STM32 BLDC开发板 提供原理图和相应的原代码,源代码是基于免费开源CoOS(UCOS类似)操作系统上写的,在学习无刷电机的控制同时还能学习到操作系统的知识。同时提供用Matlab的GUI编写的串口接收程序和开源的代码,实时接收速度和电流信息,便于PID测试,并且有CAN(TJA1050)接口。同时自己可以进行修改学习Matlab的GUI编程。
电路原理图如下:
- STM32F103RB处理器 时钟72M Flash 64K RAM 20K
- MOSFET SUD35N05-26L 55V 35A Rds=0.02
3. MOSFET驱动 IR2101S 输入开发板电源 电源 10到20V 最大电流 20A 无刷电机 额定电压12V 额定电流 2.26A 额定转速 13027RPM 无刷电机接口: 黄色线: Vcc +5V 灰色: GND 棕色:霍尔S1 蓝色:霍尔S2 橙色:霍尔S3 红色:A相 黑色:B相 绿色:C相
开发板配置: 1.无刷电机驱动 2.串口通信接口 3.CAN通信接口 4.有AD接口能检测电压和电流 5.两个按键和一个复位键 6.一个LED 7.JLINK调试接口 开发板配件: 交流220V转直流12V 6A电源 单买价格是40 带霍尔无刷电机 12V 2.26A 单买价格是 50 STM32无刷电机驱动板 单买价格是180 软件资料: 有无刷电机转速调节的PID程序(基于免费开源CoOS操作系统) 自己做的Matlab GUI串口PID调试程序(开源,自己可以改进) 自己以前做的STM32程序
开发板
无刷电机
无刷电机的PID调节图
单片机源程序如下: - #include "includes.h"
- /********************CoOS变量**********************/
- #define TASK_STK_SIZE 128
- #define TASK0_PRIO 2
- #define TASK1_PRIO 3
- #define TASK2_PRIO 4
- #define TASK3_PRIO 5
- OS_STK STK_TASK0[TASK_STK_SIZE];
- OS_STK STK_TASK1[TASK_STK_SIZE];
- OS_STK STK_TASK2[TASK_STK_SIZE];
- OS_STK STK_TASK3[TASK_STK_SIZE];
- void TASK0(void *param);
- void TASK1(void *param);
- void TASK2(void *param);
- void TASK3(void *param);
- /*************************************************/
- /*********************一般变量********************/
- extern uint32_t Speed_count;
- uint8_t USART_Flag = 0;
- /*************************************************/
- int main(void)
- {
- /* 片内外设初始化 */
- Periph_Init();
-
- /* 操作系统初始化 */
- CoInitOS();
- CoCreateTask( TASK0, (void*)0, TASK0_PRIO, &STK_TASK0[TASK_STK_SIZE - 1], TASK_STK_SIZE);
- CoCreateTask( TASK1, (void*)0, TASK1_PRIO, &STK_TASK1[TASK_STK_SIZE - 1], TASK_STK_SIZE);
- CoCreateTask( TASK2, (void*)0, TASK2_PRIO, &STK_TASK2[TASK_STK_SIZE - 1], TASK_STK_SIZE);
- CoCreateTask( TASK3, (void*)0, TASK3_PRIO, &STK_TASK3[TASK_STK_SIZE - 1], TASK_STK_SIZE);
- CoStartOS();
- while(1);
- }
- void TASK0(void *param)
- {
- uint8_t start_flag=0;
- uint8_t sw_state = 1;
- KEY_Init();
- Speed_PIDInit();
- for(;;)
- {
- //SW__Read()=1 Direction = SET
- if(SW__Read()^sw_state)
- {
- if(start_flag)
- {
- BLDC_Stop();
- }
- sw_state = SW__Read();
- if(sw_state)
- {
- Direction = SET;
- }
- else
- {
- Direction = RESET;
- }
- if(start_flag)
- {
- BLDC_Start();
- }
- }
- if(KEY_Read(KEY1))
- {
- CoTickDelay(5);
- if(KEY_Read(KEY1))
- {
- BLDC_Start();
- start_flag = 1;
- }
- }
- if(KEY_Read(KEY2))
- {
- CoTickDelay(5);
- if(KEY_Read(KEY2))
- {
- BLDC_Stop();
- start_flag = 0;
- }
- }
- CoTickDelay(10);
- }
- }
- void TASK1(void *param)
- {
- uint16_t adc_value= 0;
- uint8_t i = 0;
- for(;;)
- {
- adc_value= 0;
- for(i=0;i<4;i++)
- {
- ADC_SoftwareStartConvCmd(ADC1,ENABLE); /* 使能转换开始 */
- while(ADC_GetSoftwareStartConvStatus(ADC1));
