2018年09月12日 | STM32步进电机加减速

电机的加减速为了，电机启动停止更加稳定，提高匀速速度。S曲线算法优化电机的运行。

整个过程就是，模仿S曲线设置电机的频率

程序采用，通过s_curve()函数映射一张小于1500个点的表， 输出一次pwm方波，中断一次，计数器step计数一次 ，TIM_SetAutoreload()重新设置arr频率。

S曲线函数，加速和减速同理，返回值是表的个数

uint16_t _stepmotor_calc(uint16_t min, uint16_t max, float rate, float val[1500])

{

 uint16_t  i;

 float     Ainf_v;

 uint16_t  AInf_t;

 float     end_v;

 float     start_v;

 end_v=100000/min;

 start_v=100000/max;

Ainf_v=(end_v-start_v)/2+start_v;

        AInf_t=sqrt(2*(Ainf_v-start_v)/rate);

for(i=0;i

代码实现：

电机的配置 ：

void RCC_Cfg(void)

{      

  RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);  

       RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOA|RCC_APB2Periph_AFIO,ENABLE);

}

void GPIO_Cfg_gpio_b(void)

{  

    GPIO_InitTypeDef GPIO_InitStructure;           

    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

    GPIO_InitStructure.GPIO_Mode  = GPIO_Mode_AF_PP;

    GPIO_InitStructure.GPIO_Pin   = GPIO_Pin_1;

    GPIO_Init(GPIOB,&GPIO_InitStructure); 

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4|GPIO_Pin_5|GPIO_Pin_6|GPIO_Pin_7;

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_Init(GPIOA, &GPIO_InitStructure);

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_10|GPIO_Pin_11;

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

GPIO_Init(GPIOB, &GPIO_InitStructure);

GPIO_WriteBit(GPIOA, GPIO_Pin_4, Bit_RESET);  //OE使能

GPIO_WriteBit(GPIOA, GPIO_Pin_5, Bit_RESET);  //细分1

GPIO_WriteBit(GPIOA, GPIO_Pin_6, Bit_SET);    //细分2

GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_RESET); //ATT1衰减

GPIO_WriteBit(GPIOB, GPIO_Pin_11, Bit_SET);   //ATT2衰减

GPIO_WriteBit(GPIOB, GPIO_Pin_0, Bit_RESET);  //CW方向

}

void PWM_Cfg(void)

{

    TIM_OCInitTypeDef TIM_OCInitStructure;

NVIC_InitTypeDef NVIC_InitStructure;

TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;

    TIM_OCStructInit(&TIM_OCInitStructure);

TIM_DeInit(TIM3);      

TIM_InternalClockConfig(TIM3);    

TIM_TimeBaseStructure.TIM_Period = 65535;      //arr  

TIM_TimeBaseStructure.TIM_Prescaler = 200;    // psc  //Tclk/((arr+1)*(psc+1))Tclk;                        

TIM_TimeBaseStructure.TIM_ClockDivision =0;// TIM_CKD_DIV1

TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;

TIM_TimeBaseInit(TIM3,&TIM_TimeBaseStructure);

TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);

    NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;

    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;

    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;

    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;

    NVIC_Init(&NVIC_InitStructure);

    TIM_OCInitStructure.TIM_OCMode       = TIM_OCMode_PWM1; 

    TIM_OCInitStructure.TIM_OutputState  = TIM_OutputState_Enable; 

    TIM_OCInitStructure.TIM_OCPolarity   = TIM_OCPolarity_High;    

    TIM_OCInitStructure.TIM_Pulse = 0;

    TIM_OC4Init(TIM3, &TIM_OCInitStructure);

    TIM_CtrlPWMOutputs(TIM3,ENABLE);

}

主函数部分，整个运行的图像是个梯形，先加速在匀速在减速停止

#include "stm32f10x.h"

#include "math.h"

#include "pwm.h"

#define _ACC_DEC_MAX_COUNT 1500

#define _STEP_INT 8000

#define mortor_cw(x) x ? GPIO_SetBits(GPIOB,GPIO_Pin_0):GPIO_ResetBits(GPIOB,GPIO_Pin_0)

void stm32_init(void);

void delay_ms(u32 i);

void once_pwm(void);

int acc_i = 0;

int dec_i = 0;

int cw_buf=0;

uint16_t acc_count;

uint16_t dec_count;

typedef struct

{

int StepCount;

float acc_val[_ACC_DEC_MAX_COUNT];

float dec_val[_ACC_DEC_MAX_COUNT];

}str_mot;

str_mot motor_1;

void Delay(u32 nCount)

{

  do{

    }

  while(nCount--);

}

int main()

{

 int i = 0;

 float temp = 0;

 stm32_init();

      RCC_Cfg();   

      GPIO_Cfg_gpio_b();

 motor_1.StepCount=0;

 acc_count=0;

 dec_count=0;  

 PWM_Cfg();

 TIM_SetCompare4(TIM3,(20/2));

 acc_count = _stepmotor_calc(60,250,0.09,motor_1.acc_val);

 dec_count = _stepmotor_calc(60,150,0.005,motor_1.dec_val);

 for(i = 0;i= (_STEP_INT-dec_count))

{ 

TIM_SetAutoreload(TIM3,motor_1.dec_val[(dec_i)]);

TIM_SetCompare4(TIM3,(motor_1.dec_val[(dec_i)]/2));

dec_i++;

}

}

}