STM32F103驱动无刷直流电机应用思路

只看该作者 · 2021-9-2 16:29

一、STM32F103驱动无刷直流电机基本思路
无刷电机控制是基于6步换相法如下图所示：

只看该作者 · 2021-9-2 16:30

二、STM32F103驱动无刷直流电机方法介绍
通常我们用的方法是使用高级定时器3通道互补输出去驱动mos管，用通用定时器连接霍尔传感器去触发中断，在中断中换相，基本原理如下图所示：

只看该作者 · 2021-9-2 16:31

三、驱动代码编写
/**********************************************************************
* Description : None
* Input       : None
* Output       : None
* Return       : None
* Attention    : None
**********************************************************************/
void BLDC_GPIOConfig(void)
{
GPIO_InitTypeDef GPIO_InitStructure;

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_9|GPIO_Pin_10;  //TIM1输出
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOA, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15;//TIM1输出
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6|GPIO_Pin_7;             //TIM3的霍尔输入
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOA, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;                      //TIM3的霍尔输入
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_Init(GPIOB, &GPIO_InitStructure);
}
/**********************************************************************
* Description : None
* Input       : None
* Output       : None
* Return       : None
* Attention    : None
**********************************************************************/
void BLDC_TIM1Config(void)
{
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;    //基本结构体变量定义
TIM_OCInitTypeDef  TIM_OCInitStructure;                   //输出结构体变量定义
TIM_BDTRInitTypeDef  TIM_BDTRInitStructure;    //死区刹车结构体变量定义

TIM_DeInit(TIM1);

TIM_TimeBaseStructure.TIM_Prescaler = 2;    //TIM基本初始化
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_CenterAligned2;//中央对齐计数模式
TIM_TimeBaseStructure.TIM_Period = 1499;    //PWM 16K
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;

TIM_TimeBaseInit(TIM1,&TIM_TimeBaseStructure);

TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;    //TIM输出通道初始化
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_Pulse =1200;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;
TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCIdleState_Reset;

TIM_OC1Init(TIM1,&TIM_OCInitStructure);

TIM_OCInitStructure.TIM_Pulse =1200;
TIM_OC2Init(TIM1,&TIM_OCInitStructure);

TIM_OCInitStructure.TIM_Pulse =1200;
TIM_OC3Init(TIM1,&TIM_OCInitStructure);

TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;    //TIM输出通道4初始化，用来触发AD注入采样
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
TIM_OCInitStructure.TIM_Pulse =1495;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;

TIM_OC4Init(TIM1,&TIM_OCInitStructure);

TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable; //死区刹车初始化
TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_OFF;
TIM_BDTRInitStructure.TIM_DeadTime = 100;
TIM_BDTRInitStructure.TIM_Break = TIM_Break_Disable;    //如打开，开机无输出且状态紊乱？？？？
TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_Low;
TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;

TIM_BDTRConfig(TIM1,&TIM_BDTRInitStructure);

TIM_OC1PreloadConfig(TIM1,TIM_OCPreload_Enable);  //使能捕获比较寄存器预装载（通道1）

TIM_OC2PreloadConfig(TIM1,TIM_OCPreload_Enable);    //使能捕获比较寄存器预装载（通道2）

TIM_OC3PreloadConfig(TIM1,TIM_OCPreload_Enable);    //使能捕获比较寄存器预装载（通道3）

TIM_SelectInputTrigger(TIM1, TIM_TS_ITR2);       //输入触发源选择TIM3

//TIM_SelectSlaveMode(TIM1, TIM_SlaveMode_Trigger);//从模式选择触发

TIM_CtrlPWMOutputs(TIM1,ENABLE);

TIM_Cmd(TIM1,ENABLE);
}
/**********************************************************************
* Description : None
* Input       : None
* Output       : None
* Return       : None
* Attention    : None
**********************************************************************/
void BLDC_TIM3Config(void)
{
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;    //基本结构体变量定义
TIM_ICInitTypeDef TIM_ICInitStructure;                   //定义结构体变量
TIM_OCInitTypeDef  TIM_OCInitStructure;                   //输出结构体变量定义

TIM_DeInit(TIM3);

TIM_TimeBaseStructure.TIM_Prescaler = 71;    //TIM基本初始化
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period =65535;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;

TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure);

TIM_ICInitStructure.TIM_Channel = TIM_Channel_1;          //选择通道1
TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_Rising; //输入上升沿捕获
TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_TRC;  //配置通道为输入，并映射到哪里
TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;    //输入捕获预分频值
TIM_ICInitStructure.TIM_ICFilter = 10;                   //输入滤波器带宽设置

TIM_ICInit(TIM3, &TIM_ICInitStructure);                   //输入通道配置

TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;       //TIM输出通道初始化
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse =1023;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;