- adc_value += ADC_GetConversionValue(ADC1);
- }
- ADC_Speed = adc_value/4;
- CoTickDelay(10);
- }
- }
- void TASK2(void *param)
- {
- uint16_t data;
- for(;;)
- {
- if(USART_Flag)
- {
- data = 1000000/(6*Speed_count);
- USART_SendData( USART2, data);
- USART_Flag = 0;
- }
- CoTickDelay(1);
- }
- }
- void TASK3(void *param)
- {
- LED_Off();
- for(;;)
- {
- LED_On();
- CoTickDelay(200);
- LED_Off();
- CoTickDelay(200);
- }
- }
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- #include "includes.h"
- /**********常量定义**********/
- #define IDLE 0
- #define START 1
- #define RUN 2
- #define STOP 3
- #define FAULT 4
- #define HIGH 1480
- #define LOW 3
- /*********全局变量***********/
- u8 state; //主状态
- FlagStatus Direction = SET;//初始化后为正转
- uint8_t stalling_count = 0; //堵转计数器
- void Delay_us(uint8_t t);
- /**********************************************************************
- * Description : 对定时器1和定时器3的GPIO定义
- * 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);
-
- // GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12; //TIM1_BKIN
- // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
- // 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,输出比较标志位只有在比较器向上计算被设置
- TIM_TimeBaseStructure.TIM_Period = 1500 - 1; //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_Reset;//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_1;
- 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_ClearITPendingBit(TIM1, TIM_IT_Break|TIM_IT_COM);
- // TIM_ITConfig(TIM1, TIM_IT_Break | TIM_IT_COM ,ENABLE);
- TIM_ClearITPendingBit( TIM1, TIM_IT_COM);
- TIM_ITConfig(TIM1, TIM_IT_COM ,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 Hall_data = 0;
- Hall_data=(u8)((GPIOA->IDR&0x000000c0)>>6); //读转子位置
- Hall_data|=(u8)((GPIOB->IDR&0x00000001)<<2);
- if(Direction)
- { //正转
- switch(Hall_data) //根据转子位置,决定CCER输出相位和转子字偏移量
- {
- 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(Hall_data) //根据转子位置,决定CCER输出相位和转子字偏移量
- {
- case 0x05:{
- TIM1->CCER=0x3018; //2 3
- };break;
- case 0x04:{
- TIM1->CCER=0x3810; //3 6
- };break;
- case 0x06:{
- TIM1->CCER=0x3801; //1 6
- };break;
- case 0x02:{
- TIM1->CCER=0x3081; //1 4
- };break;
- case 0x03:{
- TIM1->CCER=0x3180; //4 5
- };break;
- case 0x01:{
- TIM1->CCER=0x3108; //2 5
- };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
- }
- void Delay_us(uint8_t t)
- {
- while(t--)
- {
- }
- }
- /**************停止******************/
- /*void 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(20); //延时(加死区)
- TIM1->CCER=0x0ccc; //打开三路下管,进行能耗制动
- while(duzhuan_value<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
- data_reset(); //复位运行参数
- }*/
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