STM32F3用于电机控制测试

xiaodc88 提问时间：2013-4-5 10:55 /

问答
是否解决:

收到阿呆寄的F3套件有些时间了，不过最近忙得一踏糊涂，没有时间研究，不过阿呆交待的作业还是得完成。所以今天就。。。。。
好了，申请的时候就说是用于数控系统的，数控系统中当然得控制电机了，今天玩个用F3控制BLDC吧，跟以前的F1系统比下速度
时间不多，这里只例出两个关键的东西：1、增量式PID控制。 2、BLDC换向控制
有兴趣的同志自己移植一下，肯定可以用哈，比方说自己做个电动车什么之类的哈木有问题的啊。
1、增量式PID控制：
int IncPIDCalc(int NextPoint)
{
int iError, iIncpid; //int32_t
//当前误差
iError = sptr->SetPoint - NextPoint;
//增量计算
iIncpid = sptr-&gt

roportion * iError //E[k]项比例项
- sptr->Integral * sptr->LastError //E[k－1]项积分项
+ sptr->Derivative * sptr-&gt

revError; //E[k－2]项微分项
//存储误差，用于下次计算
sptr-&gt

revError = sptr->LastError;
sptr->LastError = iError;
//返回增量值
return(iIncpid);
}

2、
switch(irq_zhuanzi)
   {

    //=================================================
   case 0x05:   //W->V    5(正确)
    {
     /* Next step: Step 2 Configuration ---------------------------- */
     /* Channel1 configuration */
     TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable); //
     TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);

     /* Channel2 configuration */
     TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1 );
     TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
     TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable); //V6

     /* Channel3 configuration */
     TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1 );
     TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable); //V5
     TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);

     //PutChar(40,230,irq_zhuanzi+48,White,Black);
     TIM_GenerateEvent(TIM1, TIM_EventSource_COM); //软件设置引起COM事件
    };
    break;

   case 0x01: //U->V 3  1
    {
     /* Next step: Step 2 Configuration ---------------------------- */
     /* Channel1 configuration */
     TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1 );
     TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable); //V1
     TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);

     /* Channel2 configuration */
     TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1 );
     TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
     TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable); //V6

     /* Channel3 configuration */
     TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
     TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);

     //PutChar(40,230,irq_zhuanzi+48,White,Black);
     TIM_GenerateEvent(TIM1, TIM_EventSource_COM); //软件设置引起COM事件
    };
    break;
   case 0x03: //U->W 2   3
    {
     /* Next step: Step 2 Configuration ---------------------------- */
     /* Channel1 configuration */
     TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1 );
     TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable); //V1
     TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);

     /* Channel2 configuration */
     TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
     TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);

     /* Channel3 configuration */
     TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1 );
     TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
     TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);   //V2

     //PutChar(40,230,irq_zhuanzi+48,White,Black);
     TIM_GenerateEvent(TIM1, TIM_EventSource_COM); //软件设置引起COM事件
    };
    break;
   case 0x02: //V->W 6    2
    {
     /* Next step: Step 2 Configuration ---------------------------- */
     /* Channel1 configuration */
     TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
     TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Disable);

     /* Channel2 configuration */
     TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1 );
     TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable); //V3
     TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);

     /* Channel3 configuration */
     TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1 );
     TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
     TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);   //V2

     //PutChar(40,230,irq_zhuanzi+48,White,Black);
     TIM_GenerateEvent(TIM1, TIM_EventSource_COM); //软件设置引起COM事件
    };
    break;
   case 0x06:   //V->U 4  6
    {
     /* Next step: Step 2 Configuration ---------------------------- */
     /* Channel1 configuration */
     TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1 );
     TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
     TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable); //V4

     /* Channel2 configuration */
     TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_OCMode_PWM1 );
     TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable); //V3
     TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);

     /* Channel3 configuration */
     TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Disable);
     TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Disable);

     //PutChar(40,230,irq_zhuanzi+48,White,Black);
     TIM_GenerateEvent(TIM1, TIM_EventSource_COM); //软件设置引起COM事件
    };
    break;
   case 0x04:    //W->U 5  4
    {
     /* Next step: Step 2 Configuration ---------------------------- */
     /* Channel1 configuration */
     TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_OCMode_PWM1 );
     TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Disable);
     TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable); //V4

     /* Channel2 configuration */
     TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Disable);
     TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Disable);

     /* Channel3 configuration */
     TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_OCMode_PWM1 );
     TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable); //V5
     TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);

     //PutChar(40,230,irq_zhuanzi+48,White,Black);
     TIM_GenerateEvent(TIM1, TIM_EventSource_COM); //软件设置引起COM事件
    };
    break;
    //================================================
     }
好了，关键代码完毕，像接霍尔啊，控制板硬件设计啊网上查吧。希望大家都可以玩转啊
据本人测试，F3比F1要流畅很多啊，当然就控制电机的话不太明显，在系统中多跑些个任务，比方说给他多整点乘除运算，再加个LCD刷就直观了