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TIM-有感BLDC实现解析-基于CH32V203


1、BLDC运行基本原理简要介绍
在图1-20(a)中，AB相通电，电流处于转子产生的磁场内，根据左手定则，我们判断线圈AA’中的上半部导线A受到一个顺时针方向的电磁力，而AA’的下半部导线A’也受到一个顺时针方向的电磁力。由于线圈绕组在定子上，定子是固定不动的，故根据作用力与反作用力，定子绕组AA’会施加给转子一个逆时针方向的反作用力，转子在这个力的作用下，就转起来了。同理，与AA’的情况类似，BB’也会对转子产生一个逆时针的反作用力。当转子逆时针转过60°后，到达图1-20(b)的位置，这时线圈BB’已经到达转子磁极的边缘位置了，再转下去就要产生反方向的力了，所以这时就要换相，换成AC相通电，见图1-20(c)。这样，每过60°换相通电，转子就可以一直转下去了。


2、6路PWM互补波形的输出
高级定时器tiM1的相关宏定义-方便后续更换成其它高级定时器
  1. #define BLDC_TIMx TIM1
  3. #define BLDC_TIM_CLK RCC_APB2Periph_TIM1
  5. #define BLDC_TIM_GPIO_CLK (RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB)
  7. #define BLDC_TIM_CH1_PORT GPIOA
  9. #define BLDC_TIM_CH1_PIN GPIO_Pin_8 //通道1
  11. #define BLDC_TIM_CH2_PORT GPIOA
  13. #define BLDC_TIM_CH2_PIN GPIO_Pin_9 //通道2
  15. #define BLDC_TIM_CH3_PORT GPIOA
  17. #define BLDC_TIM_CH3_PIN GPIO_Pin_10 //通道3
  19. #define BLDC_TIM_CH1N_PORT GPIOB
  21. #define BLDC_TIM_CH1N_PIN GPIO_Pin_13 //互补通道1
  23. #define BLDC_TIM_CH2N_PORT GPIOB
  25. #define BLDC_TIM_CH2N_PIN GPIO_Pin_14 //互补通道2
  27. #define BLDC_TIM_CH3N_PORT GPIOB
  29. #define BLDC_TIM_CH3N_PIN GPIO_Pin_15 //互补通道3
  31. #define BLDC_TIM_BKIN_PORT GPIOB
  33. #define BLDC_TIM_BKIN_PIN GPIO_Pin_12 //刹车输入
TIM1高级定时器所使用的6路PWM引脚以及刹车引脚初始化
  1. void TIMx_GPIO_Init(void)
  3. {
  5. GPIO_InitTypeDef GPIO_InitStructure = {0};
  7. RCC_APB2PeriphClockCmd(BLDC_TIM_GPIO_CLK|RCC_APB2Periph_AFIO,ENABLE);
  9. /* TIMx_CH1 */
  11. GPIO_InitStructure.GPIO_Pin = BLDC_TIM_CH1_PIN;
  13. GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  15. GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  17. GPIO_Init(BLDC_TIM_CH1_PORT, &GPIO_InitStructure);
  19. /* TIMx_CH2 */
  21. GPIO_InitStructure.GPIO_Pin = BLDC_TIM_CH2_PIN;
  23. GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  25. GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  27. GPIO_Init(BLDC_TIM_CH2_PORT, &GPIO_InitStructure);
  29. /* TIMx_CH3 */
  31. GPIO_InitStructure.GPIO_Pin = BLDC_TIM_CH3_PIN;
  33. GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  35. GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  37. GPIO_Init(BLDC_TIM_CH3_PORT, &GPIO_InitStructure);
  39. /* TIMx_CH1N */
  41. GPIO_InitStructure.GPIO_Pin = BLDC_TIM_CH1N_PIN;
  43. GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  45. GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  47. GPIO_Init(BLDC_TIM_CH1N_PORT, &GPIO_InitStructure);
  49. /* TIMx_CH2N */
  51. GPIO_InitStructure.GPIO_Pin = BLDC_TIM_CH2N_PIN;
  53. GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  55. GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  57. GPIO_Init(BLDC_TIM_CH2N_PORT, &GPIO_InitStructure);
  59. /* TIMx_CH3N */
  61. GPIO_InitStructure.GPIO_Pin = BLDC_TIM_CH3N_PIN;
