三相直流无刷电机驱动程序.doc

1、1.检测霍尔传感器的值可以判断出转子的位置，再使能相应的上下桥臂，则能驱动电机运动；若要让电机持续转动，则必须再次检测传感器值及使能相应的上下桥臂。这里采用的是将霍尔传感器输出的三根线相边的 IO 口配置成外部中断，并且为边沿触发，在中断函数中加入传感器检测与上下桥臂切换程序，如此电机就能持续运转了。2.上桥臂的控制采用 IO 口置高低电平来控制上桥臂的通断，下桥臂则使用单片机内部集成的三路 PWM 波来控制，通过控制 PWM 波的占空比，可以实现对电机的调速了。实际测得，占空比与电机的速度成正比例关系，在 PWM 波频率为 20KHz 时，占空比增加 1%，速度增加 60rpm，并在占空比为

2、 53%时达到额定转速 3000rpm（空载） 。3.速度测量则采用如下公式：电机每转一圈，霍尔值改变 6 次 x5 个周期=30 次，记录边沿触发的中断次数 N/30=电机转 过的圈数,设运转时间为 t(s)则电机转速 v=N/30/t*60 rpm。即动转时间为 2s 时，霍尔值改变次数即为速度值，单位 rpm。4.调速：给定速度，由电机驱动板自动由当前速度平滑过渡到给定速度。实际测试发现，速度变化量很大时，电机会有突然加速或减速时的冲击；因此，调速应有一个缓冲的过程。即加速或减速应以小步进缓慢增加或减少占空比来让速度渐渐达到最终值。#include “stm32f10x.h“#inclu

3、de “driver_motor.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#define V_Dn_On GPI

4、OA-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 /u8 Motor_EN=0;/u8 Hor_Value=7;/u16 TIM2_Conter=0;u16 Ha

5、ll_Conter=0;MotorStruct Motor=CLOCK,40,STOP;/* 函数：void IO_Init(void)* 描述：IO* 参数：* 返回：* 其它：*/void IO_Init(void)GPIO_InitTypeDef GPIO_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_Pi

6、n_12;GPIO_InitStruct.GPIO_Mode=GPIO_Mode_Out_PP;GPIO_InitStruct.GPIO_Speed=GPIO_Speed_2MHz;GPIO_Init(GPIOB, /*霍尔传感器中断*/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, /HarlGPIO_EX

7、TILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource11);GPIO_EXTILineConfig(GPIO_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_

8、InitStructure.EXTI_Trigger = EXTI_Trigger_Rising_Falling; EXTI_InitStructure.EXTI_LineCmd = ENABLE; EXTI_Init( /*函数：void PWM_Init(void)描述：配置 PWM 定时器 TIM1参数：返回：无*/void PWM_Init(void)GPIO_InitTypeDef GPIO_InitStructure;TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;TIM_OCInitTypeDef TIM_OCInitStructur

9、e;/TIM_BDTRInitTypeDef TIM_BDTRInitStructure;TIM_Cmd(TIM1 , DISABLE);TIM_CtrlPWMOutputs(TIM1, DISABLE);/禁止 OC 输出/IO 口设置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_10MH

10、z;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;GPIO_Init(GPIOA, 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_P

11、P;GPIO_Init(GPIOB, /定时器设置TIM_TimeBaseInitStruct.TIM_Period = PWM_PERIOD_T;/5 极电机，3000RPM ，每个 Step有 10 个脉冲 ，载波 15KHZTIM_TimeBaseInitStruct.TIM_Prescaler = 2; TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;TIM_TimeBaseInitStruct.TIM_

12、RepetitionCounter = 0;TIM_TimeBaseInit(TIM1 , /TIM_ClearITPendingBit(TIM1, TIM_IT_Update);/TIM_ARRPreloadConfig(TIM1, ENABLE);/TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE);/配置 PWM 输出TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCIni

13、tStructure.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_OCIdleState_Set;TIM_OCInitStructure.TIM_OCNIdleState

14、 = TIM_OCNIdleState_Set; TIM_OC1Init(TIM1, TIM_OC2Init(TIM1, TIM_OC3Init(TIM1, TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable);TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable);TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable);TIM_ARRPreloadConfig(TIM1, ENABLE); /使能 TIMx 在 ARR 上的预装载寄存器 TIM_Cmd(TIM1 ,

