单片机驱动BLDC带hall六步法

单片机 ：STM32F407
开发板：DMF407电机开发板
平台：keil V5.31

HSE 为8MHZ
HSI为16MHZ

主函数：

int main(void) { uint8_t key,t; char buf[32]; int16_t pwm_duty_temp = 0; HAL_Init(); /* 初始化HAL库 */ sys_stm32_clock_init(336, 8, 2, 7); /* 设置时钟,168Mhz */ delay_init(168); /* 延时初始化 */ usart_init(115200); /* 串口初始化为115200 */ led_init(); /* 初始化LED */ key_init(); /* 初始化按键 */ lcd_init(); /* 初始化LCD */ bldc_init(100000-1,0); bldc_ctrl(MOTOR_1,CCW,0); /* 初始无刷电机接口1速度 */ HAL_TIM_Base_Start_IT(&g_atimx_handle); /* 启动高级定时器1 */ /* 显示提示信息 */ g_point_color = WHITE; g_back_color = BLACK; lcd_show_string(10, 10, 200, 16, 16, "BLDC Motor Test",g_point_color); lcd_show_string(10, 30, 200, 16, 16, "KEY0:Start forward", g_point_color); lcd_show_string(10, 50, 200, 16, 16, "KEY1:Start backward", g_point_color); lcd_show_string(10, 70, 200, 16, 16, "KEY2:Stop", g_point_color); printf("按下KEY0 开始正转加速\r\n"); printf("按下KEY1 开始反转加速\r\n"); printf("按下KEY2 停止电机\r\n"); while (1) { t++; if(t % 20 == 0) { sprintf(buf,"PWM_Duty:%.1f%%",(float)((g_bldc_motor1.pwm_duty/MAX_PWM_DUTY)*100));/* 显示控制PWM占空比 */ lcd_show_string(10,110,200,16,16,buf,g_point_color); LED0_TOGGLE(); /* LED0(红灯) 翻转 */ } key = key_scan(0); if(key == KEY0_PRES) /* 按下KEY0设置比较值+500 */ { pwm_duty_temp += 500; if(pwm_duty_temp >= MAX_PWM_DUTY/2) /* 限速 */ pwm_duty_temp = MAX_PWM_DUTY/2; if(pwm_duty_temp > 0) /* 通过判断正负号设置旋转方向 */ { g_bldc_motor1.pwm_duty = pwm_duty_temp; g_bldc_motor1.dir = CW; } else { g_bldc_motor1.pwm_duty = -pwm_duty_temp; g_bldc_motor1.dir = CCW; } g_bldc_motor1.run_flag = RUN; /* 开启运行 */ start_motor1(); /* 开启运行 */ } else if(key == KEY1_PRES) /* 按下KEY1设置比较值-500 */ { pwm_duty_temp -= 500; if(pwm_duty_temp <= -MAX_PWM_DUTY/2) pwm_duty_temp = -MAX_PWM_DUTY/2; if(pwm_duty_temp < 0) /* 通过判断正负号设置旋转方向 */ { g_bldc_motor1.pwm_duty = -pwm_duty_temp; g_bldc_motor1.dir = CCW; } else { g_bldc_motor1.pwm_duty = pwm_duty_temp; g_bldc_motor1.dir = CW; } g_bldc_motor1.run_flag = RUN; /* 开启运行 */ start_motor1(); /* 运行电机 */ } else if(key == KEY2_PRES) /* 按下KEY2关闭电机 */ { stop_motor1(); /* 停机 */ g_bldc_motor1.run_flag = STOP; /* 标记停机 */ pwm_duty_temp = 0; /* 数据清0 */ g_bldc_motor1.pwm_duty = 0; } delay_ms(10); } }

hall配置

void hall_gpio_init(void) { GPIO_InitTypeDef gpio_init_struct; HALL1_U_GPIO_CLK_ENABLE(); HALL1_V_GPIO_CLK_ENABLE(); HALL1_W_GPIO_CLK_ENABLE(); /* 霍尔通道 1 引脚初始化 */ gpio_init_struct.Pin = HALL1_TIM_CH1_PIN; gpio_init_struct.Mode = GPIO_MODE_INPUT; gpio_init_struct.Pull = GPIO_PULLUP; HAL_GPIO_Init(HALL1_TIM_CH1_GPIO, &gpio_init_struct); /* 霍尔通道 2 引脚初始化 */ gpio_init_struct.Pin = HALL1_TIM_CH2_PIN; HAL_GPIO_Init(HALL1_TIM_CH2_GPIO, &gpio_init_struct); /* 霍尔通道 3 引脚初始化 */ gpio_init_struct.Pin = HALL1_TIM_CH3_PIN; HAL_GPIO_Init(HALL1_TIM_CH3_GPIO, &gpio_init_struct); }

