直流無刷電機開環STM32控制-霍爾6步換向

ID:368911 · 發表于 2018-7-11 11:08

直流無刷電機開環控制程序-6步換向法

STM32單片機源程序如下:

#include "stm32f10x.h"
#include <stdio.h>
unsigned short int CCR1_Val = 0;
unsigned short int CCR2_Val = 0;
unsigned short int CCR3_Val = 0;
volatile unsigned char HALL_Value = 0;
unsigned char HALL_flag =1;
/*******************************************************************************
* 函數名稱: Timer1_Init();
* 功能描述: 定時器1初始化
* 輸入參數: void
* 返回參數: 無
********************************************************************************/
void PWM_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
//時鐘配置
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB,ENABLE); // 使能GPIOA/GPIOB端口
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_9|GPIO_Pin_10; //PWM???PA8,9,10
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //??????
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA,&GPIO_InitStructure); //???GPIO
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15; //PWM???PA7
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //??????
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB,&GPIO_InitStructure); //???GPIO
}
/*******************************************************************************
* 函數名稱: HALL_GPIO_Init();
* 功能描述: 霍爾端口初始化
* 輸入參數: void
* 返回參數: 無
********************************************************************************/
void HALL_GPIO_Init(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB , ENABLE); // 使能GPIOC端口
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1|GPIO_Pin_2; //PWM???PA7
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPD; //??????
GPIO_Init(GPIOB, &GPIO_InitStructure);
}
/*******************************************************************************
* 函數名稱: Timer1_Init();
* 功能描述: 定時器1初始化
* 輸入參數: void
* 返回參數: 無
********************************************************************************/
void Timer1_Init(void)
{
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_BDTRInitTypeDef TIM_BDTRInitStructure;
PWM_GPIO_Init(); //端口初始化
HALL_GPIO_Init();
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1 , ENABLE); // 打開定時器1的時鐘
// 默認20KHZ
//設定3對PWM占空比
CCR1_Val = 2799;
CCR2_Val = 2799;
CCR3_Val = 2799;
//設置定時器相關參數
TIM_TimeBaseInitStructure.TIM_Prescaler = 0; // 72MHZ
TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up; // 向上計數模式
TIM_TimeBaseInitStructure.TIM_Period = 3599; // 自動重裝載計數器周期的值
TIM_TimeBaseInitStructure.TIM_ClockDivision = 0; // 時鐘分頻系數--不分頻
TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM1,&TIM_TimeBaseInitStructure);
//PWM模式設置-CH1
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Timing; //PWM模式
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; //輸出使能
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;//互補端使能輸出
TIM_OCInitStructure.TIM_Pulse = CCR1_Val ; //設置占空比
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High; //設置輸出極性
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High; //設置輸出端互補極性
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set; //死區后輸出狀態
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set; //死區后互補端輸出狀態
TIM_OC1Init(TIM1, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = CCR2_Val ;
TIM_OC2Init(TIM1, &TIM_OCInitStructure);
TIM_OCInitStructure.TIM_Pulse = CCR3_Val ;
TIM_OC3Init(TIM1, &TIM_OCInitStructure);
//死區和剎車功能配置，使用了高級定時器
TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;//運行模式下輸出選擇
TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;//空閑模式下輸出選擇
TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_OFF; //鎖定設置
TIM_BDTRInitStructure.TIM_DeadTime = 0xc8; //死區時間--2us
TIM_BDTRInitStructure.TIM_Break = TIM_Break_Disable; //剎車功能使能
TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_High;//剎車輸入極性
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;//自動輸出使能
TIM_BDTRConfig(TIM1,&TIM_BDTRInitStructure);
TIM_CCPreloadControl(TIM1, ENABLE); //使能預裝值
TIM_ITConfig(TIM1, TIM_IT_COM, ENABLE); //開啟通信事件
TIM_Cmd(TIM1, ENABLE);
TIM_CtrlPWMOutputs(TIM1, ENABLE);
}
/*******************************************************************************
* 函數名稱: BLDC_Hall_Convet();
* 功能描述: 根據霍爾狀態進行換向--T1 T3 T5/T4 T6 T2排列
* 輸入參數: 無
* 返回參數: 無
********************************************************************************/
void BLDC_Hall_Convet(void)
{
// char PB0_Value,PB1_Value,PB2_Value;
// PB0_Value = GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_0);
// PB1_Value = GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_1)*2;
// PB2_Value = GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_2)*4;
//
// HALL_Value = PB0_Value+PB1_Value+PB2_Value;
HALL_Value =(unsigned char)((GPIO_ReadInputData(GPIOB) & 0x0007)); //讀轉子位置
if(HALL_flag ==1) //正轉
{
switch(HALL_Value) //根據轉子位置，決定CCER輸出相位和轉子字偏移量
{
case 0x05: //配置 T3/T4
/* Channel2 configuration */
TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1);
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
/* Channel1 configuration */
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);
TIM_ForcedOC1Config(TIM1,TIM_ForcedAction_Active);
/* Channel3 configuration */
TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_3,TIM_CCxN_Enable);
TIM_ForcedOC3Config(TIM1,TIM_ForcedAction_InActive);
TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
break;
case 0x04: //T4 T5
/* Channel3 configuration */
TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1);
TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
/* Channel1 configuration */
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);
TIM_ForcedOC1Config(TIM1,TIM_ForcedAction_Active);
/* Channel2 configuration */
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
TIM_ForcedOC2Config(TIM1,TIM_ForcedAction_InActive);
TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
break;
case 0x06: //T5 T6
/* Channel3 configuration */
TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1);
TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);
/* Channel2 configuration */
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
TIM_ForcedOC2Config(TIM1,TIM_ForcedAction_Active);
/* Channel1 configuration */
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);
TIM_ForcedOC1Config(TIM1,TIM_ForcedAction_InActive);
TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
break;
case 0x02: //T6 T1
/* Channel1 configuration */
TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);
/* Channel2 configuration */
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
TIM_ForcedOC2Config(TIM1,TIM_ForcedAction_Active);
/* Channel3 configuration */
TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);
TIM_ForcedOC3Config(TIM1,TIM_ForcedAction_InActive);
TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
break;
case 0x03: // T1 T2
TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1);
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
/* Channel3 configuration */
TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);
TIM_ForcedOC3Config(TIM1,TIM_ForcedAction_Active);
/* Channel2 configuration */
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_2,TIM_CCxN_Enable);
TIM_ForcedOC2Config(TIM1,TIM_ForcedAction_InActive);
TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
break;
case 0x01: //T2 T3
/* Channel2 configuration */
TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1 );
TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);
/* Channel3 configuration */
TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);
TIM_ForcedOC3Config(TIM1,TIM_ForcedAction_Active);
/* Channel1 configuration */
TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);
TIM_ForcedOC1Config(TIM1,TIM_ForcedAction_InActive);
TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
break;
default:break;
}
}
}
void Nvic_Init(void)
{
NVIC_InitTypeDef NVIC_InitStructure; //中斷結構體定?
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
NVIC_InitStructure.NVIC_IRQChannel = TIM1_TRG_COM_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; //搶占優先級0
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //從優先級0
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //使能IRQ通道
NVIC_Init(&NVIC_InitStructure);
// 可以繼續增加，設置中斷優先級
}
void TIM1_TRG_COM_IRQHandler(void)
{
/* Clear TIM1 COM pending bit */
TIM_ClearITPendingBit(TIM1, TIM_IT_COM);
BLDC_Hall_Convet();//換向
}
int main(void)
{
SystemInit(); //系統時鐘配置函數，通過不同的時鐘定義，來選擇不同的主頻
Nvic_Init();
Timer1_Init();
BLDC_Hall_Convet();
while(1)
{
}
}

