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目前我正在使用x-Nucleo-IHM07M1开发板驱动一个直流无刷电机，下载的是en.X-CUBE-SPN7_v1.1.0 模板程序，发现程序最多达到36000 rpm左右然后就上不去了，不管改变PI哪个参数都不行，请问这套方波的模板程序能够达到这么高的转速吗？需要怎么调，下面是我的MC_Sixstep_param.h ：/* **************************************************************************** ============================================================================== ###### BASIC PARAMETERS ###### ============================================================================== **************************************************************************** */ #define NUM_POLE_PAIRS 2 /*!< Number of Motor Pole pairs */ #define DIRECTION 0 /*!< Set motor direction CW = 0 and CCW = 1*/ #define TARGET_SPEED 60000 /*!< Target speed in closed loop control */ #define POTENTIOMETER 0 /*!< Enable (1)/Disable (0) the potentiometer */ /* **************************************************************************** ============================================================================== ###### ADVANCED PARAMETERS ###### ============================================================================== **************************************************************************** */ /*!< ********************* Open loop control *********************************/ #define STARTUP_CURRENT_REFERENCE 600 /*!< StartUP Currente Reference (2000 = 2.2A)*/ #define ACC 900000 /*!< Mechanical acceleration rate (setting available in manual mode, LOAD_TYPE = 0) */ #define MINIMUM_ACC 500 /*!< Mechanical acceleration rate for BIG load application */ #define NUMBER_OF_STEPS 20000 /*!< Number of elements for motor start-UP (max value 65535)*/ #define TIME_FOR_ALIGN 500 /*!< Time for alignment (msec)*/ #define BUTTON_DELAY 1000 /*!< Delay time to enable push button for new command (1 = 1msec)*/ #define NUMBER_ZCR 12 /*!< Number of zero crossing event during the startup for closed loop control begin */ /*!< ********************* Closed Loop control *********************************/ #define SPEED_LOOP_TIME 1 /*!< Speed Loop time (1 = 1msec) */ #define KP_GAIN 140 /*!< Kp parameter for PI regulator */ #define KI_GAIN 3 /*!< Ki parameter for PI regulator */ #define KP_DIV 4096 /*!< Kp parameter divider for PI regulator */ #define KI_DIV 4096 /*!< Ki parameter divider for PI regulator */ #define LOWER_OUT_LIMIT 10 /*!< Low Out value of PI regulator */ #define UPPER_OUT_LIMIT 900 /*!< High Out value of PI regulator */ #define MAX_POT_SPEED 70000 /*!< Maximum Speed regulated by potentiometer */ #define MIN_POT_SPEED 10000 /*!< Minimum Speed regulated by potentiometer */ #define VAL_POT_SPEED_DIV 2 /*!< Validation potentiometer speed divider */ #define INITIAL_DEMAGN_DELAY 10 /*!< Initial value for delay time during startup for Bemf detection */ /*!< Zero Crossissing parameters */ #define BEMF_THRSLD_DOWN 100 /*!< Zero Crossing threshold */ #define BEMF_THRSLD_UP 100 /*!< Zero Crossing threshold */ /*!< Speed filtering parameters */ #define FILTER_DEEP 10 /*!< Number of bits for digital filter */ #define HFBUFFERSIZE 10 #define ADC_SPEED_TH 40 /*!<Fixed treshold to change the target speed (t.b.f) */ /*!< Motor stall detection parameters */ #define BEMF_CONSEC_DOWN_MAX 10 /*!< Maximum value of BEMF Consecutive Threshold Falling Crossings Counter in closed loop */ #define BEMF_CNT_EVENT_MAX 100 /*!< Maximum number of BEMF Counter in open loop*/ /*!< Debug pin */ #define GPIO_ZERO_CROSS 1 /*!< Enable (1) the GPIO toggling for zero crossing detection */ #define GPIO_COMM 1 /*!< Enable (1) the GPIO toggling for commutation */ /*!< Demo mode parameters */ #define DEMO_START_TIME 5000 /*!< Time (msec) to keep the motor in run mode */ #define DEMO_STOP_TIME 2000 /*!< Time (msec) to keep the motor in stop mode */ /*!< Look UP table for dynamic demagn control of speed */ #define DEMAGN_VAL_1 1 /*!< Look UP table for dynamic demagn control for speed into (10000,12000] or [-12000,-10000) range */ #define DEMAGN_VAL_2 2 /*!< Look UP table for dynamic demagn control for speed into ( 7800,10000] or [-10000,- 7800) range */ #define DEMAGN_VAL_3 3 /*!< Look UP table for dynamic demagn control for speed into ( 6400, 7800] or [- 7800,- 6400) range */ #define DEMAGN_VAL_4 4 /*!< Look UP table for dynamic demagn control for speed into ( 5400, 6400] or [- 6400,- 5400) range */ #define DEMAGN_VAL_5 5 /*!< Look UP table for dynamic demagn control for speed into ( 4650, 5400] or [- 5400,- 4650) range */ #define DEMAGN_VAL_6 6 /*!< Look UP table for dynamic demagn control for speed into ( 4100, 4650] or [- 4650,- 4100) range */ #define DEMAGN_VAL_7 7 /*!< Look UP table for dynamic demagn control for speed into ( 3650, 4100] or [- 4100,- 3650) range */ #define DEMAGN_VAL_8 8 /*!< Look UP table for dynamic demagn control for speed into ( 3300, 3650] or [- 3650,- 3300) range */ #define DEMAGN_VAL_9 9 /*!< Look UP table for dynamic demagn control for speed into ( 2600, 3300] or [- 3300,- 2600) range */ #define DEMAGN_VAL_10 10 /*!< Look UP table for dynamic demagn control for speed into ( 1800, 2600] or [- 2600,- 1800) range */ #define DEMAGN_VAL_11 11 /*!< Look UP table for dynamic demagn control for speed into ( 1500, 1800] or [- 1800,- 1500) range */ #define DEMAGN_VAL_12 12 /*!< Look UP table for dynamic demagn control for speed into ( 1300, 1500] or [- 1500,- 1300) range */ #define DEMAGN_VAL_13 13 /*!< Look UP table for dynamic demagn control for speed into ( 1000, 1300] or [- 1300,- 1000) range */ #define DEMAGN_VAL_14 14 /*!< Look UP table for dynamic demagn control for speed into [ 500, 1000] or [- 1000,- 500] range */ #define TRUE 1 /*!< Define TRUE */ #define FALSE 0 /*!< Define FALSE */ |
ST MCSDK 编码器模式下电机转不起来。。。
哪位大哥有stm32f103c8t6的keil编程实例源码呀？求
1.STMCWB 最新版本是否支持绝对值编码器？只能通过MCLIB库手动增加吗？2.基于ST FOC库的磁编码器（SPI出绝对角度信息）只跑速度环和电流环最简单
STSPIN32G4内部驱动电压输出问题
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为什么stm32用蓝牙控制步进电机，刚启动时有声音，然后发信号，步进电机动不了
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使用IHM0003kit套件以及MCworkbench在生成代码时出现路径错误，具体的环境配置下面详细描述
1.可以尝试提升输入电压，看看是否可以提高转速
2.nonimal current 是否正确
报的什么错误？
谢谢大佬解答。
输入电压提升，确实能提高一点转速，我用的电机额定6V，现在输入电压已经达到10V了，不太想继续提高，而且我用电机厂家官方配的方波驱动器，10V情况下已经可以达到90000RPM，而且不发烫，所以想试试调参，把ST的这块板子达到差不多的效果。