  63. GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
  65. GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
  67. GPIO_Init(BLDC_TIM_CH3N_PORT, &GPIO_InitStructure);
  69. /* TIMx_BKIN */
  71. GPIO_InitStructure.GPIO_Pin = BLDC_TIM_BKIN_PIN;
  73. GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
  75. GPIO_Init(BLDC_TIM_BKIN_PORT, &GPIO_InitStructure);
  77. }
  79. TIM1高级定时器的参数的初始化
  81. //PWM频率-20KHz
  83. #define BLDC_TIM_PWM_FREQ 20000
  85. // 定时器预分频系数-(2-1)
  87. #define BLDC_TIM_PRESCALER 1
  89. //定时器计数周期-(144000000/2=72000000/20000=3600)
  91. #define BLDC_TIM_PERIOD (uint16_t)(SystemCoreClock/(BLDC_TIM_PRESCALER+1)/BLDC_TIM_PWM_FREQ)
  93. //定时器重复寄存器数值
  95. #define BLDC_TIM_REPETITIONCOUNTER 0 //PWM占空比
  97. void TIMx_Mode_Init(void)//开关频率20K
  99. {
  101. TIM_OCInitTypeDef TIM_OCInitStructure = {0};
  103. TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure = {0};
  105. TIM_BDTRInitTypeDef TIM_BDTRInitStructure = {0};
  107. RCC_APB2PeriphClockCmd(BLDC_TIM_CLK, ENABLE);
  109. TIM_TimeBaseInitStructure.TIM_Period = BLDC_TIM_PERIOD;
  111. TIM_TimeBaseInitStructure.TIM_Prescaler = BLDC_TIM_PRESCALER;
  113. TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
  115. TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
  117. TIM_TimeBaseInitStructure.TIM_RepetitionCounter = BLDC_TIM_REPETITIONCOUNTER;
  119. TIM_TimeBaseInit(BLDC_TIMx, &TIM_TimeBaseInitStructure);
  121. TIM_ARRPreloadConfig(BLDC_TIMx, ENABLE);
  123. TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
  125. TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
  127. TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
  129. TIM_OCInitStructure.TIM_Pulse = 0;
  131. TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
  133. TIM_OCInitStructure.TIM_OCNPolarity = TIM_OCNPolarity_High;
  135. TIM_OCInitStructure.TIM_OCIdleState = TIM_OCIdleState_Reset;
  137. TIM_OCInitStructure.TIM_OCNIdleState = TIM_OCNIdleState_Reset;
  139. TIM_OC1Init(BLDC_TIMx, &TIM_OCInitStructure);// 初始化通道 1 输出 PWM
  141. TIM_OC2Init(BLDC_TIMx, &TIM_OCInitStructure);// 初始化通道 2 输出 PWM
  143. TIM_OC3Init(BLDC_TIMx, &TIM_OCInitStructure);// 初始化通道 3 输出 PWM
  145. TIM_OC1PreloadConfig(BLDC_TIMx, TIM_OCPreload_Enable);
  147. TIM_OC2PreloadConfig(BLDC_TIMx, TIM_OCPreload_Enable);
  149. TIM_OC3PreloadConfig(BLDC_TIMx, TIM_OCPreload_Enable);
  151. TIM_BDTRInitStructure.TIM_OSSIState = TIM_OSSIState_Enable;
  153. TIM_BDTRInitStructure.TIM_OSSRState = TIM_OSSRState_Enable;
  155. TIM_BDTRInitStructure.TIM_LOCKLevel = TIM_LOCKLevel_OFF;
  157. TIM_BDTRInitStructure.TIM_DeadTime = 10; //死区时间=138.9ns
  159. TIM_BDTRInitStructure.TIM_Break = TIM_Break_Enable;
  161. TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_High;
  163. TIM_BDTRInitStructure.TIM_AutomaticOutput = TIM_AutomaticOutput_Disable;
