【STM32电机培训】4 修改代码控制电机运转

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wenyangzeng 发布时间：2017-8-22 15:49

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【STM32电机培训】4 修改代码控制电机运转

通过参加电机培训，对STM32控制无刷电机控制技术有了进一步的理解。本次就针对STSW-STM32100\STM32CubeExpansion_SPN7_V1.1.0演示代码进行修改，达到让电机按照自己的要求运转。
首先先关闭电位器调速功能。在MC_SixSetup_param.h文件中的“BASIC PARAMETERS”有对电机基本控制参数的定义，将#define POTENTIOMETER 从1 改成0.

MC_SixSetup_param.h

<font size="3">/* ****************************************************************************
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============================================================================== ! e; w7 w" |, ?2 t2 }! l* H
###### BASIC PARAMETERS ######+ T i: [& l7 L* |) m) [
==============================================================================
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**************************************************************************** */ 1 M# n# j/ f2 N8 _4 V
#define NUM_POLE_PAIRS 7 /*!< Number of Motor Pole pairs *// X$ e1 g: z/ q6 s
#define DIRECTION 0 /*!< Set motor direction CW = 0 and CCW = 1*/
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#define TARGET_SPEED 3000 /*!< Target speed in closed loop control */ / N5 _3 X7 ]0 Z2 {7 \- L
#define POTENTIOMETER 0 /*!< Enable (1)/Disable (0) the potentiometer */ 6 U# n+ E1 Q0 |+ f+ E9 o" z4 ?( H \0 o
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/* **************************************************************************** </font>

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接着在main_F302.c的主循环中添加代码，让电机以500转速运行5秒停止5秒，再以6000转速运行5秒。对电机的控制方法ST 官方在注释中写得非常清楚，改变电机运行参数很方便。

main_F302.c

<font size="3">/* **************************************************************************** * I4 U5 h0 L" r+ X; B* ^
==============================================================================
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###### BASIC PARAMETERS ######
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==============================================================================
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**************************************************************************** */
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#define NUM_POLE_PAIRS 7 /*!< Number of Motor Pole pairs */4 ^" O( ~4 O; X. H& I5 a5 n$ ]9 n3 ~
#define DIRECTION 0 /*!< Set motor direction CW = 0 and CCW = 1*/ * S9 C# q. o! S
#define TARGET_SPEED 3000 /*!< Target speed in closed loop control */
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#define POTENTIOMETER 0 /*!< Enable (1)/Disable (0) the potentiometer */ 8 }6 n2 q& S$ q' E% N/ \0 Z2 a
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/* **************************************************************************** ; H8 W/ q! \: k; g) l; _
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============================================================================== 0 r& {- R1 ~3 R a. a7 p, R
###### How to use the 6Step FW Example project ######& @5 _6 E1 J0 u1 [" d, B ]
============================================================================== ; I+ f i* I8 W1 K/ }
This workspace contains the middleware layer with Motor Control library to drive
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a motor connected on X-Nucleo board performing a 6-step control algorithm B; |5 z( Z& G, R" L, ?- a F
allowing the motor speed regulation through a potentiometer. The 6-step algorithm
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is based on 1shunt current sensing mode and sensorless algorithm for bEmf detection.9 G5 `9 `* Y, }- { u. K2 b& O3 n
The workspace is provided for STM32Fxx-Nucleo in four different configurations,
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normal, demo, comm mode, boot mode. The "normal" mode waits the blue button event 6 o6 v) B3 m6 {/ m& q- l) N
to start the motor, the "demo" mode starts and stop the motor automatically, the
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"comm" mode enables the communication protocol with external PC terminal and the
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"boot" mode enables the FW for external boot loader.. T% \ j* V% h- Q1 @: [
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A list of APIs is provided to send command to 6Step lib, for instance:
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(#) MC_StartMotor() -> Start the motor
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(#) MC_StoptMotor() -> Stop the motor" W6 K+ x' x# ]) N
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(#) MC_Set_Speed(...) -> Set the new motor speed
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The MC_SixStep_param.h contains the full list of MC parameters
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============================================================================== ^/ g- p* K0 O5 K) n- t% j
###### USER SPACE ######) F* X/ W* Q, ^( }9 U- W
============================================================================== 4 y6 C5 W/ I r' j4 o! t" U
*****************************************************************************/ , M. i% L5 h6 Z- L: T
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/****************************************************************************/
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//添加的代码
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HAL_Delay(2000);
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MC_Set_Speed(500);4 [" c$ [1 Z/ X( U0 q, ?& _
MC_StartMotor();
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HAL_Delay(5000);! v7 X( Q/ C& l; _1 {# U- \
MC_StopMotor(); T+ l; ~" A0 { o7 j9 l
MC_Set_Speed(6000);# e9 L6 S' N1 ~4 o5 [. s1 u- e6 G
</font>