復制代碼

所有資料51hei提供下載:

霍爾六步換向成功.rar (289.9 KB, 下載次數: 250)

ID:375234 · 發表于 2018-7-23 22:06

積分不足啊，等組了再來

ID:15170 · 發表于 2018-10-8 12:25

電機不動沒有跑起來。

ID:259898 · 發表于 2018-10-13 14:40

你好，你用的是無刷電機，怎么驅動的

ID:259898 · 發表于 2018-10-13 14:51

你好，怎么用單片機驅動無刷電機

ID:259898 · 發表于 2018-10-13 14:54

你好，無刷電機怎么用單片機驅動，可以告訴我嗎

ID:341045 · 發表于 2018-10-25 15:45

收藏了，謝謝分享

ID:324611 · 發表于 2018-12-13 13:17

收藏了，學些下，謝謝分享。

ID:368004 · 發表于 2018-12-13 16:39

收藏了

ID:445421 · 發表于 2018-12-13 19:57

我是初學者，過來學習的

ID:446351 · 發表于 2018-12-15 11:44

問一下作者，那電機怎么進行調速呢。

ID:479575 · 發表于 2019-2-23 10:22

積分夠后，下載學習學習。謝謝！

ID:247186 · 發表于 2019-4-30 17:26

謝謝樓主

ID:547944 · 發表于 2019-5-26 22:58

多謝樓主分享初學者謝啦

ID:549113 · 發表于 2019-5-28 11:03

謝謝樓主

ID:638203 · 發表于 2020-2-24 11:18

謝謝樓主的分享

ID:704942 · 發表于 2020-4-8 14:18

謝謝分享！！！！！！

ID:62514 · 發表于 2020-4-9 22:06

收藏一下，覺得有用，好好學習。

ID:252765 · 發表于 2020-4-11 11:28

謝謝樓主

ID:135281 · 發表于 2020-8-5 14:53

資料不錯，可以進行基礎參考

ID:785125 · 發表于 2020-8-6 15:35

用的什么驅動板呢？自己做嗎

ID:274323 · 發表于 2020-8-6 17:04

好收藏了

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直流無刷電機開環STM32控制-霍爾6步換向