  165. TIM_BDTRConfig(BLDC_TIMx, &TIM_BDTRInitStructure);
  167. //死区以及刹车参数初始化
  169. TIM_SelectInputTrigger( BLDC_TIMx, TIM_TS_ITR3 );
  171. TIM_SelectCOM(BLDC_TIMx,ENABLE);
  173. TIM_CCPreloadControl(BLDC_TIMx,ENABLE);
  175. //设置触发源为TIM4霍尔定时器，并使能COM事件以达到换相时的同步功能
  177. TIM_CtrlPWMOutputs(BLDC_TIMx, ENABLE);
  179. TIM_Cmd(BLDC_TIMx, ENABLE);
  181. TIM_CCxCmd(BLDC_TIMx,TIM_Channel_1,TIM_CCx_Disable);
  183. TIM_CCxNCmd(BLDC_TIMx,TIM_Channel_1,TIM_CCxN_Disable);
  185. TIM_CCxCmd(BLDC_TIMx,TIM_Channel_2,TIM_CCx_Disable);
  187. TIM_CCxNCmd(BLDC_TIMx,TIM_Channel_2,TIM_CCxN_Disable);
  189. TIM_CCxCmd(BLDC_TIMx,TIM_Channel_3,TIM_CCx_Disable);
  191. TIM_CCxNCmd(BLDC_TIMx,TIM_Channel_3,TIM_CCxN_Disable);
  193. }
3、与霍尔传感器接口-霍尔定时器的配置

霍尔定时器TIM4的相关宏定义-方便后续更换成其它霍尔定时器
  1. #define HALL_TIMx TIM4
  3. #define HALL_TIM_CLK RCC_APB1Periph_TIM4
  5. #define HALL_TIM_PERIOD 0xFFFF //ARR，计数周期,配置为最大65535
  7. #define HALL_TIM_PRESCALER (144-1) //预分频系数为144
  9. #define HALL_TIM_Channel_x TIM_Channel_1 //通道1
  11. #define HALL_TIM_GPIO_CLK RCC_APB2Periph_GPIOB
  13. #define HALL_TIM_CH1_PIN GPIO_Pin_6
  15. #define HALL_TIM_CH1_GPIO GPIOB
  17. #define HALL_TIM_CH2_PIN GPIO_Pin_7
  19. #define HALL_TIM_CH2_GPIO GPIOB
  21. #define HALL_TIM_CH3_PIN GPIO_Pin_8
  23. #define HALL_TIM_CH3_GPIO GPIOB
  25. TIM4霍尔定时器所使用的3路捕获引脚的初始化
  27. void TIMx_HALL_GPIO_Init(void)
  29. {
  31. GPIO_InitTypeDef GPIO_InitStructure = {0};
  33. RCC_APB2PeriphClockCmd(HALL_TIM_GPIO_CLK,ENABLE);
  35. /* TIM4_CH1 */
  37. GPIO_InitStructure.GPIO_Pin = HALL_TIM_CH1_PIN;
  39. GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
  41. GPIO_Init(HALL_TIM_CH1_GPIO, &GPIO_InitStructure);
  43. /* TIM4_CH2 */
  45. GPIO_InitStructure.GPIO_Pin = HALL_TIM_CH2_PIN;
  47. GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
  49. GPIO_Init(HALL_TIM_CH2_GPIO, &GPIO_InitStructure);
  51. /* TIM4_CH3 */
  53. GPIO_InitStructure.GPIO_Pin = HALL_TIM_CH3_PIN;
  55. GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
  57. GPIO_Init(HALL_TIM_CH3_GPIO, &GPIO_InitStructure);
  59. }
  61. void TIMx_HALL_Mode_Init(void)
  63. {
  65. TIM_ICInitTypeDef TIM_ICInitStructure = {0};
  67. TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure = {0};
  69. NVIC_InitTypeDef NVIC_InitStructure={0};
  71. RCC_APB1PeriphClockCmd(HALL_TIM_CLK, ENABLE);
  73. TIM_TimeBaseInitStructure.TIM_Period = HALL_TIM_PERIOD;
  75. TIM_TimeBaseInitStructure.TIM_Prescaler = HALL_TIM_PRESCALER;
  77. TIM_TimeBaseInitStructure.TIM_ClockDivision = TIM_CKD_DIV1;
  79. TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
  81. TIM_TimeBaseInitStructure.TIM_RepetitionCounter = 0;
  83. TIM_TimeBaseInit(HALL_TIMx, &TIM_TimeBaseInitStructure);
  85. NVIC_InitStructure.NVIC_IRQChannel = HALL_TIM_IRQn;
