基于STM32無刷直流電機(jī)控制器的設(shè)計仿真與實現(xiàn)（原理圖+源碼+仿真工程+論文+PPT+參考英文文獻(xiàn)）

資料

包含此題目畢業(yè)設(shè)計全套資料：
原理圖工程文件
原理圖截圖
仿真模型工程文件
仿真截圖
低重復(fù)率文檔(22642字)
英文文獻(xiàn)及翻譯
資料鏈接

任務(wù)書

1.基于單片機(jī)實現(xiàn)無刷直流電機(jī)控制器的設(shè)計，完成系統(tǒng)芯片選型；
2.確定無刷直流電機(jī)控制器的總體設(shè)計方案；
3.給出系統(tǒng)的硬件設(shè)計，包括主控模塊、位置檢測模塊、PWM驅(qū)動模塊、換向邏輯模塊、逆變模塊、速度反饋模塊等硬件模塊的電路設(shè)計；
4.給出系統(tǒng)的軟件設(shè)計，并繪制主要模塊的流程圖；
5.基于Proteus對系統(tǒng)進(jìn)行仿真。

綜上分析本設(shè)計目標(biāo)如下：

能夠驅(qū)動直流無刷電機(jī)的運轉(zhuǎn)并有電路保護(hù)以免器件燒壞。
能夠?qū)崟r準(zhǔn)確的檢測到直流無刷電機(jī)轉(zhuǎn)子的位置。
能夠?qū)崿F(xiàn)對電機(jī)啟動和停止的控制。
能夠通過滑動變阻器來實現(xiàn)直流無刷電機(jī)的無極調(diào)速。
電路具有電流、電壓保護(hù)，以免對電路產(chǎn)生不良影響。
現(xiàn)在已經(jīng)確定直流無刷無感電機(jī)的控制系統(tǒng)需要實現(xiàn)的主要功能和技術(shù)有：

能夠準(zhǔn)確實時的檢測到無刷直流電機(jī)轉(zhuǎn)子的位置；
用三段式技術(shù)使電機(jī)能夠很好的啟動；
PID調(diào)節(jié)技術(shù)；
速度環(huán)的控制；
電壓保護(hù)、電流保護(hù)。

設(shè)計說明書

摘要

本文的主要工作是基于STM32設(shè)計無刷直流電機(jī)控制系統(tǒng)。隨著科學(xué)的進(jìn)步，電子技術(shù)的成熟，現(xiàn)在已經(jīng)有了很大一部分電子產(chǎn)品開始實現(xiàn)智能化，并且已經(jīng)開始廣泛的應(yīng)用于當(dāng)前的生活中來，通過嵌入式設(shè)備來使系統(tǒng)達(dá)到更好的技術(shù)的控制。本文選擇使用STM32主控芯片控制無刷直流電機(jī)，可以通過按鍵實現(xiàn)對無刷直流電機(jī)的速度控制，并可以將轉(zhuǎn)速顯示到液晶顯示器。
本文首先闡述了無刷直流電機(jī)的研究背景和意義，然后對無刷直流電機(jī)實現(xiàn)方案進(jìn)行了論證分析，并給出無刷直流電機(jī)的總體設(shè)計方案。接著詳細(xì)介紹了無刷直流電機(jī)的硬件設(shè)計，對主控模塊，電源模塊，顯示模塊的電路原理圖進(jìn)行了繪制，重點是無刷直流電機(jī)的驅(qū)動模塊和調(diào)速模塊的程序設(shè)計。最后基于Proteus對系統(tǒng)進(jìn)行仿真、調(diào)試。通過這種方式，不僅能精確驗證設(shè)計后的系統(tǒng)是否滿足技術(shù)要求，還在提高系統(tǒng)效率、質(zhì)量的設(shè)計基礎(chǔ)上降低了開發(fā)成本。

設(shè)計框架架構(gòu)

