直流无刷电机的调试

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本周对手头的一款大疆M3508直流无刷电机调试的相关内容进行整理及个人的代码进行分享。

一、M3508直流无刷电机

直流无刷电机的工作原理此处不做阐述，相关资料也易查询。

1.1电机结构与连接样式图

1.2电机参数

具体不多加阐述，感兴趣的可到官网下载相关资料和软件驱动，连接如下：

M3508减速电机套装 (robomaster.com)

1.3分电板

电源采用12V，通过一块分电板对单片机主板、电机和电源模块进行连接，这个分电板通过PCB简单设计，实现多少电压输入，多少电压输出。分电板的PCB图如下所示：

2.STM32程序：

控制一个电机，需要1个PWM，2个高低电位

2.1 控制原理图

反馈值（测量值）- 设定值（目标值）= 控制偏差；
控制偏差给到控制器；
从而将偏差给到电机，在经过编码器获得反馈；
实现闭环

相关pid.c代码如下：

#include"pid.h" #define speed_max 482 struct _pid { float ExpectedValue;//定义设定值 float ActualValue;//定义实际值 float err;//定义偏差值 float err_prev;//定义前一个的偏差值 float integral;//定义积分项 float Kp, Ki, Kd;//定义比例、积分、微分系数 float curmax, curmin;//定义电流最值 }pid; void PID_Init(){//初始化pid各值 pid.ExpectedValue=0.0; pid.ActualValue = 0.0; pid.err = 0.0; pid.err_prev = 0.0; pid.integral = 0.0; pid.Kp = 1.0; pid.Ki = 0.1; pid.Kd = 0.2; pid.curmax = 3000; pid.curmin = -3000; } //限幅 void abs_limit(float *object, float abs_max) { if(*object > abs_max) *object = abs_max; if(*object < -abs_max) *object = -abs_max; } /* 输入：期望转速 输出：位置型单环PID结果 */ float PID_Realize(float set_speed,float get_speed){//ste_speed期望转速 £»get_speed实际转速 pid.ExpectedValue = set_speed; pid.ActualValue = get_speed; pid.err = pid.ExpectedValue-pid.ActualValue;//计算误差err //计算积分项 pid.integral += pid.err; //位置式PID公式 float Value = pid.Kp*pid.err + pid.Ki*pid.integral+pid.Kp*(pid.err-pid.err_prev); //误差换代 pid.err_prev=pid.err; if(Value<pid.curmin) return pid.curmin; else if(Value>pid.curmax) return pid.curmax; else return Value; } // void pid_struct_init(pid_t* pid, float kp, float ki, float kd) { pid->err[NOW] = 0; pid->err[LAST] = 0; pid->err[LLAST] = 0; pid->pos_out = 0; pid->pout = 0; pid->iout = 0; pid->dout = 0; pid->p = kp; pid->i = ki; pid->d = kd; pid->pos_abs = 0; pid->pos_goal = 0; } //µ¥»·pid float single_pid_calculate(pid_t * pid_s) { pid_s->err[NOW] = pid_s->target - pid_s->measure;//当前误差 //p项 比例项 pid_s->pout = pid_s->p * pid_s->err[NOW]; //i项 积分项 pid_s->iout += pid_s->i * pid_s->err[NOW]; //d项 微分项 pid_s->dout = pid_s->d * (pid_s->err[NOW] - pid_s->err[LAST]); pid_s->pos_out = pid_s->pout + pid_s->iout + pid_s->dout; //误差更新 pid_s->err[LAST] = pid_s->err[NOW]; abs_limit(&(pid_s->pos_out),3000); return pid_s->pos_out; } //双环pid float double_pid_calculate(pid_t * pid_I , pid_t* pid_O)//I是速度，o是角度 { /角度环/ pid_O->err[NOW] = pid_O->target - pid_O->measure;//当前误差 /* //p项 比例项 pid_O->pout = pid_O->p * (pid_O->err[NOW] - pid_O->err[LAST]); //i项 积分项 pid_O->iout += pid_O->i * pid_O->err[NOW]; //d项 微分项 pid_O->dout = pid_O->d * (pid_O->err[NOW] - 2*pid_O->err[LAST] + pid_O->err[LLAST]); */ if((pid_O->err[NOW]>-50) || (pid_O->err[NOW]<50)) { pid_O->iout = 0; //设置死区 } pid_O->pout = pid_O->p * pid_O->err[NOW]; pid_O->iout += pid_O->i * pid_O->err[NOW]; pid_O->dout = pid_O->d * (pid_O->err[NOW] - pid_O->err[LAST]); pid_O->pos_out = pid_O->pout + pid_O->iout + pid_O->dout;//算出速度应设置的值 abs_limit(&(pid_O->pos_out),3000); //误差更新 pid_O->err[LAST] = pid_O->err[NOW]; pid_O->err[LLAST] = pid_O->err[LAST]; /*速度环/ pid_I->err[NOW] = pid_O->pos_out - pid_I->measure;//µ±Ç°Îó²î //p项 比例项 pid_I->pout = pid_I->p * pid_I->err[NOW]; //i项 积分项 pid_I->iout += pid_I->i * pid_I->err[NOW]; //d项 微分项 pid_I->dout = pid_I->d * (pid_I->err[NOW] - pid_I->err[LAST]); pid_I->result =pid_I->pout + pid_I->iout + pid_I->dout;//应设置的电流值 //误差更新 pid_I->err[LAST] = pid_I->err[NOW]; abs_limit(&(pid_I->result),8000); return pid_I->result; } 

pid.h

 enum { LLAST = 0, LAST = 1, NOW = 2, }; void PID_Init(void); float PID_Realize(float current,float ActualValue); typedef struct __pid_t { float p; float i; float d; float target; //目标值 float measure; //测量值 float err[3]; //误差 float result; float pout; float iout; float dout; float pos_goal; //目标角度 float pos_abs; //绝对角度 float pos_out; //本次位置式输出 }pid_t; typedef struct { float pos_goal;//目标位置 float pos_abs;//绝对位置 float pos_offset;//位置补偿 float eer;//误差 float eer_eer;//上次误差 }ANGLE_TypeDef; void pid_struct_init(pid_t* pid, float kp, float ki, float kd); float single_pid_calculate(pid_t * pid_s); float double_pid_calculate(pid_t * pid_I , pid_t* pid_O); 

