給定速度，由電機(jī)驅(qū)動(dòng)板自動(dòng)由當(dāng)前速度平滑過渡到給定速度。實(shí)際測試發(fā)現(xiàn)，速度變化量很大時(shí)，電機(jī)會(huì)有突然加速或減速時(shí)的沖擊；因此，調(diào)速應(yīng)有一個(gè)緩沖的過程。即加速或減速應(yīng)以小步進(jìn)緩慢增加或減少占空比來讓速度漸漸達(dá)到最終值。#include "stm32f10x.h"#include "driver_mo

3、tor.h"#define PWM_PERIOD_T 400#define U_Up_On GPIOB->BSRR = GPIO_Pin_13#define U_Up_Off GPIOB->BRR = GPIO_Pin_13#define U_Dn_On GPIOA->BSRR = GPIO_Pin_8#define U_Dn_Off GPIOA->BRR = GPIO_Pin_8#define V_Up_On GPIOB->BSRR = GPIO_Pin_14#define V_Up_Off GPIOB->BRR = GPIO_Pin_14#de

4、fine V_Dn_On GPIOA->BSRR = GPIO_Pin_9#define V_Dn_Off GPIOA->BRR = GPIO_Pin_9#define W_Up_On GPIOB->BSRR = GPIO_Pin_15#define W_Up_Off GPIOB->BRR = GPIO_Pin_15#define W_Dn_On GPIOA->BSRR = GPIO_Pin_10#define W_Dn_Off GPIOA->BRR = GPIO_Pin_10#define SU_HOR GPIOA->IDR & GPIO_P

5、in_15#define SV_HOR GPIOA->IDR & GPIO_Pin_12#define SW_HOR GPIOA->IDR & GPIO_Pin_11/u8 Motor_Dir=0;/u8 Motor_EN=0;/u8 Hor_Value=7;/u16 TIM2_Conter=0;u16 Hall_Conter=0;MotorStruct Motor=CLOCK,40,STOP;/* 函數(shù)：void IO_Init(void)* 描述：IO* 參數(shù)：* 返回：* 其它：*/void IO_Init(void) GPIO_InitTypeDef GPI

6、O_InitStruct; EXTI_InitTypeDef EXTI_InitStructure; /GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE); /*使能SWD 禁用JTAG*/ /*LED Light*/ GPIO_InitStruct.GPIO_Pin=GPIO_Pin_12; GPIO_InitStruct.GPIO_Mode=GPIO_Mode_Out_PP; GPIO_InitStruct.GPIO_Speed=GPIO_Speed_2MHz; GPIO_Init(GPIOB, &GPIO_InitStr

7、uct); /*霍爾傳感器中斷*/ GPIO_InitStruct.GPIO_Pin=GPIO_Pin_11|GPIO_Pin_12|GPIO_Pin_15; GPIO_InitStruct.GPIO_Mode=GPIO_Mode_IN_FLOATING; GPIO_InitStruct.GPIO_Speed=GPIO_Speed_2MHz; GPIO_Init(GPIOA, &GPIO_InitStruct);/Harl GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource11); GPIO_EXTILineConfig(G

8、PIO_PortSourceGPIOA, GPIO_PinSource12); GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource15); EXTI_InitStructure.EXTI_Line = EXTI_Line11 | EXTI_Line12|EXTI_Line15; EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt; EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising_Falling; EXTI_InitStruc

9、ture.EXTI_LineCmd = ENABLE; EXTI_Init(&EXTI_InitStructure); /*函數(shù)：void PWM_Init(void)描述：配置PWM定時(shí)器TIM1參數(shù)：返回：無*/void PWM_Init(void) GPIO_InitTypeDef GPIO_InitStructure; TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct; TIM_OCInitTypeDef TIM_OCInitStructure; /TIM_BDTRInitTypeDef TIM_BDTRInitStructure;

10、TIM_Cmd(TIM1 , DISABLE); TIM_CtrlPWMOutputs(TIM1, DISABLE);/禁止OC輸出 /IO口設(shè)置 GPIO_SetBits(GPIOA, GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10); /PWM口 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_

11、AF_PP; GPIO_Init(GPIOA, &GPIO_InitStructure); GPIO_SetBits(GPIOB, GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15);/普通IO口 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; GPIO_Init(GP

12、IOB, &GPIO_InitStructure); /定時(shí)器設(shè)置 TIM_TimeBaseInitStruct.TIM_Period = PWM_PERIOD_T;/5極電機(jī)，3000RPM，每個(gè)Step有10個(gè)脈沖，載波15KHZ TIM_TimeBaseInitStruct.TIM_Prescaler = 2; TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1; TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseInitSt

13、ruct.TIM_RepetitionCounter = 0; TIM_TimeBaseInit(TIM1 , &TIM_TimeBaseInitStruct); /TIM_ClearITPendingBit(TIM1, TIM_IT_Update); /TIM_ARRPreloadConfig(TIM1, ENABLE); /TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE); /配置PWM輸出 TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; TIM_OCInitStructure.TIM_Outpu

14、tState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable; TIM_OCInitStructure.TIM_Pulse = 1; TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_Low; TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleSta

15、te_Set; TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set; TIM_OC1Init(TIM1, &TIM_OCInitStructure); TIM_OC2Init(TIM1, &TIM_OCInitStructure); TIM_OC3Init(TIM1, &TIM_OCInitStructure); TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable); TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enabl

