stm32直流電機控制程序

1、1STM32直流減速電機控制(一)在直流減速電機控制中，最常用的方法就是通過PWM來控制直流電機的轉速。在控制小車走直線的過程中，需要兩者的轉速一置（如果要走得很直，還需要在短時間內保證兩者的行程大致相當，這可以用PID算法來控制，以后的文章中會專門敘述）。因此，在檢測到兩者轉速不一樣時，需要動態(tài)調整其中一個或兩個輪子的PWM的點空比（簡單點的就以一個輪為基準，調整另外一個輪子即可；如果以一個固定的標準的話，需要調整兩個輪子的PWM占空

2、比）。程序第一步：設置GPIO，略（輸出PWM的管腳用Mode_AF_PP即可）程序第二步：設置定時器，（保證產生兩路PWM即可，我用的是TIM4）voidTIM4_Configuration(void)TIM_TimeBaseInitTypeDefTIM_TimeBaseInitStructureTIM_OCInitTypeDefTIM_OCInitStructure時間基初始化TIM_TimeBaseInitStructure.TI

3、M_Period=14418K144=125Hz這個是電機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)改變點空比后立即產生效應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)改變點空比后立即產生效應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