主函数

#include "main.h" #include "key.h" #include "led.h" #include "can.h" #include "tim.h" #include "pid.h" int i; unsigned char Temp_Value_3508 = { 0 };//CAN接受电机温度 short Torque_Value_3508 = { 0 }; //CAN实际扭矩电流 short Velocity_Value_3508 = { 0 }; //CAN接受实际转速 short Position_Value_3508 = { 0 }; //CAN接受机械角度 short Velocity_3508_ID1=0; //CAN实际转速 short Position_3508_ID1=0; //CAN接受机械角度 short Torque_3508_ID1=0; //CAN实际扭转电流 unsigned char Temp_Value_3508_ID1=0; //CAN接受电机温度 pid_t PID,PID_I,PID_O; //o为角度，i为速度 short set_current1; //PID计算后当前需要传输电流值 short Velocity_3508_ID1_Set_Speed=0; //设定转速 ANGLE_TypeDef motor_angle; void CAN1_TX_IRQHandler( void ) //CAN发送中断 清楚发送中断标志 { if ( CAN_GetITStatus( CAN1, CAN_IT_TME ) != RESET ) { CAN_ClearITPendingBit( CAN1, CAN_IT_TME ); } } void CAN1_RX0_IRQHandler( void ) //CA接受中断 更新当前实际转速 且清楚接受中断标志位 { CanRxMsg rx_message; if ( CAN_GetITStatus( CAN1, CAN_IT_FMP0 ) != RESET )//判断是否是fifo0消息挂起中断（即收到消息） { CAN_ClearITPendingBit( CAN1, CAN_IT_FMP0 ); CAN_Receive( CAN1, CAN_FIFO0, &rx_message); if ( (rx_message.IDE == CAN_Id_Standard) && (rx_message.RTR == CAN_RTR_Data) && (rx_message.DLC == 8) ) /* ±ê×¼Ö¡¡¢Êý¾ÝÖ¡¡¢Êý¾Ý³¤¶ÈΪ8 */ { Temp_Value_3508 = rx_message.Data[6]; Torque_Value_3508 = (rx_message.Data[4] << 8) | (rx_message.Data[5]); Velocity_Value_3508 = (rx_message.Data[2] << 8) | (rx_message.Data[3]); Position_Value_3508 = (rx_message.Data[0] << 8) | (rx_message.Data[1]); Velocity_3508_ID1=Velocity_Value_3508; Position_3508_ID1=Position_Value_3508; Torque_3508_ID1=Torque_Value_3508; Temp_Value_3508_ID1=Temp_Value_3508; PID.measure = Velocity_3508_ID1;//²âÁ¿Öµ PID_I.measure = Velocity_Value_3508; PID_O.measure = Position_Value_3508; } } } int main(void) { delay_init( 180 ); delay_ms( 100 ); KEY_Init(); Led_Init(); CAN1_Mode_Init(CAN_SJW_1tq,CAN_BS2_7tq,CAN_BS1_7tq,3,CAN_Mode_Normal); £¬Ò»°ã²»Óö¯£¬¶¼ÊÇ500kbps delay_ms(100); PID_Init(); pid_struct_init(&PID,1,0.1,0.2);//³õʼ»¯pidµÄÈý¸ö²ÎÊýÖµp£¬i£¬d pid_struct_init(&PID_I,5,0.1,3); pid_struct_init(&PID_O,10,0.1,5); Tick_TIM7_Init(1000); while (1){ if(key==0) { motor_angle.pos_goal = 0; LED3=1; LED4=0; } else if(key==1) { motor_angle.pos_goal = -2160; LED3=0; LED4=1; } delay_ms(10); } } void Motor_Angle_Cal(float T) { float res1, res2; static float pos,pos_old; pos =(PID_O.measure/8192.0f*360.0f); motor_angle.eer=pos - pos_old;//½Ç¶ÈÎó²îµÄ¼ÆËã if(motor_angle.eer>0) { res1=motor_angle.eer-T; res2=motor_angle.eer; } else { res1=motor_angle.eer+T; res2=motor_angle.eer; } if(fabs(res1)<fabs(res2)) { motor_angle.eer_eer = res1; } else { motor_angle.eer_eer = res2; } motor_angle.pos_abs += motor_angle.eer_eer; motor_angle.pos_offset=motor_angle.pos_goal-motor_angle.pos_abs; pos_old = pos; } void TIM7_IRQHandler( void ) { if ( TIM_GetITStatus( TIM7, TIM_IT_Update ) == SET ) { /µ¥»·/ // set_current1 = single_pid_calculate(&PID); /Ë«»·/ Motor_Angle_Cal(360); PID_O.target = motor_angle.pos_offset; PID_O.measure = 0; set_current1 = 0; // set_current1=PID_Realize(Velocity_3508_ID1_Set_Speed,Velocity_3508_ID1); CAN1_Send_Msg(set_current1,set_current1,set_current1,set_current1);//ÉèÖõçÁ÷Öµ } TIM_ClearITPendingBit( TIM7, TIM_IT_Update ); }