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STM32单片机驱动步进电机-定时器输出正弦波

2019-9-19 17:22:40 7120 单片机步进电机

0 前面的文章介绍了单片机控制步进电机四相四拍、四相八拍的方式。用的是持续电平驱动，这种驱动方式电机的噪音大，震动明显，下面介绍正弦波驱动方式，这种方式能很好的解决噪音和震动问题。首先需要准备下STM32的正弦波PWM表，可以用EXCEL生成，文件在附件中。正弦波.rar (49.22 KB, 下载次数: 26 ) 配置单片机定时器的PWM输出。 void tiM_Config(void) { GPIO_InitTypeDef GPIO_InitStructure; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_OCInitTypeDef TIM_OCInitStructure; NVIC_InitTypeDef NVIC_InitStructure; RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM1,ENABLE); RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8 \| GPIO_Pin_9 \| GPIO_Pin_10 \| GPIO_Pin_11; GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; GPIO_Init(GPIOA, &GPIO_InitStructure); TIM_TimeBaseStructure.TIM_Period=512; TIM_TimeBaseStructure.TIM_Prescaler= 7; TIM_TimeBaseStructure.TIM_ClockDivision=TIM_CKD_DIV1; TIM_TimeBaseStructure.TIM_CounterMode=TIM_CounterMode_Up; TIM_TimeBaseStructure.TIM_RepetitionCounter=0; TIM_TimeBaseInit(TIM1, &TIM_TimeBaseStructure); TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1; TIM_OCInitStructure.TIM_Pulse=512; TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable; TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_Low; TIM_OC1Init(TIM1, &TIM_OCInitStructure); TIM_OC1PreloadConfig(TIM1, TIM_OCPreload_Enable); TIM_OC2Init(TIM1, &TIM_OCInitStructure); TIM_OC2PreloadConfig(TIM1, TIM_OCPreload_Enable); TIM_OC3Init(TIM1, &TIM_OCInitStructure); TIM_OC3PreloadConfig(TIM1, TIM_OCPreload_Enable); TIM_OC4Init(TIM1, &TIM_OCInitStructure); TIM_OC4PreloadConfig(TIM1, TIM_OCPreload_Enable); TIM_ARRPreloadConfig(TIM1, ENABLE); TIM_Cmd(TIM1, ENABLE); NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1); NVIC_InitStructure.NVIC_IRQChannel = TIM1_UP_IRQn; NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0; NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_Init(&NVIC_InitStructure); TIM_CtrlPWMOutputs(TIM1,ENABLE); TIM_ITConfig(TIM1, TIM_IT_Update, ENABLE); } 配置定时器的数据更新中断，在中断里更新CCR的值改变占空比。 void TIM1_UP_IRQHandler(void) { if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) { pwm1_index++;if(pwm1_index>36)pwm1_index=0; pwm2_index++;if(pwm2_index>36)pwm2_index=0; pwm3_index++;if(pwm3_index>36)pwm3_index=0; pwm4_index++;if(pwm4_index>36)pwm4_index=0; TIM1->CCR1 = indexWave[pwm1_index]; TIM1->CCR2 = indexWave[pwm2_index]; TIM1->CCR3 = indexWave[pwm3_index]; TIM1->CCR4 = indexWave[pwm4_index]; TIM_ClearITPendingBit (TIM1, TIM_IT_Update); } 至此可以看到定时器输出的符合正弦波规律的PWM波。程序在这里正弦波PWM.rar (4.25 MB, 下载次数: 39 ) 可以对比下用正弦波代替持续电平的效果更多精彩内容关注我的博客https://blog.csdn.net/gd1984812 3
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