電機(jī)調(diào)速框架思路：

設(shè)計說明書及設(shè)計文件

低重復(fù)率文檔(22642字)文章來源地址http://www.zghlxwxcb.cn/news/detail-467921.html

源碼展示

/* USER CODE BEGIN Header */
/**  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2020 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "tim.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "includes.h"
#include "lcd.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
#define HALL_GPIO GPIOA
//START 任務(wù)
//設(shè)置任務(wù)優(yōu)先級
#define START_TASK_PRIO      			10 //開始任務(wù)的優(yōu)先級設(shè)置為最低
//設(shè)置任務(wù)堆棧大小
#define START_STK_SIZE  	  			64
//任務(wù)堆棧	
OS_STK START_TASK_STK[START_STK_SIZE];
//任務(wù)函數(shù)
void start_task(void *pdata);	 			   
//LED0任務(wù)
//設(shè)置任務(wù)優(yōu)先級
#define LED0_TASK_PRIO       			2 
//設(shè)置任務(wù)堆棧大小
#define LED0_STK_SIZE  		    		64
//任務(wù)堆棧	
OS_STK LED0_TASK_STK[LED0_STK_SIZE];
//任務(wù)函數(shù)
void led0_task(void *pdata);
//Speed_ADC 任務(wù)
//設(shè)置任務(wù)優(yōu)先級
#define SPEED_ADC_TASK_PRIO       			1
//設(shè)置任務(wù)堆棧大小
#define SPEED_ADC_STK_SIZE  		    		64
//任務(wù)堆棧	
OS_STK SPEED_ADC_TASK_STK[SPEED_ADC_STK_SIZE];
//任務(wù)函數(shù)
void speed_adc_task(void *pdata);
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
	HAL_NVIC_SetPriorityGrouping(NVIC_PRIORITYGROUP_2);//設(shè)置中斷優(yōu)先級分組為組2：2位搶占優(yōu)先級，2位響應(yīng)優(yōu)先級
	OSInit();
	OSTaskCreate(start_task,(void *)0,(OS_STK *)&START_TASK_STK[START_STK_SIZE-1],START_TASK_PRIO );//創(chuàng)建起始任務(wù)
  /* USER CODE END 1 */
  /* MCU Configuration--------------------------------------------------------*/
  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();
  /* USER CODE BEGIN Init */
  /* USER CODE END Init */
  /* Configure the system clock */
  SystemClock_Config();
  /* USER CODE BEGIN SysInit */		
  /* USER CODE END SysInit */
  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM1_Init();
  MX_ADC1_Init();
  MX_TIM2_Init();
  /* USER CODE BEGIN 2 */
	OSStart();
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */
    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}
/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL2;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV2;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
  {
    Error_Handler();
  }
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
  PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV2;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    Error_Handler();
  }
}
//LED0任務(wù)
void speed_adc_task(void *pdata)
{	 	 
	lcd_system_reset();
	unsigned char temp_table[16] ={"Cur_Speed:"};
	unsigned char temp_table1[16] ={"Tar_Speed:"};
	for(uint8_t i=0;i<10;i++) 
	{
		lcd_char_write(i,0,temp_table[i]); 
		lcd_char_write(i,1,temp_table1[i]); 
	}
	HAL_ADC_Start(&hadc1);
	while(1)
	{
		HAL_ADC_PollForConversion(&hadc1,0); //等待轉(zhuǎn)換完成,第二個參數(shù)代表最長等待時間ms
		if(HAL_IS_BIT_SET(HAL_ADC_GetState(&hadc1), HAL_ADC_STATE_REG_EOC))
		{
			ADC_Value = HAL_ADC_GetValue(&hadc1); // 讀取ADC數(shù)據(jù) ，4096 -> 3.3V
			ADC_Speed = ADC_Value + 500;  //轉(zhuǎn)換公式  0-4096  ->   500 - 4596
//			if(ADC_Speed > 100){
//				HAL_GPIO_TogglePin(led_GPIO_Port, led_Pin);
//			}
		}
		//當(dāng)前速度
		temp_table[10]=current_speed/1000+'0';
		temp_table[11]=current_speed/100%10+'0';
		temp_table[12]=current_speed/10%10+'0';
		temp_table[13]=current_speed%10+'0';
	  //目標(biāo)速度
		temp_table1[10]=ADC_Speed/1000+'0';
		temp_table1[11]=ADC_Speed/100%10+'0';
		temp_table1[12]=ADC_Speed/10%10+'0';
		temp_table1[13]=ADC_Speed%10+'0';
		for(uint8_t i=10;i<14;i++) 
		{
			lcd_char_write(i,0,temp_table[i]); 
			lcd_char_write(i,1,temp_table1[i]); 
		}
	}
}
//speed adc 采樣函數(shù)
void led0_task(void *pdata)
{	 	
	while(1)
	{
		HAL_GPIO_WritePin(led_GPIO_Port, led_Pin, GPIO_PIN_SET);
		OSTimeDly(10);
		HAL_GPIO_WritePin(led_GPIO_Port, led_Pin, GPIO_PIN_RESET);
		OSTimeDly(10);
	}
}
//外部中斷服務(wù)函數(shù)
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{	
	if(!state)
	{
		__IO uint8_t uwStep = 0;
		uint16_t hall_read=(HALL_GPIO->IDR)&0x0007; // 獲取霍爾傳感器狀態(tài) pin0 1 2
		uwStep = hall_read;
		BLDC_PHASE_CHANGE(uwStep);   // 驅(qū)動換相			
	}
	uint16_t key_read =(Start_GPIO_Port->IDR)&0x00e0;
	if(key_read == 0x00c0)
	{
//		state = !state;
//		HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_1);
//		HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_2);
//		HAL_TIM_PWM_Stop(&htim1, TIM_CHANNEL_3);//		
//		//BLDC_PHASE_CHANGE(7);
//		HAL_TIM_Base_MspDeInit(&htim1);//		
//		HAL_Delay(300);
