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STM32单片机实现直流减速电机控制的程序设计
文章来源:未知 ? ?????发布者:admin

在直流减速电机控制中,最常用的方法就是通过PWM来控制直流电机的转速。在控制小车走直线的过程中,需要两者的转速一置(如果要走得很直,还需要在短时间内保证两者的行程大致相当,这可以用PID算法来控制)。因此,在检测到两者转速不一样时,需要动态调整其中一个或两个轮子的PWM的点空比(简单点的就以一个轮为基准,调整另外一个轮子即可;如果以一个固定的标准的话,需要调整两个轮子的PWM占空比)。

STM32单片机实现直流减速电机控制的程序设计
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1 程序第一步:设置GPIO,略(输出PWM的管脚用Mode_AF_PP即可)

2

3 程序第二步:设置定时器,(保证产生两路PWM即可,我用的是TIM4)

4

5 void?TIM4_ConfiguraTIon(void)

6 {

7?TIM_TImeBaseInitTypeDef TIM_TimeBaseInitStructure;

8 TIM_OCInitTypeDef TIM_OCInitStructure;

9

10 //时间基初始化

11 TIM_TimeBaseInitStructure.TIM_Period=144; //18K/144=125Hz,这个是电机PWM的频率

12 TIM_TimeBaseInitStructure.TIM_Prescaler=4000; //72000000/4000=18K

13 TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;

14 TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up;

15 TIM_TimeBaseInitStructure.TIM_RepetitionCounter=0x0000;

16

17 TIM_TimeBaseInit(TIM4,&TIM_TimeBaseInitStructure);

18

19 //输出比较模式设置,用于4路PWM输出

20 TIM_OCInitStructure.TIM_OCMode=TIM_OCMode_PWM2; //输出PWM

21 TIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable; //使能正向通道

22 TIM_OCInitStructure.TIM_OutputNState=TIM_OutputState_Disable; //失能反向通道

23 TIM_OCInitStructure.TIM_Pulse=PWM_L; //左轮DIR的占空比

24 TIM_OCInitStructure.TIM_OCPolarity=TIM_OCPolarity_Low; //输出极性为低电平

25 TIM_OCInitStructure.TIM_OCNPolarity=TIM_OCPolarity_High;//互补输出极性为高电平

26 TIM_OCInitStructure.TIM_OCIdleState=TIM_OCIdleState_Set;

27 TIM_OCInitStructure.TIM_OCNIdleState=TIM_OCNIdleState_Reset;

28

29 TIM_OC1Init(TIM4,&TIM_OCInitStructure); //PWM_L初始化

30 TIM_OC1PreloadConfig(TIM4,TIM_OCPreload_Disable); //改变点空比后,立即产生效应

31

32 TIM_OCInitStructure.TIM_Pulse=PWM_R; //左轮PWM的占空比

33 TIM_OC2Init(TIM4,&TIM_OCInitStructure); //PWM_R初始化

34 TIM_OC2PreloadConfig(TIM4,TIM_OCPreload_Disable); //改变点空比后,立即产生效应

35

36 //使能定时器4

37 TIM_Cmd(TIM4,ENABLE);

38 TIM_CtrlPWMOutputs(TIM4,ENABLE);

程序第一步:设置GPIO,略(输出PWM的管脚用Mode_AF_PP即可)

程序第二步:设置定时器,(保证产生两路PWM即可,我用的是TIM4)

void TIM4_Configuration(void)

{

TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;

TIM_OCInitTypeDef TIM_OCInitStructure;

//时间基初始化

TIM_TimeBaseInitStructure.TIM_Period=144; //18K/144=125Hz,这个是电机PWM的频率

TIM_TimeBaseInitStructure.TIM_Prescaler=4000; //72000000/4000=18K

TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;

TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up;

TIM_TimeBaseInitStructure.TIM_RepetitionCounter=0x0000;

TIM_TimeBaseInit(TIM4,&TIM_TimeBaseInitStructure);

//输出比较模式设置,用于4路PWM输出

TIM_OCInitStructure.TIM_OCMode=TIM_OCMode_PWM2; //输出PWM

TIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable; //使能正向通道

TIM_OCInitStructure.TIM_OutputNState=TIM_OutputState_Disable; //失能反向通道

TIM_OCInitStructure.TIM_Pulse=PWM_L; //左轮DIR的占空比

TIM_OCInitStructure.TIM_OCPolarity=TIM_OCPolarity_Low; //输出极性为低电平

TIM_OCInitStructure.TIM_OCNPolarity=TIM_OCPolarity_High;//互补输出极性为高电平

TIM_OCInitStructure.TIM_OCIdleState=TIM_OCIdleState_Set;

