stm32直流電機(jī)控制程序

1、1STM32直流減速電機(jī)控制(一)在直流減速電機(jī)控制中，最常用的方法就是通過(guò)PWM來(lái)控制直流電機(jī)的轉(zhuǎn)速。在控制小車走直線的過(guò)程中，需要兩者的轉(zhuǎn)速一置（如果要走得很直，還需要在短時(shí)間內(nèi)保證兩者的行程大致相當(dāng)，這可以用PID算法來(lái)控制，以后的文章中會(huì)專門敘述）。因此，在檢測(cè)到兩者轉(zhuǎn)速不一樣時(shí)，需要?jiǎng)討B(tài)調(diào)整其中一個(gè)或兩個(gè)輪子的PWM的點(diǎn)空比（簡(jiǎn)單點(diǎn)的就以一個(gè)輪為基準(zhǔn)，調(diào)整另外一個(gè)輪子即可；如果以一個(gè)固定的標(biāo)準(zhǔn)的話，需要調(diào)整兩個(gè)輪子的PWM占空

2、比）。程序第一步：設(shè)置GPIO，略（輸出PWM的管腳用Mode_AF_PP即可）程序第二步：設(shè)置定時(shí)器，（保證產(chǎn)生兩路PWM即可，我用的是TIM4）voidTIM4_Configuration(void)TIM_TimeBaseInitTypeDefTIM_TimeBaseInitStructureTIM_OCInitTypeDefTIM_OCInitStructure時(shí)間基初始化TIM_TimeBaseInitStructure.TI

3、M_Period=14418K144=125Hz這個(gè)是電機(jī)PWM的頻率TIM_TimeBaseInitStructure.TIM_Prescaler=4000720000004000=18KTIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_UpTIM_TimeB

4、aseInitStructure.TIM_RepetitionCounter=0x0000TIM_TimeBaseInit(TIM4輸出比較模式設(shè)置用于4路PWM輸出TIM_OCInitStructure.TIM_OCMode=TIM_OCMode_PWM2輸出PWMTIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable使能正向通道TIM_OCInitStructure.TI

5、M_OutputNState=TIM_OutputState_Disable失能反向通道TIM_OCInitStructure.TIM_Pulse=PWM_L左輪DIR的占空比TIM_OCInitStructure.TIM_OCPolarity=TIM_OCPolarity_Low輸出極性為低電平TIM_OCInitStructure.TIM_OCNPolarity=TIM_OCPolarity_High互補(bǔ)輸出極性為高電平TIM_OC

6、InitStructure.TIM_OCIdleState=TIM_OCIdleState_SetTIM_OCInitStructure.TIM_OCNIdleState=TIM_OCNIdleState_ResetTIM_OC1Init(TIM4PWM_L初始化TIM_OC1PreloadConfig(TIM4TIM_OCPreload_Disable)改變點(diǎn)空比后立即產(chǎn)生效應(yīng)TIM_OCInitStructure.TIM_Pulse

7、=PWM_R左輪PWM的占空比TIM_OC2Init(TIM4PWM_R初始化TIM_OC2PreloadConfig(TIM4TIM_OCPreload_Disable)改變點(diǎn)空比后立即產(chǎn)生效應(yīng)3externvu16CCR1_Valexternvu16CCR2_Valexternvu16CCR3_Valexternvu16CCR4_ValvoidTIM2_IRQHler(void)TIM2_CH1togglingwithfrequen

8、cy=183.1Hzif(TIM_GetITStatus(TIM2TIM_IT_CC1)!=RESET)TIM_ClearITPendingBit(TIM2TIM_IT_CC1)capture=TIM_GetCapture1(TIM2)TIM_SetCompare1(TIM2captureCCR1_Val)TIM2_CH2togglingwithfrequency=366.2Hzif(TIM_GetITStatus(TIM2TIM_IT

9、_CC2)!=RESET)TIM_ClearITPendingBit(TIM2TIM_IT_CC2)capture=TIM_GetCapture2(TIM2)TIM_SetCompare2(TIM2captureCCR2_Val)TIM2_CH3togglingwithfrequency=732.4Hzif(TIM_GetITStatus(TIM2TIM_IT_CC3)!=RESET)TIM_ClearITPendingBit(TIM2

10、TIM_IT_CC3)capture=TIM_GetCapture3(TIM2)TIM_SetCompare3(TIM2captureCCR3_Val)TIM2_CH4togglingwithfrequency=1464.8Hzif(TIM_GetITStatus(TIM2TIM_IT_CC4)!=RESET)TIM_ClearITPendingBit(TIM2TIM_IT_CC4)capture=TIM_GetCapture4(TIM