  87. NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
  89. NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
  91. NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
  93. NVIC_Init(&NVIC_InitStructure);
  95. TIM_ITConfig( HALL_TIMx, TIM_IT_Trigger, ENABLE );
  97. TIM_ITConfig( HALL_TIMx, TIM_IT_CC1, ENABLE );
  99. TIM_ICInitStructure.TIM_Channel = HALL_TIM_Channel_x;
  101. TIM_ICInitStructure.TIM_ICFilter = 0x00;
  103. TIM_ICInitStructure.TIM_ICPolarity = TIM_ICPolarity_BothEdge;
  105. TIM_ICInitStructure.TIM_ICPrescaler = TIM_ICPSC_DIV1;
  107. TIM_ICInitStructure.TIM_ICSelection = TIM_ICSelection_TRC;
  109. TIM_ICInit(HALL_TIMx,&TIM_ICInitStructure);
  111. //使能霍尔传感器的接口，将三个通道的信号异或输入。
  113. TIM_SelectHallSensor(HALL_TIMx,ENABLE);
  115. //输入触发源选择，选择TI1F_ED
  117. TIM_SelectInputTrigger( HALL_TIMx, TIM_TS_TI1F_ED );
  119. //从模式选择，复位模式
  121. TIM_SelectSlaveMode( HALL_TIMx, TIM_SlaveMode_Reset );
  123. //主从模式使能
  125. TIM_SelectMasterSlaveMode( HALL_TIMx, TIM_MasterSlaveMode_Enable );
  127. //使能霍尔定时器
  129. TIM_Cmd( HALL_TIMx, ENABLE );
  131. //清除中断标志位，防止直接第一次进入中断
  133. TIM_ClearITPendingBit (HALL_TIMx,TIM_IT_Trigger);
  135. }
4、定时器的联动与触发换相
定时器联动概述：
1、高级定时器TIM1设定TIM4为主定时器，即利用TIM4触发TIM1
2、霍尔定时器配置了TIM4_CH1、TIM4_CH2、TIM4_CH3三个通道捕获的电平在经过异或后形成TI1信号，并经过双边沿检测器，形成TI1F_ED的脉冲波形信号。
3、设置定时器内部TRC触发，IC1配置为输入捕获（无论配置为上升沿还是下降沿均可捕获到TI1F_ED的脉冲波形信号），IC1输入源配置为TRC。一旦捕获到此信号即开始换相操作。
4、同时TRC信号生成TRGI信号触发复位更新TIM4的CNT计数值，使得CNT=0,产生一个UPDATE信号，通过此处的更新可以捕获到两个换相之前的延时，从而推算出马达的速度信息。
触发换相：

获取霍尔定时器三个通道的霍尔信号
  1. uint8_t get_hall_state(void)
  3. {
  5. uint8_t state = 0;
  7. if((HALL_TIM_CH1_GPIO->INDR & HALL_TIM_CH1_PIN) != (uint32_t)Bit_RESET)
  9. //CH1状态获取
  11. {
  13. state |= 0x01U << 0;
  15. }
  17. if((HALL_TIM_CH2_GPIO->INDR & HALL_TIM_CH2_PIN) != (uint32_t)Bit_RESET)
  19. //CH2状态获取
  21. {
  23. state |= 0x01U << 1;
  25. }
  27. if((HALL_TIM_CH3_GPIO->INDR & HALL_TIM_CH3_PIN) != (uint32_t)Bit_RESET)
  29. //CH3状态获取
  31. {
  33. state |= 0x01U << 2;
  35. }
  37. return state; // 返回传感器状态
  39. }
霍尔定时器中断换相
  1. void TIM4_IRQHandler(void)
  3. {
  5. if( TIM_GetITStatus( TIM4, TIM_IT_Trigger|TIM_IT_CC1 ) != RESET )
  7. {
  9. uint8_t step = 0;
  11. step = get_hall_state();
  13. switch(step)
  15. {
  17. case 3: //V+ W-
  19. //输出比较通道1配置
  21. TIM_CCxCmd(BLDC_TIMx,TIM_Channel_1,TIM_CCx_Disable);
  23. TIM_CCxNCmd(BLDC_TIMx,TIM_Channel_1,TIM_CCxN_Disable);
  25. //输出比较通道2配置
  27. TIM_SetCompare2(BLDC_TIMx,BLDC_TIM_PERIOD*speed_duty/100);
  29. TIM_CCxCmd(BLDC_TIMx,TIM_Channel_2,TIM_CCx_Enable);
  31. //输出比较通道3配置
  33. TIM_SetCompare3(BLDC_TIMx,BLDC_TIM_PERIOD);
  35. TIM_CCxNCmd(BLDC_TIMx,TIM_Channel_3,TIM_CCxN_Enable);
  37. break;
  39. case 2: //V+ U-
  41. //输出比较通道3配置
  43. TIM_CCxCmd(BLDC_TIMx,TIM_Channel_3,TIM_CCx_Disable);