读取hall

uint32_t hallsensor_get_state(uint8_t motor_id) { __IO static uint32_t state ; state = 0; if(motor_id == MOTOR_1) { if(HAL_GPIO_ReadPin(HALL1_TIM_CH1_GPIO,HALL1_TIM_CH1_PIN) != GPIO_PIN_RESET) /* 霍尔传感器状态获取 */ { state |= 0x01U; } if(HAL_GPIO_ReadPin(HALL1_TIM_CH2_GPIO,HALL1_TIM_CH2_PIN) != GPIO_PIN_RESET) /* 霍尔传感器状态获取 */ { state |= 0x02U; } if(HAL_GPIO_ReadPin(HALL1_TIM_CH3_GPIO,HALL1_TIM_CH3_PIN) != GPIO_PIN_RESET) /* 霍尔传感器状态获取 */ { state |= 0x04U; } } return state; }

定时器配置

void atim_timx_oc_chy_init(uint16_t arr, uint16_t psc) { ATIM_TIMX_PWM_CHY_CLK_ENABLE(); /* TIMX 时钟使能 */ g_atimx_handle.Instance = ATIM_TIMX_PWM; /* 定时器x */ g_atimx_handle.Init.Prescaler = psc; /* 定时器分频 */ g_atimx_handle.Init.CounterMode = TIM_COUNTERMODE_UP; /* 向上计数模式 */ g_atimx_handle.Init.Period = arr; /* 自动重装载值 */ g_atimx_handle.Init.ClockDivision=TIM_CLOCKDIVISION_DIV1; /* 分频因子 */ g_atimx_handle.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; /*使能TIMx_ARR进行缓冲*/ g_atimx_handle.Init.RepetitionCounter = 0; /* 开始时不计数*/ HAL_TIM_PWM_Init(&g_atimx_handle); /* 初始化PWM */ g_atimx_oc_chy_handle.OCMode = TIM_OCMODE_PWM1; /* 模式选择PWM1 */ g_atimx_oc_chy_handle.Pulse = 0; g_atimx_oc_chy_handle.OCPolarity = TIM_OCPOLARITY_HIGH; /* 输出比较极性为高 */ g_atimx_oc_chy_handle.OCNPolarity = TIM_OCNPOLARITY_HIGH; g_atimx_oc_chy_handle.OCFastMode = TIM_OCFAST_DISABLE; g_atimx_oc_chy_handle.OCIdleState = TIM_OCIDLESTATE_RESET; g_atimx_oc_chy_handle.OCNIdleState = TIM_OCNIDLESTATE_RESET; HAL_TIM_PWM_ConfigChannel(&g_atimx_handle, &g_atimx_oc_chy_handle, ATIM_TIMX_PWM_CH1); /* 配置TIMx通道y */ HAL_TIM_PWM_ConfigChannel(&g_atimx_handle, &g_atimx_oc_chy_handle, ATIM_TIMX_PWM_CH2); /* 配置TIMx通道y */ HAL_TIM_PWM_ConfigChannel(&g_atimx_handle, &g_atimx_oc_chy_handle, ATIM_TIMX_PWM_CH3); /* 配置TIMx通道y */ /* 开启定时器通道1输出PWM */ HAL_TIM_PWM_Start(&g_atimx_handle,TIM_CHANNEL_1); /* 开启定时器通道2输出PWM */ HAL_TIM_PWM_Start(&g_atimx_handle,TIM_CHANNEL_2); /* 开启定时器通道3输出PWM */ HAL_TIM_PWM_Start(&g_atimx_handle,TIM_CHANNEL_3); }

启动电机

void start_motor1(void) { SHUTDOWN_EN; /* 使能PWM输出 */ HAL_TIM_PWM_Start(&g_atimx_handle,TIM_CHANNEL_1); HAL_TIM_PWM_Start(&g_atimx_handle,TIM_CHANNEL_2); HAL_TIM_PWM_Start(&g_atimx_handle,TIM_CHANNEL_3); }

