三相直流无刷电机驱动程序

1、For pers onal use only in study and research; not for commercial useFor pers onal use only in study and research; not for commercial use1.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10 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

2、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 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

3、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 stm32f10 x.h#in clude driver_motor.h #defi ne PWM_PERIOD_T 400#defi ne U_Up_ On GPIOB-BSRR = GPIO_Pin_13 #defi neU_Up_Off GPIOB-BRR = GPIO_Pin_13 #defi ne U_Dn_ OnGPIOA-BSRR = GPIO_Pin

4、_8 #defi ne U_Dn_Off GPIOA-BRR= GPIO_Pin_8#defi ne V_Up_ On GPIOB-BSRR = GPIO_Pin_14 #defi neV_Up_Off GPIOB-BRR = GPIO_Pin_14 #defi ne V_Dn_O nGPIOA-BSRR = GPIO_Pin_9 #defi ne V_Dn_Off GPIOA-BRR= GPIO_Pin_9 #defi ne W_Up_ On GPIOB-BSRR =GPIO_Pin_15 #defi ne W_Up_Off GPIOB-BRR = GPIO_Pin_15#defi ne W

5、_Dn_ On GPIOA-BSRR = GPIO_Pin_10 #defi neW_Dn_Off GPIOA-BRR = GPIO_Pin_10 #defi ne SU_HORGPIOA-IDR & GPIO_Pin_15 #defi ne SV_HOR GPIOA-IDR &GPIO_Pi n_12 #defi ne 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

6、 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*/GPIO_InitStruct.GPIO_Pin=GPIO_Pin_12;GPIO_InitStruct.GPIO_Mode=GP

7、IO_Mode_Out_PP;GPIO_InitStruct.GPIO_Speed=GPIO_Speed_2MHz;GPIO_Init(GPIOB, &GPIO_InitStruct);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);/HarlGPIO_EX

8、TILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource11);* LED Light* *霍尔传感器中断 */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 =EXT

9、I_Mode_Interrupt;EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising_Falling;EXTI_InitStructure.EXTI_LineCmd = ENABLE;EXTI_Init(&EXTI_InitStructure);/* 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_TimeBas

10、eInitStruct;TIM_OCInitTypeDef TIM_OCInitStructure;/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_1

11、0; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_10MHz;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;GPIO_Init(GPIOA, &GPIO_InitStructure);GPIO_SetBits(GPIOB, GPI0_Pin_13 | GPI0_Pin_14 | GPI0_Pin_15);/厝通 10 口GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15; GPI0_InitStructure.

12、GPI0_Speed =GPI0_Speed_10MHz;GPI0_InitStructure.GPI0_Mode = GPI0_Mode_0ut_PP;GPI0_Init(GPI0B, &GPI0_InitStructure);/定时器设置TIM_TimeBaseInitStruct.TIM_Period = PWM_PERI0D_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 = TI

13、M_CKD_DIV1; TIM_TimeBaseInitStruct.TIM_CounterMode =TIM_CounterMode_Up; TIM_TimeBaseInitStruct.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);/

14、配置 PWM 输出 TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;TIM_OCInitStructure.TIM_OutputState = 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_O

15、CNPolarity = TIM_OCNPolarity_Low; TIM_OCInitStructure.TIM_OCIdleState =TIM_OCIdleState_Set; TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Set;TIM_OC1Init(TIM1, &TIM_OCInitStructure);TIM_OC2Init(TIM1, &TIM_OCInitStructure);TIM_OC3Init(TIM1, &TIM_OCInitStructure);TIM_OC1PreloadCo

16、nfig(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 , ENABLE);TIM_Cmd(TIM1 , ENABLE);TIM_CtrlPWMOutputs(TIM1, ENABLE);/*函数： void Motor_Init(void)描述：

17、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 :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_

18、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_ResetBits(GPIOB , GPIO_Pin_14); break;case 3:GPIO_SetBits(GPIOB, GPIO_Pin_13 | GPIO_Pi

19、n_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_PERIOD_T * mRate / 100); break;case 2:TIM_SetCompare3(TIM1,0);TIM_SetCompare1(TI

20、M1,0); 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_SetCompare2(TIM1,0);TIM_SetCompare3(TIM1,0);TIM_SetAutoreload(TIM1, PWM_PERIO

21、D_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: PWM_T_Output(1 , 2 , mRate); break;case 3: PWM_T_Output(3 , 2 ,

22、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 1:PWM_T_Output(2 , 1 , mRate);break;case 3:PWM_T_O

23、utput(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 ,mRate 调制率 返回：无* */void PWM_T_Int(u8 direction

24、 , u8 mRate)u8 hallValueTemp;u8 hallValue;hallValueTemp = GPIO_ReadInputDataBit(GPIOA, (GPIO_ReadInputDataBit(GPIOA,GPIO_Pin_12) 1) + (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_15) 2);GPIO_Pin_11) +hallValue = hallValueTemp;PWM_T_Calculation(hallValue , mRate , direction);/*函数： PWM_Stop描述： PWM 控制信号使能输出

25、,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);NVIC_InitStructure.NVIC_IRQChannel = TIM

26、1_UP_TIM16_IRQn;NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=2;NVIC_InitStructure.NVIC_IRQChannelSubPriority = 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_Sp

27、eed =GPIO_Speed_2MHz;GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_OD;GPIO_Init(GPIOA, &GPIO_InitStructure);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_InitStr

28、ucture.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_Ini

29、tStructure.GPIO_Mode = GPIO_Mode_AF_OD;GPIO_Init(GPIOA, &GPIO_InitStructure);/ 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

30、_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)if(Motor.State!=STOP)PWM_T_Int(Motor.Dir,Motor.Speed);EXTI_ClearITPendingBit(EXTI_Line11); /清除标志EXTI_ClearITP