求助mangui哥，电机驱动器问题
自己设计的驱动器硬件没问题了，软件怎么也驱动不起来，4拍双四拍八拍都试了电机就是抖动，板子上的保险都快烧了就是转不起来什么情况呢实在是没辙了？附个程序就是个4拍的，是周期频率的问题吗？
#include "DSP28x_Project.h" // Device Headerfile and Examples Include File
// Prototype statements for functions found within this file.
void InitEPwm1Example(void);
void InitEPwm2Example(void);
interrupt void epwm1_tzint_isr(void);
interrupt void epwm2_tzint_isr(void);
void Gpio_setup1(void);
// Global variables used in this example
Uint32EPwm1TZIntCount;
Uint32EPwm2TZIntCount;
//int i;
void main(void)
{
// Step 1. Initialize System Control:
// PLL, WatchDog, enable Peripheral Clocks
// This example function is found in the DSP2803x_SysCtrl.c file.
InitSysCtrl();
// Step 2. Initalize GPIO:
// This example function is found in the DSP2803x_Gpio.c file and
// illustrates how to set the GPIO to it's default state.
// InitGpio();// Skipped for this example
// For this case just init GPIO pins for ePWM1, ePWM2, and TZ pins
InitEPwm1Gpio();
InitEPwm2Gpio();
InitTzGpio();
// Step 3. Clear all interrupts and initialize PIE vector table:
// Disable CPU interrupts
DINT;
// Initialize the PIE control registers to their default state.
// The default state is all PIE interrupts disabled and flags
// are cleared.
// This function is found in the DSP2803x_PieCtrl.c file.
InitPieCtrl();
// Disable CPU interrupts and clear all CPU interrupt flags:
IER = 0x0000;
IFR = 0x0000;
// Initialize the PIE vector table with pointers to the shell Interrupt
// Service Routines (ISR).
// This will populate the entire table, even if the interrupt
// is not used in this example.This is useful for debug purposes.
// The shell ISR routines are found in DSP2803x_DefaultIsr.c.
// This function is found in DSP2803x_PieVect.c.
InitPieVectTable();
// Interrupts that are used in this example are re-mapped to
// ISR functions found within this file.
EALLOW;// This is needed to write to EALLOW protected registers
PieVectTable.EPWM1_TZINT = &epwm1_tzint_isr;
PieVectTable.EPWM2_TZINT = &epwm2_tzint_isr;
EDIS; // This is needed to disable write to EALLOW protected registers
// Step 4. Initialize all the Device Peripherals:
// This function is found in DSP2803x_InitPeripherals.c
// InitPeripherals();// Not required for this example
EALLOW;
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;
EDIS;
InitEPwm1Example();
InitEPwm2Example();
Gpio_setup1();
EALLOW;
SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;
EDIS;
// Step 5. User specific code, enable interrupts
