步进电机-STM32高级定时器输出正弦波pwm控制四相五线步进电机
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，正弦波驱动方式，这种方式能很好的解决噪音和震动问题。前面的文章也介绍了使用定时器产生符合正弦波规律的PWM，下面教大家用正弦波替代持续电平。
这是定时器的配置部分，里面配置了PWM的输出IO管脚，配置了定时器，配置了定时器更新中断。
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_High;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);
}
定时器更新中断按照四相四拍的要求使能或禁止定时器PWM输出，代码如下
void TIM1_UP_IRQHandler(void)
{ if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) { pwm_index++;if(pwm_index>35){pwm_index=0;pwm_count++;if(pwm_count>3)pwm_count=0;if(pwm_count==0)TIM1->CCER=0x2ABB;if(pwm_count==1)TIM1->CCER=0x2BBA;if(pwm_count==2)TIM1->CCER=0x3BAA;if(pwm_count==3)TIM1->CCER=0x3AAB;}TIM1->CCR1 = indexWave[pwm_index]; TIM1->CCR2 = indexWave[pwm_index]; TIM1->CCR3 = indexWave[pwm_index]; TIM1->CCR4 = indexWave[pwm_index];TIM_ClearITPendingBit (TIM1, TIM_IT_Update); }
}至此完成了四相四拍的正弦波驱动，实验证明，正弦波驱动步进电机噪音和震动明显减小
这是PWM输出的波形图
这是实物图
