【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">/* ****************************************************************************
==============================================================================
###### BASIC PARAMETERS ######
==============================================================================
**************************************************************************** */
#define NUM_POLE_PAIRS 7 /*!< Number of Motor Pole pairs */
#define DIRECTION 0 /*!< Set motor direction CW = 0 and CCW = 1*/
#define TARGET_SPEED 3000 /*!< Target speed in closed loop control */
#define POTENTIOMETER 0 /*!< Enable (1)/Disable (0) the potentiometer */
/* **************************************************************************** </font>

复制代码

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">/* ****************************************************************************
==============================================================================
###### BASIC PARAMETERS ######
==============================================================================
**************************************************************************** */
#define NUM_POLE_PAIRS 7 /*!< Number of Motor Pole pairs */
#define DIRECTION 0 /*!< Set motor direction CW = 0 and CCW = 1*/
#define TARGET_SPEED 3000 /*!< Target speed in closed loop control */
#define POTENTIOMETER 0 /*!< Enable (1)/Disable (0) the potentiometer */
/* ****************************************************************************
==============================================================================
###### How to use the 6Step FW Example project ######
==============================================================================
This workspace contains the middleware layer with Motor Control library to drive
a motor connected on X-Nucleo board performing a 6-step control algorithm
allowing the motor speed regulation through a potentiometer. The 6-step algorithm
is based on 1shunt current sensing mode and sensorless algorithm for bEmf detection.
The workspace is provided for STM32Fxx-Nucleo in four different configurations,
normal, demo, comm mode, boot mode. The "normal" mode waits the blue button event
to start the motor, the "demo" mode starts and stop the motor automatically, the
"comm" mode enables the communication protocol with external PC terminal and the
"boot" mode enables the FW for external boot loader.
A list of APIs is provided to send command to 6Step lib, for instance:
(#) MC_StartMotor() -> Start the motor
(#) MC_StoptMotor() -> Stop the motor
(#) MC_Set_Speed(...) -> Set the new motor speed
The MC_SixStep_param.h contains the full list of MC parameters
==============================================================================
###### USER SPACE ######
==============================================================================
*****************************************************************************/
/****************************************************************************/
//添加的代码
HAL_Delay(2000);
MC_Set_Speed(500);
MC_StartMotor();
HAL_Delay(5000);
MC_StopMotor();
MC_Set_Speed(6000);
</font>