16、e); TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable); TIM_ARRPreloadConfig(TIM1, ENABLE); /使能TIMx在ARR上的預(yù)裝載寄存器 TIM_Cmd(TIM1 , ENABLE); TIM_Cmd(TIM1 , ENABLE); TIM_CtrlPWMOutputs(TIM1, ENABLE);/*函數(shù)：void Motor_Init(void)描述：參數(shù)：返回：*/void Motor_Init(void) IO_Init(); PWM_Init();/*函數(shù)：void Flash_Led(u8 n)描述：

17、參數(shù)：返回：*/void Flash_Led(u8 n) u8 i=0; for(i=0;i<n;i+) Led_On; DelayMs(100*n); Led_Off; DelayMs(100*n); /*函數(shù)：void SetPWMduty(u8 PWMChanel,u16 pulse)描述：設(shè)置pwm波占空比參數(shù)：返回：*/void SetPWMduty(u8 PWMChanel,u16 pulse) switch(PWMChanel) case 1 : TIM1->CCR1=pulse; break; case 2 : TIM1->CCR2=pulse; break;

18、 case 3 : TIM1->CCR3=pulse; break; default : break; /*函數(shù)：PWM_T_Output描述：設(shè)置相應(yīng)的PWM梯形波輸出參數(shù)：pName上橋臂名稱，nName下橋臂名稱返回：無*/void PWM_T_Output(u8 pName , u8 nName , u8 mRate) switch(pName) case 1: GPIO_SetBits(GPIOB, GPIO_Pin_15 | GPIO_Pin_14 ); GPIO_ResetBits(GPIOB , GPIO_Pin_13); break; case 2: GPIO_SetB

19、its(GPIOB, GPIO_Pin_13 | GPIO_Pin_15 ); GPIO_ResetBits(GPIOB , GPIO_Pin_14); break; case 3: GPIO_SetBits(GPIOB, GPIO_Pin_13 | GPIO_Pin_14 ); GPIO_ResetBits(GPIOB , GPIO_Pin_15); break; default: GPIO_SetBits(GPIOB, GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15); switch(nName) case 1: TIM_SetCompare2(TIM1,0

20、); TIM_SetCompare3(TIM1,0); TIM_SetCompare1(TIM1,(u16)(PWM_PERIOD_T * mRate / 100); break; case 2: TIM_SetCompare3(TIM1,0); TIM_SetCompare1(TIM1,0); TIM_SetCompare2(TIM1,(u16)(PWM_PERIOD_T * mRate / 100); break; case 3: TIM_SetCompare2(TIM1,0); TIM_SetCompare1(TIM1,0); TIM_SetCompare3(TIM1,(u16)(PWM

21、_PERIOD_T * mRate / 100); break; default: TIM_SetCompare1(TIM1,0); TIM_SetCompare2(TIM1,0); TIM_SetCompare3(TIM1,0); TIM_SetAutoreload(TIM1, PWM_PERIOD_T);/*函數(shù)：PWM_T_Calculation描述：梯形波計(jì)算參數(shù)：HallValue霍爾值，mRate調(diào)制百分比，direction方向返回：無*/void PWM_T_Calculation(u8 hallValue , u8 mRate , u8 direction) if(direc

22、tion = 1) switch(hallValue) case 5: PWM_T_Output(1 , 3 , mRate); break; case 1: PWM_T_Output(1 , 2 , mRate); break; case 3: PWM_T_Output(3 , 2 , mRate); break; case 2: PWM_T_Output(3 , 1 , mRate); break; case 6: PWM_T_Output(2 , 1 , mRate); break; case 4: PWM_T_Output(2 , 3 , mRate); break; default:

23、 PWM_T_Output(4 , 4 , 0); break; else switch(hallValue) case 5: PWM_T_Output(3 , 1 , mRate); break; case 1: PWM_T_Output(2 , 1 , mRate); break; case 3: PWM_T_Output(2 , 3 , mRate); break; case 2: PWM_T_Output(1 , 3 , mRate); break; case 6: PWM_T_Output(1 , 2 , mRate); break; case 4: PWM_T_Output(3 ,

24、 2 , mRate); break; default: PWM_T_Output(4 , 4 , 0); break; /*函數(shù)：PWM_T_Int描述：定時(shí)器中斷程序，根據(jù)霍爾位置設(shè)置輸出梯形波參數(shù)：direction=順時(shí)針/逆時(shí)針,mRate調(diào)制率返回：無*/void PWM_T_Int(u8 direction , u8 mRate) u8 hallValueTemp; u8 hallValue; hallValueTemp = GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_11) + (GPIO_ReadInputDataBit(GPIOA, GPIO

25、_Pin_12) << 1) + (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_15) << 2); hallValue = hallValueTemp; PWM_T_Calculation(hallValue , mRate , direction);/*函數(shù)：PWM_Stop描述：PWM控制信號(hào)使能輸出,禁止TIM1中斷，使能TIM1中斷參數(shù)：pwmflag=DISABLE,PWM信號(hào)使能輸出，pwmflag=ENABLE,禁止 PWM輸出返回：無*/void PWM_Stop(u8 pwmflag) NVIC_InitTypeDef

26、 NVIC_InitStructure; GPIO_InitTypeDef GPIO_InitStructure; if(pwmflag = ENABLE)/禁止 PWM輸出 TIM_Cmd(TIM1 , DISABLE); /TIM_Cmd(TIM2 , DISABLE); NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_TIM16_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2; NVIC_InitStructure.NVIC_IRQChannelSubPriority =

27、1; NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE; NVIC_Init(&NVIC_InitStructure); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD; GPIO_Init(GPIOA, &GPIO_InitStructure); GP

28、IO_SetBits(GPIOA, GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10); /PWM口 /PWM_T_Output(4 , 4 , 0); if(pwmflag = DISABLE)/使能PWM輸出 NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_TIM16_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz; GPIO_InitStructu