15、 ENABLE);TIM_Cmd(TIM1 , ENABLE);TIM_CtrlPWMOutputs(TIM1, ENABLE);/*函数：void Motor_Init(void)描述：参数：返回：*/void Motor_Init(void)IO_Init();PWM_Init();/*函数：void Flash_Led(u8 n)描述：参数：返回：*/void Flash_Led(u8 n)u8 i=0;for(i=0;iCCR1=pulse;break;case 2 :TIM1-CCR2=pulse;break;case 3 :TIM1-CCR3=pulse;break;default

16、 :break;/*函数：PWM_T_Output描述：设置相应的 PWM 梯形波输出参数：pName 上桥臂名称，nName 下桥臂名称返回：无*/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_SetBits(GPIOB, GPIO_Pin_13 | GPIO_Pin_15 );GPIO_ResetB

17、its(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);TIM_SetCompare3(TIM1,0);TIM_SetCompare1(TIM1,(u16)(PWM_PERI

18、OD_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_PERIOD_T * mRate / 100);break;default:TIM_SetCompare1(TIM1,0);TIM_SetCom

19、pare2(TIM1,0);TIM_SetCompare3(TIM1,0);TIM_SetAutoreload(TIM1, PWM_PERIOD_T);/*函数：PWM_T_Calculation描述：梯形波计算参数：HallValue 霍尔值，mRate 调制百分比，direction 方向返回：无*/void PWM_T_Calculation(u8 hallValue , u8 mRate , u8 direction)if(direction = 1)switch(hallValue) case 5:PWM_T_Output(1 , 3 , mRate);break;case 1:PW

20、M_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:PWM_T_Output(4 , 4 , 0);break;elseswitch(hallValue)case 5:PWM_T_Output(3 , 1 , mRate);break;case

21、 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 , 2 , mRate);break;default:PWM_T_Output(4 , 4 , 0);break;/*函数：PWM_T_Int描述：定时器中断程序，根据霍尔位置设置输出梯形波参数：direction=顺时针/逆时针 ,m

22、Rate 调制率返回：无*/void PWM_T_Int(u8 direction , u8 mRate)u8 hallValueTemp;u8 hallValue;hallValueTemp = GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_11) + (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_12) 1) + (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_15) 2);hallValue = hallValueTemp;PWM_T_Calculation(hallValue , mRate ,

23、 direction);/*函数：PWM_Stop描述：PWM 控制信号使能输出, 禁止 TIM1 中断，使能 TIM1 中断参数：pwmflag=DISABLE,PWM 信号使能输出，pwmflag=ENABLE,禁止 PWM 输出返回：无*/void PWM_Stop(u8 pwmflag)NVIC_InitTypeDef NVIC_InitStructure;GPIO_InitTypeDef GPIO_InitStructure;if(pwmflag = ENABLE)/禁止 PWM 输出TIM_Cmd(TIM1 , DISABLE);/TIM_Cmd(TIM2 , DISABLE);N

24、VIC_InitStructure.NVIC_IRQChannel = TIM1_UP_TIM16_IRQn;NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2;NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;NVIC_InitStructure.NVIC_IRQChannelCmd = DISABLE;NVIC_Init(GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10;GPIO_InitStruc

25、ture.GPIO_Speed = GPIO_Speed_2MHz;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;GPIO_Init(GPIOA, GPIO_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 输出NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_TIM16_IRQn;NVIC_InitStructure.NVIC

26、_IRQChannelPreemptionPriority=2;NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;NVIC_Init(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_AF_O

27、D;GPIO_Init(GPIOA, / TIM_Cmd(TIM2 , ENABLE);/*函数：void Motor_Start(void)描述：启动电机参数：返回：*/void Motor_Start(void) PWM_T_Int(Motor.Dir,Motor.Speed);/*函数：void Motor_Stop(void)描述：停止参数：返回：*/void Motor_Stop(void)/U_Up_On;V_Up_On;W_Up_On;/U_Dn_On;V_Dn_On;W_Dn_On;PWM_T_Output(4,4,0);/*函数：void EXTI15_10_IRQHandler(u8 dir,u8 hall)描述：霍尔传感器中断参数：返回：*/void EXTI15_10_IRQHandler(void)Hall_Conter+;if (EXTI_GetITStatus(EXTI_Line11) != RESET)|(EXTI_GetITStatus(EXTI_Line12) != RESET)|(EXTI_GetITStatus(EXTI_Line15) != RESET)