// Initalize counters:
EPwm1TZIntCount = 0;
EPwm2TZIntCount = 0;
// Enable CPU INT3 which is connected to EPWM1-3 INT:
IER |= M_INT2;
// Enable EPWM INTn in the PIE: Group 2 interrupt 1-3
PieCtrlRegs.PIEIER2.bit.INTx1 = 1;
PieCtrlRegs.PIEIER2.bit.INTx2 = 1;
// Enable global Interrupts and higher priority real-time debug events:
EINT; // Enable Global interrupt INTM
ERTM; // Enable Global realtime interrupt DBGM
// Step 6. IDLE loop. Just sit and loop forever (optional):
/* for(a=100;a>50;a--)
{ int j,k;
i=a;
InitEPwm1Example();
InitEPwm2Example();
for(j=0;j<100;j++)
for(k=0;k<500;k++);
}
while(1)
{
i=50;
InitEPwm1Example();
InitEPwm2Example();
}*/
for(;;)
{
asm(" NOP");
}
}
interrupt void epwm1_tzint_isr(void)
{
EPwm1TZIntCount++;
/*EALLOW;
EPwm1Regs.TZCLR.bit.DCAEVT1 = 1;
EPwm1Regs.TZCLR.bit.INT = 1;
EDIS;*/
// Acknowledge this interrupt to receive more interrupts from group 2
PieCtrlRegs.PIEACK.all = PIEACK_GROUP2;
}
interrupt void epwm2_tzint_isr(void)
{
EPwm2TZIntCount++;
// Clear the flags - we will continue to take
// this interrupt until the TZ pin goes high
//
/*EALLOW;
EPwm2Regs.TZCLR.bit.CBC = 1;
EPwm1Regs.TZCLR.bit.DCAEVT1 = 1;
EPwm2Regs.TZCLR.bit.INT = 1;
EDIS;*/
// Acknowledge this interrupt to receive more interrupts from group 2
PieCtrlRegs.PIEACK.all = PIEACK_GROUP2;
}
void Gpio_setup1(void)
{
EALLOW;
GpioCtrlRegs.GPAPUD.bit.GPIO12 = 0;// GPIO26 = GPIO26
GpioDataRegs.GPACLEAR.bit.GPIO12 = 1;
GpioCtrlRegs.GPAMUX1.bit.GPIO12 = 1;
GpioCtrlRegs.GPADIR.bit.GPIO12 = 1;
EDIS;
}
void InitEPwm1Example()
{
EPwm1Regs.CMPA.half.CMPA =2500 ;
EPwm1Regs.CMPB = 5000;
EPwm1Regs.TBPRD = 10000;
EPwm1Regs.TBPHS.half.TBPHS = 0x0000; // Phase is 0
EPwm1Regs.TBCTR = 0x0000; // Clear counter
// Setup counter mode
EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up
EPwm1Regs.TBCTL.bit.HSPCLKDIV = 50; // Clock ratio to SYSCLKOUT
EPwm1Regs.TBCTL.bit.CLKDIV = 50;//0x0-1分频,TBCLK = SYSCLKOUT / (HSPCLKDIV × CLKDIV)
EPwm1Regs.TBCTL.bit.PHSEN = TB_DISABLE; // Master module
EPwm1Regs.TBCTL.bit.PRDLD = TB_SHADOW;
EPwm1Regs.TBCTL.bit.SYNCOSEL = TB_CTR_ZERO; // Sync down-stream module
// Setup shadowing
EPwm1Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;
EPwm1Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
EPwm1Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;// Load on Zero时间基准计数器等于周期
EPwm1Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;
// Action Qualifier SubModule Registers
EPwm1Regs.AQCTLA.bit.ZRO = AQ_SET;