  45. TIM_CCxNCmd(BLDC_TIMx,TIM_Channel_3,TIM_CCxN_Disable);
  47. //输出比较通道1配置
  49. TIM_SetCompare1(BLDC_TIMx,BLDC_TIM_PERIOD);
  51. TIM_CCxNCmd(BLDC_TIMx,TIM_Channel_1,TIM_CCxN_Enable);
  53. //输出比较通道2配置
  55. TIM_SetCompare2(BLDC_TIMx,BLDC_TIM_PERIOD*speed_duty/100);
  57. TIM_CCxCmd(BLDC_TIMx,TIM_Channel_2,TIM_CCx_Enable);
  59. break;
  61. case 6: //W+ U-
  63. //输出比较通道2配置
  65. TIM_CCxCmd(BLDC_TIMx,TIM_Channel_2,TIM_CCx_Disable);
  67. TIM_CCxNCmd(BLDC_TIMx,TIM_Channel_2,TIM_CCxN_Disable);
  69. //输出比较通道1配置
  71. TIM_SetCompare1(BLDC_TIMx,BLDC_TIM_PERIOD);
  73. TIM_CCxNCmd(BLDC_TIMx,TIM_Channel_1,TIM_CCxN_Enable);
  75. //输出比较通道3配置
  77. TIM_SetCompare3(BLDC_TIMx,BLDC_TIM_PERIOD*speed_duty/100);
  79. TIM_CCxCmd(BLDC_TIMx,TIM_Channel_3,TIM_CCx_Enable);
  81. break;
  83. case 4: //W+ V-
  85. //输出比较通道1配置
  87. TIM_CCxCmd(BLDC_TIMx,TIM_Channel_1,TIM_CCx_Disable);
  89. TIM_CCxNCmd(BLDC_TIMx,TIM_Channel_1,TIM_CCxN_Disable);
  91. //输出比较通道2配置
  93. TIM_SetCompare2(BLDC_TIMx,BLDC_TIM_PERIOD);
  95. TIM_CCxNCmd(BLDC_TIMx,TIM_Channel_2,TIM_CCxN_Enable);
  97. //输出比较通道3配置
  99. TIM_SetCompare3(BLDC_TIMx,BLDC_TIM_PERIOD*speed_duty/100);
  101. TIM_CCxCmd(BLDC_TIMx,TIM_Channel_3,TIM_CCx_Enable);
  103. break;
  105. case 5: //U+ V-
  107. //输出比较通道3配置
  109. TIM_CCxCmd(BLDC_TIMx,TIM_Channel_3,TIM_CCx_Disable);
  111. TIM_CCxNCmd(BLDC_TIMx,TIM_Channel_3,TIM_CCxN_Disable);
  113. //输出比较通道1配置
  115. TIM_SetCompare1(BLDC_TIMx,BLDC_TIM_PERIOD*speed_duty/100);
  117. TIM_CCxCmd(BLDC_TIMx,TIM_Channel_1,TIM_CCx_Enable);
  119. //输出比较通道2配置
  121. TIM_SetCompare2(BLDC_TIMx,BLDC_TIM_PERIOD);
  123. TIM_CCxNCmd(BLDC_TIMx,TIM_Channel_2,TIM_CCxN_Enable);
  125. break;
  127. case 1: //U+ W-
  129. //输出比较通道2配置
  131. TIM_CCxCmd(BLDC_TIMx,TIM_Channel_2,TIM_CCx_Disable);
  133. TIM_CCxNCmd(BLDC_TIMx,TIM_Channel_2,TIM_CCxN_Disable);
  135. //输出比较通道1配置
  137. TIM_SetCompare1(BLDC_TIMx,BLDC_TIM_PERIOD*speed_duty/100);
  139. TIM_CCxCmd(BLDC_TIMx,TIM_Channel_1,TIM_CCx_Enable);
  141. //输出比较通道3配置
  143. TIM_SetCompare3(BLDC_TIMx,BLDC_TIM_PERIOD);
  145. TIM_CCxNCmd(BLDC_TIMx,TIM_Channel_3,TIM_CCxN_Enable);
  147. break;
  149. default: //关闭输出
  151. TIM_CCxCmd(BLDC_TIMx,TIM_Channel_1,TIM_CCx_Disable);
  153. TIM_CCxNCmd(BLDC_TIMx,TIM_Channel_1,TIM_CCxN_Disable);
  155. TIM_CCxCmd(BLDC_TIMx,TIM_Channel_2,TIM_CCx_Disable);
  157. TIM_CCxNCmd(BLDC_TIMx,TIM_Channel_2,TIM_CCxN_Disable);
  159. TIM_CCxCmd(BLDC_TIMx,TIM_Channel_3,TIM_CCx_Disable);
  161. TIM_CCxNCmd(BLDC_TIMx,TIM_Channel_3,TIM_CCxN_Disable);
  163. break;
  165. }
  167. TIM_GenerateEvent(TIM1,TIM_EventSource_COM);//软件产生COM事件将配置写入
  169. }
  171. TIM_ClearITPendingBit( TIM4, TIM_IT_Trigger );
  173. TIM_ClearITPendingBit( TIM4, TIM_IT_CC1 );
  175. }

文章来源：cnblogs


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