stm32 spwm控制步进电机的转速应该调整哪些参数呢

mao20602130 · 发表于2016-10-11 10:34

stm32 spwm控制步进电机的转速应该调整哪些参数呢 [复制链接]

mao20602130 · 发表于2016-10-11 10:42

我的pwm配置程序如下
u16 time_cnt = 3600;
/*
* º¯ÊýÃû£ºTIM2_GPIO_Config
* ÃèÊö  £ºÅäÖÃTIM2¸´ÓÃÊä³öPWMÊ±ÓÃµ½µÄI/O
* ÊäÈë  £ºÎÞ
* Êä³ö  £ºÎÞ
* µ÷ÓÃ  £ºÄÚ²¿µ÷ÓÃ
*/

static void TIM2_GPIO_Config(void)
{
  GPIO_InitTypeDef GPIO_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
/* TIM2 clock enable */
//PCLK1¾¹ý2±¶Æµºó×÷ÎªTIM3µÄÊ±ÖÓÔ´µÈÓÚ72MHz
  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

  /* GPIOA and GPIOB clock enable */
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE );

//    NVIC_InitTypeDef NVIC_InitStructure;

//ÖÐ¶ÏÓÅÏÈ¼¶NVICÉèÖÃ
NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;  //TIM3ÖÐ¶Ï
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;  //ÏÈÕ¼ÓÅÏÈ¼¶0¼¶
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;  //´ÓÓÅÏÈ¼¶0¼¶
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQÍ¨µÀ±»Ê¹ÄÜ
NVIC_Init(&NVIC_InitStructure);  //³õÊ¼»¯NVIC¼Ä´æÆ÷
  NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); //ÉèÖÃNVICÖÐ¶Ï·Ö×é2:2Î»ÇÀÕ¼ÓÅÏÈ¼¶£¬2Î»ÏìÓ¦ÓÅÏÈ¼¶
//ÖÐ¶ÏÓÅÏÈ¼¶NVICÉèÖÃ

  /*GPIOA Configuration: TIM2 channel 1  as alternate function push-pull */
  GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_1;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;       // ¸´ÓÃÍÆÍìÊä³ö
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOA, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_0;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;       //¸´ÓÃÍÆÍìÊä³ö
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOA, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_2;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;       // ¸´ÓÃÍÆÍìÊä³ö
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOA, &GPIO_InitStructure);

  GPIO_InitStructure.GPIO_Pin =  GPIO_Pin_3;
  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;       //¸´ÓÃÍÆÍìÊä³ö
  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOA, &GPIO_InitStructure);
}
/*
* º¯ÊýÃû£ºTIM2_Mode_Config
* ÃèÊö  £ºÅäÖÃTIM2Êä³öµÄPWMÐÅºÅµÄÄ£Ê½£¬ÈçÖÜÆÚ¡¢¼«ÐÔ¡¢Õ¼¿Õ±È
* ÊäÈë  £ºÎÞ
* Êä³ö  £ºÎÞ
* µ÷ÓÃ  £ºÄÚ²¿µ÷ÓÃ
*/
static void TIM2_Mode_Config(void)
{
TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
TIM_OCInitTypeDef  TIM_OCInitStructure;

/* PWMÐÅºÅµçÆ½Ìø±äÖµ */
u16 CCR_Val = 899;

  /* Time base configuration */
  TIM_TimeBaseStructure.TIM_Period =time_cnt-1;    //Êý72´ÎÎª1us£¬ÖÜÆÚÎª25us£¬¾ÍÊÇ40£Ë£È£ú
  TIM_TimeBaseStructure.TIM_Prescaler = 0;       //ÉèÖÃÔ¤·ÖÆµ£º²»·ÖÆµ£¬¼´Îª72MHz
  TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1 ; //ÉèÖÃÊ±ÖÓ·ÖÆµÏµÊý£º²»·ÖÆµ
  TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //ÏòÉÏ¼ÆÊýÄ£Ê½
  TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