TIM_OC2Init(TIM3,&TIM_OCInitStructure);

TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_Timing;       //TIM输出通道初始化
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
TIM_OCInitStructure.TIM_Pulse =65535;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;

TIM_OC4Init(TIM3,&TIM_OCInitStructure);

TIM_SelectHallSensor(TIM3,ENABLE);                         //使能TIMx的霍尔传感器接口

TIM_SelectInputTrigger(TIM3, TIM_TS_TI1F_ED);             //输入触发源选择

TIM_SelectSlaveMode(TIM3, TIM_SlaveMode_Reset);          //从模式选择

TIM_SelectMasterSlaveMode(TIM3, TIM_MasterSlaveMode_Enable);//主从模式选择

TIM_SelectOutputTrigger(TIM3, TIM_TRGOSource_OC2Ref);    //选择输出触发模式(TRGO端)

TIM_ITConfig(TIM3, TIM_IT_Trigger|TIM_IT_CC4, ENABLE);    //开定时器中断
//TIM_Cmd(TIM3,ENABLE);
}
/**********************************************************************
* Description : None
* Input       : None
* Output       : None
* Return       : None
* Attention    : None
**********************************************************************/
void huanxiang(void)
{
  u8 irq_zhuanzi;

  irq_zhuanzi=(u8)((GPIOA->IDR&0x000000c0)>>6); //读转子位置
  irq_zhuanzi|=(u8)((GPIOB->IDR&0x00000001)<<2);
  if(zheng_fan==RESET)
  {    //正转
switch(irq_zhuanzi)    //根据转子位置，决定CCER输出相位和转子字偏移量
{
/*    case 0x01:{
         TIM1->CCER=0x3081; //1,4
      };break;
   case 0x03:{
   TIM1->CCER=0x3180; //4,5
            };break;
       case 0x02:{
   TIM1->CCER=0x3108; //2,5
      };break;
   case 0x06:{
   TIM1->CCER=0x3018; //2,3
            };break;
   case 0x04:{
   TIM1->CCER=0x3810; //3,6
            };break;
   case 0x05:{

   TIM1->CCER=0x3801; //1,6
            };break;
   default:break;  */
   case 0x05:{
         TIM1->CCER=0x3081; //1,4
      };break;
   case 0x04:{
   TIM1->CCER=0x3180; //4,5
            };break;
       case 0x06:{
   TIM1->CCER=0x3108; //2,5
      };break;
   case 0x02:{
   TIM1->CCER=0x3018; //2,3
            };break;
   case 0x03:{
   TIM1->CCER=0x3810; //3,6
            };break;
   case 0x01:{

   TIM1->CCER=0x3801; //1,6
            };break;
   default:break;
}
  }
  else
  {    //反转
switch(irq_zhuanzi)    //根据转子位置，决定CCER输出相位和转子字偏移量
{
   case 0x01:{
         TIM1->CCER=0x3810;
      };break;
   case 0x05:{
   TIM1->CCER=0x3018;
            };break;
       case 0x04:{
   TIM1->CCER=0x3108;
      };break;
   case 0x06:{
   TIM1->CCER=0x3180;
            };break;
   case 0x02:{
   TIM1->CCER=0x3081;
            };break;
   case 0x03:{
   TIM1->CCER=0x3801;
            };break;
   default:break;
}
  }
}
/**************启动******************/
void BLDC_Start(void)
{
TIM1->SMCR|=0x0006;       //开TIM1的输入触发
TIM1->DIER=0x0040;       //开TIM1的触发中断
huanxiang();       //调用换向函数，启动
TIM3->CR1|=0x0001;    //开TIM3
TIM3->DIER|=0x0050;    //开TIM3中断
}
void BLDC_Stop(void)
{
TIM1->SMCR&=0xfff8;    //关闭TIM1的输入触发
TIM1->CCER=0;             //关闭TIM1的六路输出
Delay_us(40);       //延时（加死区）
TIM1->CCER=0x0ccc;       //打开三路下管，进行能耗制动
while(stalling_count<1); //等待电机停止（TIM3连续溢出10次，即认为电机已停转）
TIM1->CCER=0;             //关闭TIM1的六路输出，关刹车
TIM3->CR1&=0xfffe;       //关闭TIM3
TIM3->CNT=0;             //清TIM3的计数器
TIM3->DIER&=0xffaf;    //关TIM3中断
}
/**
  * @brief  This function handles PPP interrupt request.
  * @param  None
  * @retval : None
  */
void TIM1_TRG_COM_IRQHandler(void)
{
  TIM1->SR&=0;          //清中断标志

  huanxiang();       //调用换向函数
}