//		HAL_TIM_Base_MspDeInit(&htim1);
//		HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1);
//		HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2);
//		HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_3);
//		BLDC_PHASE_CHANGE(7);
			//HAL_GPIO_TogglePin(led_GPIO_Port, led_Pin);
	}else if(key_read == 0x00a0)
	{
		clock_wise = 0;
	}else if(key_read == 0x0060)
	{
		clock_wise = 1;
	}
}
//定時器2中斷函數(shù)
//溢出時間為1s
//溢出值1000  每個點為1ms
void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
{	
	if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1) //捕獲中斷
	{
		/*
		測速邏輯
		1、中斷產(chǎn)生，先判斷是否為第一次上升沿
		2、捕獲到上升沿后，將時間點存入變量，切換捕獲下降沿
		3、捕獲到下降沿后，記下時間點，切換為捕獲上升沿
		4、捕獲到上升沿后，記下時間點
		5、計算周期和占空比
		6、問題如果經(jīng)過多個周期才有一次上升沿和下降沿怎么辦，需要記錄溢出次數(shù)
		    如果溢出的時候有上升沿標(biāo)志位		
		問題：proteus三路輸入捕獲計算，測轉(zhuǎn)速時，如果第一個上升沿和第二個上升沿不在一個定時器計數(shù)周期，會計算失敗
		*/
		if(Channel1Edge == 0)
		{
			//獲取通道1上升沿時間點
			Channel1RisingTimeNow = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_1);
			Channel1Edge = 1;//捕獲上升沿置位
			Channel1RisingTimeLast = Channel1RisingTimeNow;
		}else if(Channel1Edge == 1)
		{
			Channel1RisingTimeNow = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_1);
			if(Channel1RisingTimeNow > Channel1RisingTimeLast)
				{
					Channel1Period = Channel1RisingTimeNow - Channel1RisingTimeLast;
				}
				else
				{
					//Channel2Period = Channel2RisingTimeNow + 1000 - Channel2RisingTimeLast + 1;
				}
			Channel1Edge = 0;
			//pid計算
//				current_speed = 60*1000 / Channel1Period; //轉(zhuǎn)速計算
//				current_speed = current_speed * 5; //速度調(diào)整系數(shù)
//				motor_duty = Speed_PIDAdjust(current_speed);
		}
	}else if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2)
	{
		if(Channel2Edge == 0)
		{
			Channel2RisingTimeNow = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_2);
			Channel2Edge = 1;			
			Channel2RisingTimeLast = Channel2RisingTimeNow;
		}
		else if(Channel2Edge == 1)
		{
			Channel2RisingTimeNow = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_2);
			if(Channel2RisingTimeNow > Channel2RisingTimeLast)
				{
					Channel2Period = Channel2RisingTimeNow - Channel2RisingTimeLast;
				}
				else
				{
					//Channel2Period = Channel2RisingTimeNow + 1000 - Channel2RisingTimeLast + 1;
				}
			current_speed = 60*1000 / Channel2Period;
			current_speed = current_speed * 5; //速度調(diào)整系數(shù)
			motor_duty = Speed_PIDAdjust(current_speed);
			Channel2Edge = 0;
		}
	}
	else if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_3)
	{
		if(Channel3Edge == 0)
		{
			Channel3RisingTimeNow = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_3);
			Channel3Edge = 1;
			Channel3RisingTimeLast = Channel3RisingTimeNow;
		}
		else if(Channel3Edge == 1)
		{
			Channel3RisingTimeNow = HAL_TIM_ReadCapturedValue(&htim2, TIM_CHANNEL_3);
			if(Channel3RisingTimeNow > Channel3RisingTimeLast)
				{
					Channel3Period = Channel3RisingTimeNow - Channel3RisingTimeLast;
				}
				else
				{
					//Channel3Period = Channel3RisingTimeNow + 1000 - Channel3RisingTimeLast + 1;
				}
//			current_speed = 60*1000 / Channel3Period;
//			current_speed = current_speed * 5; //速度調(diào)整系數(shù)
//			motor_duty = Speed_PIDAdjust(current_speed);
			Channel3Edge = 0;			
		}
	}
}
/* USER CODE END 4 */
/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  /* USER CODE END Error_Handler_Debug */
}
#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{ 
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
#define ADC_Speed_Max   4596	 //800 3500
#define ADC_Speed_Min   500
#define PWM_Max			    800
#define PWM_Min     	  60
extern int ADC_Speed;  //ADC采樣值轉(zhuǎn)換成轉(zhuǎn)速  
extern int motor_period;
extern int motor_duty;   
/*==================================================================================================== 
                                                增量式PID
The PID (????????) function is used in mainly 
control applications. PIDCalc performs one iteration of the PID 
algorithm. 
While the PID function works, main is just a dummy program showing 
a typical usage. 
=====================================================================================================*/
typedef struct PID 
{ 
        int Target;     					//目標(biāo)轉(zhuǎn)速  相差10%左右，所以顯示90%
        int Uk;                 	//Uk
        int Udk;                	//Udk
        int Uk_1;                 //Uk-1
        double P;                 // Proportional Const 
        double I;                 // Integral Const
        int    b; 