    TIM_ITConfig(TIM2,TIM_IT_Update,ENABLE ); //Ê¹ÄÜÖ¸¶¨µÄTIM3ÖÐ¶Ï,ÔÊÐí¸üÐÂÖÐ¶Ï

  /* PWM1 Mode configuration: Channel2 */
  TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;       //ÅäÖÃÎªPWMÄ£Ê½1
  TIM_OCInitStructure.TIM_Pulse = CCR_Val;    //ÉèÖÃÌø±äÖµ£¬µ±¼ÆÊýÆ÷¼ÆÊýµ½Õâ¸öÖµÊ±£¬µçÆ½·¢ÉúÌø±ä
  TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;  //µ±¶¨Ê±Æ÷¼ÆÊýÖµÐ¡ÓÚCCR1_ValÊ±ÎªµÍµçÆ½
  TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Set;// ¿ÕÏÐ×´Ì¬ÏÂµÄ¹¤×÷×´Ì¬
  TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  TIM_OC2Init(TIM2, &TIM_OCInitStructure);    //Ê¹ÄÜÍ¨µÀ2
  TIM_OC1Init(TIM2, &TIM_OCInitStructure);    //Ê¹ÄÜÍ¨µÀ1
  TIM_OC3Init(TIM2, &TIM_OCInitStructure);    //Ê¹ÄÜÍ¨µÀ3
  TIM_OC4Init(TIM2, &TIM_OCInitStructure);    //Ê¹ÄÜÍ¨µÀ4

  TIM_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);
  TIM_OC2PreloadConfig(TIM2, TIM_OCPreload_Enable);
  TIM_OC3PreloadConfig(TIM2, TIM_OCPreload_Enable);
  TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Enable);

    /* TIM2 enable counter */
    TIM_Cmd(TIM2, ENABLE);                //Ê¹ÄÜ¶¨Ê±Æ÷2
}

void TIM2_IRQHandler(void) //TIM2ÖÐ¶Ï
{
static s16 Ta,Tb,Tc,Td;

float angle = 0;
// Ta = 0;
// Tb = 0;
// Tc = 0;
// Td = 0;
if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET)  //¼ì²éTIM3¸üÐÂÖÐ¶Ï·¢ÉúÓë·ñ
{
// TIM_SetCompare1(TIM2,SinDataA[Counter_sine]/pa);
// TIM_SetCompare2(TIM2,SinDataB[Counter_sine]/pa);
// TIM_SetCompare3(TIM2,SinDataC[Counter_sine]/pa);
// TIM_SetCompare4(TIM2,SinDataD[Counter_sine]/pa);
// Counter_sine-=1;
// Counter_sine = (Counter_sine+1024) % 1024;
   stepCounter++;
if((stepCounter%(8 * 2300))==0)
{
stepCounter++;
LED_FLASH(1);
}

TIM_SetCompare1(TIM2,Ta);
TIM_SetCompare2(TIM2,Tb);
TIM_SetCompare3(TIM2,Tc);
TIM_SetCompare4(TIM2,Td);
   angle = 2.0 * PI * Counter_sine/ 1024;
t1 = time_cnt * sin(angle)+0.5;
t2 = time_cnt * sin(angle + PI * 0.5)+0.5;
   if(t1>=0)
{
Ta = t1;
Tb = 0;
}
else
{
Tb = abs(t1);
Ta = 0;
}

if(t2>=0)
{
Tc = t2;
Td = 0;
}
else
{
Td = abs(t2);
Tc = 0;
}

Counter_sine+=step;
Counter_sine = Counter_sine % 1024;

TIM2->SR = (uint16_t)~TIM_IT_Update; //Çå³ýTIM2¸üÐÂÖÐ¶Ï±êÖ¾
}
/*ÎªÁË²úÉúÒ»¸öÂö³å,¼ìÑéÊÇ·ñ½øÈëÖÐ¶Ï*/

}

mao20602130 · 发表于2016-10-11 10:48

仿真波形这样如下：

这是A相的波形，为什么是这样的不太明白，请高手解惑

达瓦里氏233

stm32 spwm控制步进电机的转速应该调整哪些参数呢 [复制链接]

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