EPwm1Regs.AQCTLA.bit.CAU = AQ_CLEAR;
EPwm1Regs.AQCTLB.bit.CAU = AQ_SET;
EPwm1Regs.AQCTLB.bit.CBU = AQ_CLEAR;
}
void InitEPwm2Example()
{
EPwm2Regs.CMPA.half.CMPA =2500 ;
EPwm2Regs.CMPB = 5000;
EPwm2Regs.TBPRD =10000 ;
// Setup TBCLK
EPwm2Regs.TBPHS.half.TBPHS = 0x1388; // Phase is 0
EPwm2Regs.TBCTR = 0x0000; // Clear counter
// Setup counter mode
EPwm2Regs.TBCTL.bit.CTRMODE = TB_COUNT_UP; // Count up
EPwm2Regs.TBCTL.bit.HSPCLKDIV = 50; // Clock ratio to SYSCLKOUT
EPwm2Regs.TBCTL.bit.CLKDIV = 50;//0x0-1分频,TBCLK = SYSCLKOUT / (HSPCLKDIV × CLKDIV)
EPwm2Regs.TBCTL.bit.PHSEN = TB_ENABLE; // Slave module
EPwm2Regs.TBCTL.bit.PRDLD = TB_SHADOW;
EPwm2Regs.TBCTL.bit.SYNCOSEL = TB_SYNC_IN;//TB_SYNC_DISABLE; // sync flow-through
// Setup shadowing
EPwm2Regs.CMPCTL.bit.SHDWAMODE = CC_SHADOW;
EPwm2Regs.CMPCTL.bit.SHDWBMODE = CC_SHADOW;
EPwm2Regs.CMPCTL.bit.LOADAMODE = CC_CTR_ZERO;// Load on Zero
EPwm2Regs.CMPCTL.bit.LOADBMODE = CC_CTR_ZERO;
// Action Qualifier SubModule Registers
EPwm2Regs.AQCTLA.bit.ZRO = AQ_SET;
EPwm2Regs.AQCTLA.bit.CAU = AQ_CLEAR;
EPwm2Regs.AQCTLB.bit.CAU = AQ_SET;
EPwm2Regs.AQCTLB.bit.CBU = AQ_CLEAR;
}
看看你的赢家啊 最好先别挂电机 先看输出波形 方便的话看看原理图 保险烧了 如果是H桥的话
应该有上下臂同时导通的情况 一会我把原理图给发上来现在没在手边。就是普通的H桥电路，我用的2104型号的MOSFET驱动芯片按理说不应该出现上下桥导通的现象啊，驱动的是两相双极性步进电机，DSP28035 EPWM引脚直接发出大概250hz的脉宽波我一会把波形图也发上来 这是那个波形图 本帖最后由 控制寄存器 于 2017-6-10 21:50 编辑
这个是驱动部分原理图，其实也就是桥式电路，现在的现象就是通过DSP发生脉宽波电机抖动，但是我觉得我的波形跟周几都没什么问题啊不知道问题在哪了 控制寄存器 发表于 2017-4-13 16:54
这个是驱动部分原理图，其实也就是桥式电路，现在的现象就是通过DSP发生脉宽波电机抖动，但是我觉得我的波 ...
恩 有了半桥驱动应该不会出现短路的情况
你有直流电机吗 在A+ A-之间接一个看看能不能转起来
并且速度和占空比成比例 不接电机时 你最好看看A B四相来的顺序信号是否合理
如果合理 那么继续降波形频率 再求助一下@zhangmangui哥一下现在电机能转只是我没有用输出口PWM功能，用的是普通IO口功能在两路高电平触发加了点延时，但是电机转起来一转一停的有停滞感，如果用EPWM功能直接发出没有延时的脉冲波怎么调周期电机都是抖动，我在想是不是我没有设置死区动作啊？这个死区动作怎么设置啊，我想让他每个高电平都上沿延时触发，但是EPWM1A、1B好像不能同事延时触发吧？请教一下勇士设置死区应该怎么设置啊 你的电机转动的电流是不是很大？
有没有查一下编码器的顺序是否正确。 mfliang 发表于 2017-4-24 19:57
你的电机转动的电流是不是很大？
有没有查一下编码器的顺序是否正确。
电流不小，编码器那块我还没编呢，现在电机转起来都费劲还没考虑编码器啊
控制寄存器 发表于 2017-4-23 21:28
再求助一下@zhangmangui哥一下现在电机能转只是我没有用输出口PWM功能，用的是普通IO口功能在两路高电平 ...
用IO几乎属于全速运行了 如果IO口可以转
那最大的可能就是PWM波频率太高
你将PWM波的频率放到1k左右 占空比放高点应该就可以转了 但是我拿示波器测试的买的驱动器从PWM发出的脉冲只有几百HZ，频率设置为1k合理吗？我先试试吧，另外想请教一下死区跟斩波子模块用不用设置？？不设置影响不影响？
控制寄存器 发表于 2017-4-25 11:11
但是我拿示波器测试的买的驱动器从PWM发出的脉冲只有几百HZ，频率设置为1k合理吗？我先试试吧，另外想请教 ...
H桥死区肯定是需要的 找相关寄存器配置
第一张图是我想要的斩波结果，第二幅图是我自己的斩波结果但是斩波器子模块设置没有说明不完全斩波是怎么实现的，想问一下@zhangmangui不完全斩波怎么设置的 ...@zhangmangui 再求助一下@zhangmangui哥一下
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