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老规矩开头说一下写此文章的原由,Up最近在做一个水下救生包的大创小项目,需要用到船模的ROV无刷电机马达,在淘宝店买了电机,因为手上有一个闲置的新西达30A无刷电调,因此没有买店家配套的电调。等设计的PCB板子打样焊接完成后,开始撸代码。在准备测试无刷电机马达的时候,网上各种查资料,接线这些想必不用我多说了吧【手动小狗头】,做为一个工科生,只要烙铁握的紧,它就烫不到我。扯远了……
因为之前没玩过穿越机,这算是第一次接触无刷电机。通过各种查资料,了解到无刷电机驱动第一次上电需要油门校准,先满油门等几秒,电机会发出哔哔哔三声,代表满油门校准成功,然后停车等待几秒,电机发出哔一声,代表校准成功。然后就可以玩了,看着简单,到我自己上手的时候,感觉就有点蒙。
首先是驱动频率,看CSDN上大佬们的帖子,有人说50Hz,也有人说是500Hz,众说不一。而且满油门的参数比和停车的参数不同的电机不一样,我也不确定用哪个,一想先试试再说,我就先用的500Hz驱动频率,看了大佬们满油门和停车的参数,初始化校准油门,结果上电之后ROV马达一直以一定频率哔哔哔的响个不停。重新测试了几组参数,折腾了蛮久(技术太菜,哎),终于转起来了,莫名激动!所以就想记录下来,帮助和我一样遇到相同问题的人。闲话不多说了,上菜!
ROV电机马达调速测试
motor.h
- #ifndef __MOTOR_DRIVER_H
- #define __MOTOR_DRIVER_H
-
- void Motor_PWM_Init(void);
- void Motor_Driver_Init(void);
- void Motor_Driver_Speed(uint16_t Speed);
-
- #endif
motor.c
- #include "stm32f10x.h" // Device header
- #include "Delay.h"
- void Motor_PWM_Init(void)
- {
- RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
- RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
-
- /*初始化GPIO口为复用推挽输出模式*/
- GPIO_InitTypeDef GPIO_InitStructure;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
- GPIO_Init(GPIOB, &GPIO_InitStructure);
- /*选择时钟源为系统时钟*/
- TIM_InternalClockConfig(TIM3);
-
- /*时基单元初始化*/
- TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
- TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
- TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
- TIM_TimeBaseInitStructure.TIM_Period = 20000 - 1;//ARR的值决定PWM的周期50HZ,20ms
- TIM_TimeBaseInitStructure.TIM_Prescaler = 72 - 1;//预分频系数给72,主频1MHz
- TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 1;
- TIM_TimeBaseInit(TIM3, &TIM_TimeBaseInitStructure);
-
- TIM_OCInitTypeDef TIM_OCInitStructure;
- TIM_OCStructInit(&TIM_OCInitStructure);
- TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
- TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
- TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
- TIM_OCInitStructure.TIM_Pulse = 0;//占空比
- TIM_OC3Init(TIM3, &TIM_OCInitStructure);
-
-
- TIM_Cmd(TIM3, ENABLE);
- }
-
- void Motor_Driver_Init()
- {
- Motor_PWM_Init();
- PWM_SetCompare3(2000);
- Delay_ms(3000);
- PWM_SetCompare3(1500);
- Delay_ms(3000);
-
- }
- void Motor_Driver_Speed(uint16_t Speed)
- {
- uint16_t temp;
- temp = (((float)Speed)/100)*500+1500;
- TIM_SetCompare3(TIM3, temp);
- }

main.c
- #include "stm32f10x.h" // Device header
- #include "Delay.h"
- #include "Key.h"
- #include "Motor_Driver.h"
-
- uint16_t Speed= 0;
- uint8_t Key_Num;
- int main(void)
- {
- Key_Init();
- Motor_Driver_Init();
- while(1)
- {
- Key_Num = Key_GetNum();
- if(Key_Num == 1)
- {
- if(Speed >99)
- {
- Speed = 99;
- }
- Speed++;
- }
- else if(Key_Num == 2)
- {
- if(Speed < 1)
- {
- Speed = 1;
- }
- Speed--;
- }
- else
- {}
- Motor_Driver_Speed(Speed);
-
- }
- }

经过测试,驱动频率取50Hz,油门行程在1.5ms~2ms之间驱动效果比较好,可以看我的测试视频,占空比1.5ms停车,2ms满速跑。Motor_Driver_Speed()函数里面对形参做了范围映射,Speed参数为0~100,对应占空比参数1500~2000。
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