六步法：

/* 六步换向函数指针数组 */ pctr pfunclist_m1[6] = { &m1_uhwl, &m1_vhul, &m1_vhwl, &m1_whvl, &m1_uhvl, &m1_whul }; /** * @brief U相上桥臂导通，V相下桥臂导通 * @param 无 * @retval 无 */ void m1_uhvl(void) { g_atimx_handle.Instance->CCR1 = g_bldc_motor1.pwm_duty; /* U相上桥臂PWM */ g_atimx_handle.Instance->CCR2 = 0; g_atimx_handle.Instance->CCR3 = 0; HAL_GPIO_WritePin(M1_LOW_SIDE_V_PORT,M1_LOW_SIDE_V_PIN,GPIO_PIN_SET); /* V相下桥臂导通 */ HAL_GPIO_WritePin(M1_LOW_SIDE_U_PORT,M1_LOW_SIDE_U_PIN,GPIO_PIN_RESET); /* U相下桥臂关闭 */ HAL_GPIO_WritePin(M1_LOW_SIDE_W_PORT,M1_LOW_SIDE_W_PIN,GPIO_PIN_RESET); /* W相下桥臂关闭 */ } /** * @brief U相上桥臂导通，W相下桥臂导通 * @param 无 * @retval 无 */ void m1_uhwl(void) { g_atimx_handle.Instance->CCR1 = g_bldc_motor1.pwm_duty; g_atimx_handle.Instance->CCR2 = 0; g_atimx_handle.Instance->CCR3 = 0; HAL_GPIO_WritePin(M1_LOW_SIDE_W_PORT,M1_LOW_SIDE_W_PIN,GPIO_PIN_SET); HAL_GPIO_WritePin(M1_LOW_SIDE_U_PORT,M1_LOW_SIDE_U_PIN,GPIO_PIN_RESET); HAL_GPIO_WritePin(M1_LOW_SIDE_V_PORT,M1_LOW_SIDE_V_PIN,GPIO_PIN_RESET); } /** * @brief V相上桥臂导通，W相下桥臂导通 * @param 无 * @retval 无 */ void m1_vhwl(void) { g_atimx_handle.Instance->CCR1=0; g_atimx_handle.Instance->CCR2 = g_bldc_motor1.pwm_duty; g_atimx_handle.Instance->CCR3=0; HAL_GPIO_WritePin(M1_LOW_SIDE_W_PORT,M1_LOW_SIDE_W_PIN,GPIO_PIN_SET); HAL_GPIO_WritePin(M1_LOW_SIDE_U_PORT,M1_LOW_SIDE_U_PIN,GPIO_PIN_RESET); HAL_GPIO_WritePin(M1_LOW_SIDE_V_PORT,M1_LOW_SIDE_V_PIN,GPIO_PIN_RESET); } /** * @brief V相上桥臂导通，U相下桥臂导通 * @param 无 * @retval 无 */ void m1_vhul(void) { g_atimx_handle.Instance->CCR1 = 0; g_atimx_handle.Instance->CCR2 = g_bldc_motor1.pwm_duty; g_atimx_handle.Instance->CCR3 = 0; HAL_GPIO_WritePin(M1_LOW_SIDE_U_PORT,M1_LOW_SIDE_U_PIN,GPIO_PIN_SET); HAL_GPIO_WritePin(M1_LOW_SIDE_V_PORT,M1_LOW_SIDE_V_PIN,GPIO_PIN_RESET); HAL_GPIO_WritePin(M1_LOW_SIDE_W_PORT,M1_LOW_SIDE_W_PIN,GPIO_PIN_RESET); } /** * @brief W相上桥臂导通，U相下桥臂导通 * @param 无 * @retval 无 */ void m1_whul(void) { g_atimx_handle.Instance->CCR1 = 0; g_atimx_handle.Instance->CCR2 = 0; g_atimx_handle.Instance->CCR3 = g_bldc_motor1.pwm_duty; HAL_GPIO_WritePin(M1_LOW_SIDE_U_PORT,M1_LOW_SIDE_U_PIN,GPIO_PIN_SET); HAL_GPIO_WritePin(M1_LOW_SIDE_V_PORT,M1_LOW_SIDE_V_PIN,GPIO_PIN_RESET); HAL_GPIO_WritePin(M1_LOW_SIDE_W_PORT,M1_LOW_SIDE_W_PIN,GPIO_PIN_RESET); } /** * @brief W相上桥臂导通，V相下桥臂导通 * @param 无 * @retval 无 */ void m1_whvl(void) { g_atimx_handle.Instance->CCR1 = 0; g_atimx_handle.Instance->CCR2 = 0; g_atimx_handle.Instance->CCR3 = g_bldc_motor1.pwm_duty; HAL_GPIO_WritePin(M1_LOW_SIDE_V_PORT,M1_LOW_SIDE_V_PIN,GPIO_PIN_SET); HAL_GPIO_WritePin(M1_LOW_SIDE_U_PORT,M1_LOW_SIDE_U_PIN,GPIO_PIN_RESET); HAL_GPIO_WritePin(M1_LOW_SIDE_W_PORT,M1_LOW_SIDE_W_PIN,GPIO_PIN_RESET); }

调用

int watchtemp=0; void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) { if(htim->Instance == ATIM_TIMX_PWM) /* 55us */ { #ifdef H_PWM_L_ON if(g_bldc_motor1.run_flag == RUN) { watchtemp++; if(g_bldc_motor1.dir == CW) /* 正转 */ { g_bldc_motor1.step_sta = hallsensor_get_state(MOTOR_1); /* 顺序6,2,3,1,5,4 */ } else /* 反转 */ { g_bldc_motor1.step_sta = 7 - hallsensor_get_state(MOTOR_1); /* 顺序5,1,3,2,6,4 。使用7减完后可与数组pfunclist_m1对应上顺序 实际霍尔值为：2,6,4,5,1,3*/ } if((g_bldc_motor1.step_sta <= 6)&&(g_bldc_motor1.step_sta >= 1))/* 判断霍尔组合值是否正常 */ { pfunclist_m1[g_bldc_motor1.step_sta-1](); /* 通过数组成员查找对应的函数指针 */ } else /* 霍尔传感器错误、接触不良、断开等情况 */ { stop_motor1(); g_bldc_motor1.run_flag = STOP; } } #endif } }

实验结果：

定时器中断时间加大，需要更大的占空比才能启动。