}PID;
static PID Speed_PID; 
static PID *Speed_Point = &Speed_PID; 
/*==================================================================================================== 
Initialize PID Structure PID
=====================================================================================================*/ 
void Speed_PIDInit(void) 
{ 
        Speed_Point->Target = ADC_Speed *10 / 9;
        Speed_Point->Uk     = 0;
        Speed_Point->Udk    = 0;
        Speed_Point->Uk_1   = PWM_Min;
        Speed_Point->ek_0   = 0;        					 //ek=0
        Speed_Point->ek_1   = 0;        					 //ek-1=0
        Speed_Point->ek_2   = 0;         					 //ek-2=0
        Speed_Point->P      = 1;  					  //Proportional Const 

}
/*==================================================================================================== 
???PID???? 
=====================================================================================================*/ 
int Speed_PIDAdjust(int Next_Point) 
{ 
				Speed_Point->Target = ADC_Speed *10 / 9;  //重新調(diào)整速度
        Speed_Point->ek_0= Speed_Point->Target - Next_Point;         
        if(((Speed_Point->Uk_1>=PWM_Max)&&(Speed_Point->ek_0>=0))||((Speed_Point->Uk_1<=PWM_Min)&&(Speed_Point->ek_0<=0)))
        {
            Speed_Point->b=0;
        } 
        else
        {
            Speed_Point->b=1;
        } 
        //Speed_Point->Udk=Speed_Point->P*(Speed_Point->ek_0-Speed_Point->ek_1) + Speed_Point->b*Speed_Point->I*Speed_Point->ek_0 
          //      + Speed_Point->D*(Speed_Point->ek_0-2*Speed_Point->ek_1+Speed_Point->ek_2);//PID
				Speed_Point->Udk=Speed_Point->P*(Speed_Point->ek_0-Speed_Point->ek_1);//P
        Speed_Point->Uk = Speed_Point->Uk_1 + Speed_Point->Udk;
        Speed_Point->ek_2 = Speed_Point->ek_1;
        Speed_Point->ek_1 = Speed_Point->ek_0;
        Speed_Point->Uk_1 = Speed_Point->Uk; 
    if(Speed_Point->Uk >= PWM_Max)
        {
          return PWM_Max;
        }
        else if(Speed_Point->Uk <= PWM_Min)
        {
					return PWM_Min;
        } 
        return(Speed_Point->Uk); 
}

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