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 口置

2、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：给定速度，由电机驱动板自动由当前速度

3、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"#in clude "driver_motor.h" #defi ne PWM_PERIOD_T 400#defi ne U_Up_ On GPIOB->BSRR = GPIO_Pin_13 #defi ne U_Up_Off GPIOB->BRR = GPIO_Pin_13 #defi ne U_Dn_ On GPIOA

4、->BSRR = GPIO_Pin_8 #defi ne U_Dn_Off GPIOA->BRR = GPIO_Pin_8#defi ne V_Up_ On GPIOB->BSRR = GPIO_Pin_14 #defi ne V_Up_Off GPIOB->BRR = GPIO_Pin_14 #defi ne V_Dn_O n GPIOA->BSRR = GPIO_Pin_9 #defi ne V_Dn_Off GPIOA->BRR = GPIO_Pin_9 #defi ne W_Up_ On GPIOB->BSRR = GPIO_Pin_15 #d

5、efi ne W_Up_Off GPIOB->BRR = GPIO_Pin_15 #defi ne W_Dn_ On GPIOA->BSRR = GPIO_Pin_10 #defi ne W_Dn_Off GPIOA->BRR = GPIO_Pin_10 #defi ne SU_HOR GPIOA->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

6、 Motor_EN=0;/u8 Hor_Value=7; /u16 TIM2_Conter=0;u16 Hall_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 SW

7、D 禁 用 JTAG*/* LED Light* *GPIO_InitStruct.GPIO_Pin=GPIO_Pin_12;GPIO_InitStruct.GPIO_Mode=GPIO_Mode_Out_PP;GPIO_InitStruct.GPIO_Speed=GPIO_Speed_2MHz;GPIO_Init(GPIOB, &GPIO_InitStruct);*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_F

8、LOATING;GPIO_InitStruct.GPIO_Speed=GPIO_Speed_2MHz;GPIO_Init(GPIOA, &GPIO_InitStruct);/HarlGPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource11);GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource12);GPIO_EXTILineConfig(GPIO_PortSourceGPIOA, GPIO_PinSource15);EXTI_InitStructure.EXTI_L

9、ine = EXTI_Line11 | EXTI_Line12|EXTI_Line15; EXTI_InitStructure.EXTI_Mode = EXTI_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_

10、Init(void)GPIO_InitTypeDef GPIO_InitStructure;TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;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_

11、Pin_10); /PWM 口 GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 | GPIO_Pin_9 | GPIO_Pin_10; 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_Ini

12、tStructure.GPIO_Pin = GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15; GPI0_InitStructure.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

13、_TimeBaseInitStruct.TIM_Prescaler = 2;TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1; TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up; TIM_TimeBaseInitStruct.TIM_RepetitionCounter = 0;TIM_TimeBaseInit(TIM1 , &TIM_TimeBaseInitStruct); /TIM_ClearITPendingBit(TIM1, TIM_IT_Updat

14、e); /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_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;TIM_OCInitStructure.TIM_Pulse

15、 = 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 = TIM_OCNIdleState_Set;TIM_OC1Init(TIM1, &TIM_OCInitStructure);TIM_OC2Init(TIM1

16、, &TIM_OCInitStructure);TIM_OC3Init(TIM1, &TIM_OCInitStructure);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 , ENABLE)

17、;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;i<n;i+) Led_On;DelayMs(100*n);Led_Off;DelayMs(100*n);/*函数： void SetPWMduty(u8 PWM

18、Chanel,u16 pulse)描述：设置 pwm 波占空比参数：返回：*/void SetPWMduty(u8 PWMChanel,u16 pulse)switch(PWMChanel)case 1 :TIM1->CCR1=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_T_Outpu

19、t(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_Pin_14 );

20、 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(TIM1,0)

21、; 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_PERIOD_T);

22、/*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 , mRat

23、e); 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_Outpu

24、t(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 , u

25、8 mRate)u8 hallValueTemp;u8 hallValue;GPIO_Pin_11) +hallValueTemp = GPIO_ReadInputDataBit(GPIOA, (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_12) << 1) + (GPIO_ReadInputDataBit(GPIOA, GPIO_Pin_15) << 2);hallValue = hallValueTemp;PWM_T_Calculation(hallValue , mRate , direction);/*函数： PWM_Stop描述

26、： 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);NVIC_InitStructure.NVIC_IR

27、QChannel = TIM1_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_InitStr

28、ucture.GPIO_Speed = 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_

29、IRQn; NVIC_InitStructure.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

30、_Speed_2MHz;GPIO_InitStructure.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_

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