TIM_OCInitStructure.TIM_OCNIdleState=TIM_OCNIdleState_Reset;

TIM_OC1Init(TIM4,&TIM_OCInitStructure); //PWM_L初始化

TIM_OC1PreloadConfig(TIM4,TIM_OCPreload_Disable); //改变点空比后,立即产生效应

TIM_OCInitStructure.TIM_Pulse=PWM_R; //左轮PWM的占空比

TIM_OC2Init(TIM4,&TIM_OCInitStructure); //PWM_R初始化

TIM_OC2PreloadConfig(TIM4,TIM_OCPreload_Disable); //改变点空比后,立即产生效应

//使能定时器4

TIM_Cmd(TIM4,ENABLE);

TIM_CtrlPWMOutputs(TIM4,ENABLE);

1 程序第三步:

2

3 在SysTick中断中,读取两个轮子的速度(具体的方法是:每0.1秒读一次,并以此人作为速度的依据),并比较,如果以右轮为基准,则调整左轮的PWM占空比。涉及到关键语句是:TIM_SetCompare1();

4

5 u16 COUN1=0;

6 u16 COUN2=0;

7

8 volatile u16 Dist_L=0; //左轮行程脉冲数

9 volatile u16 Dist_R=0; //右轮行程脉冲数

10 void SysTick_Handler(void)

11 {

12

13   COUN1=TIM1-》CNT; //左轮在0.1秒里脉冲数

14   COUN2=TIM2-》CNT; //右轮在0.1秒里脉冲数

15   Dist_L=Dist_L+COUN1; //左轮行程脉冲数

16   Dist_R=Dist_R+COUN2; //右轮行程脉冲数

17   if( (COUN1-COUN2)》2)

18   {

19    PWM_L= TIM_GetCapture1(TIM4);

20    TIM_SetCompare1(TIM4, PWM_L - 4);

21   }

22 else if ( (COUN2-COUN1)》2)

23 {

24 PWM_L= TIM_GetCapture1(TIM4);

25 TIM_SetCompare1(TIM4, PWM_L + 4);

26 }

27

28 TIM_SetCounter(TIM1, 0);

29 TIM_SetCounter(TIM2, 0);

30

31 }

32

33 关于TIM_SetCompareX(;)这个函数,还是有很多用途的,其中另外一个用途,就是用于产生不同频率的PWM,具体程序如下:

34

35 u16 capture = 0;

36

37 extern vu16 CCR1_Val;

38 extern vu16 CCR2_Val;

39 extern vu16 CCR3_Val;

40 extern vu16 CCR4_Val;

41

42 void TIM2_IRQHandler(void)

43 {

44

45 /* TIM2_CH1 toggling with frequency = 183.1 Hz */

46 if (TIM_GetITStatus(TIM2, TIM_IT_CC1) != RESET)

47 {

48 TIM_ClearITPendingBit(TIM2, TIM_IT_CC1 );

49   capture = TIM_GetCapture1(TIM2);

50   TIM_SetCompare1(TIM2, capture + CCR1_Val );

51 }

52

53 /* TIM2_CH2 toggling with frequency = 366.2 Hz */

54 if (TIM_GetITStatus(TIM2, TIM_IT_CC2) != RESET)

55 {

56 TIM_ClearITPendingBit(TIM2, TIM_IT_CC2);

57   capture = TIM_GetCapture2(TIM2);

58 TIM_SetCompare2(TIM2, capture + CCR2_Val);

59 }

60

61 /* TIM2_CH3 toggling with frequency = 732.4 Hz */

62 if (TIM_GetITStatus(TIM2, TIM_IT_CC3) != RESET)

63 {

64 TIM_ClearITPendingBit(TIM2, TIM_IT_CC3);

65   capture = TIM_GetCapture3(TIM2);

66 TIM_SetCompare3(TIM2, capture + CCR3_Val);

67 }

68

69 /* TIM2_CH4 toggling with frequency = 1464.8 Hz */

70 if (TIM_GetITStatus(TIM2, TIM_IT_CC4) != RESET)

71 {

72 TIM_ClearITPendingBit(TIM2, TIM_IT_CC4);

73   capture = TIM_GetCapture4(TIM2);

74 TIM_SetCompare4(TIM2, capture + CCR4_Val);

75 }

76

77 }
来源;21ic


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