stm32 无刷电机控制板_stm32_其他

<html xmlns="http://www.w3.org/1999/xhtml"> <head> <meta charset="utf-8"> <meta name="generator" content="pdf2htmlEX"> <meta http-equiv="X-UA-Compatible" content="IE=edge,chrome=1"> <link rel="stylesheet" href="https://static.pudn.com/base/css/base.min.css"> <link rel="stylesheet" href="https://static.pudn.com/base/css/fancy.min.css"> <link rel="stylesheet" href="https://static.pudn.com/prod/directory_preview_static/6265ae974c65f412590f5130/raw.css"> <script src="https://static.pudn.com/base/js/compatibility.min.js"></script> <script src="https://static.pudn.com/base/js/pdf2htmlEX.min.js"></script> <script> try{ pdf2htmlEX.defaultViewer = new pdf2htmlEX.Viewer({}); }catch(e){} </script> <title></title> </head> <body> <div id="sidebar" style="display: none"> <div id="outline"> </div> </div> <div id="pf1" class="pf w0 h0" data-page-no="1"><div class="pc pc1 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6265ae974c65f412590f5130/bg1.jpg"><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y2 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y3 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y4 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y5 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y6 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y7 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y8 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y9 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 ya ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 yb ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 yc ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 yd ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 ye ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 yf ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y10 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y11 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x2 h3 y12 ff2 fs1 fc0 sc0 ls0 ws0">无感无刷直流电机之</div><div class="t m0 x3 h4 y13 ff2 fs1 fc0 sc0 ls0 ws0">电调设计全攻略<span class="ff1"> </span></div><div class="t m0 x1 h2 y14 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y15 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y16 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y17 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y18 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y19 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y1a ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y1b ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y1c ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y1d ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y1e ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y1f ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y20 ff1 fs0 fc0 sc0 ls0 ws0"> </div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div> </body> </html>

<div id="pf2" class="pf w0 h0" data-page-no="2"><div class="pc pc2 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6265ae974c65f412590f5130/bg2.jpg"><div class="t m0 x1 h5 y21 ff3 fs2 fc0 sc0 ls0 ws0">无感无刷直流电机之电调设计全攻略<span class="ff1 ls1 ws1"> <span class="_ _0"> </span>V0.01 </span></div><div class="t m0 x1 h2 y1 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y22 ff3 fs0 fc0 sc0 ls0 ws0">前 <span class="_"> </span>言<span class="_ _1"> </span><span class="ff1 ls2">...............................................................................................................................<span class="ls3">...............<span class="_ _2"></span>1 </span></span></div><div class="t m0 x1 h2 y23 ff1 fs0 fc0 sc0 ls4 ws0">1. <span class="_"> </span><span class="ff3 ls0">无刷直流电机基础知识</span><span class="ls2">..............................................................................................................<span class="_ _2"></span>2 </span></div><div class="t m0 x4 h2 y24 ff1 fs0 fc0 sc0 ls4 ws0">1.1 <span class="_"> </span><span class="ff3 ls0">三个基本定则<span class="_ _3"></span></span><span class="ls2">....................................................................................................................<span class="_ _4"></span>2 </span></div><div class="t m0 x5 h2 y25 ff1 fs0 fc0 sc0 ls4 ws0">1. <span class="_"> </span><span class="ff3 ls0">左手定则<span class="_ _3"></span></span><span class="ls2">......................................................................................................................<span class="_ _4"></span>2 </span></div><div class="t m0 x5 h2 y26 ff1 fs0 fc0 sc0 ls4 ws0">2. <span class="_"> </span><span class="ff3 ls0">右手定则（安培定则一）<span class="_ _4"></span></span><span class="ls2">..........................................................................................<span class="_ _4"></span>3 </span></div><div class="t m0 x5 h2 y27 ff1 fs0 fc0 sc0 ls4 ws0">3. <span class="_"> </span><span class="ff3 ls0">右手螺旋定则（安培定则二）<span class="_ _4"></span></span><span class="ls2">..................................................................................<span class="_ _4"></span>3 </span></div><div class="t m0 x4 h2 y28 ff1 fs0 fc0 sc0 ls4 ws0">1.2 <span class="_"> </span><span class="ff3 ls0">内转子无刷直流电机的工作原理<span class="_ _4"></span></span><span class="ls2">....................................................................................<span class="_ _4"></span>3 </span></div><div class="t m0 x5 h2 y29 ff1 fs0 fc0 sc0 ls5 ws0">1.<span class="ls0"> <span class="_ _5"> </span><span class="ff3">磁回路分析法<span class="_ _3"></span></span><span class="ls2">.............................................................................................................<span class="_ _4"></span>4 </span></span></div><div class="t m0 x5 h2 y2a ff1 fs0 fc0 sc0 ls4 ws0">2. <span class="_"> </span><span class="ff3 ls0">三相二极内转子电机结构<span class="_ _4"></span></span><span class="ls2">..........................................................................................<span class="_ _4"></span>5 </span></div><div class="t m0 x5 h2 y2b ff1 fs0 fc0 sc0 ls4 ws0">3. <span class="_"> </span><span class="ff3 ls0">三相多绕组多极内转子电机的结构<span class="_ _2"></span></span><span class="ls2">..........................................................................<span class="_ _4"></span>7 </span></div><div class="t m0 x4 h2 y2c ff1 fs0 fc0 sc0 ls5 ws0">1.3<span class="_"> </span><span class="ff3 ls0">外转子无刷直流电机的工作原理<span class="_ _4"></span></span><span class="ls2">.....................................................................................<span class="_ _4"></span>8 </span></div><div class="t m0 x5 h2 y2d ff1 fs0 fc0 sc0 ls4 ws0">1. <span class="_"> </span><span class="ff3 ls0">一般外转子无刷直流电机的结构<span class="_ _4"></span></span><span class="ls2">..............................................................................<span class="_ _4"></span>8 </span></div><div class="t m0 x5 h2 y2e ff1 fs0 fc0 sc0 ls4 ws0">2. <span class="_"> </span><span class="ff3 ls0">新西达<span class="_ _1"> </span></span><span class="ls6">2212<span class="_ _6"> </span><span class="ff3 ls0">外转子电机的结构<span class="_ _4"></span></span><span class="ls2">................................................................................<span class="_ _4"></span>8 </span></span></div><div class="t m0 x4 h2 y2f ff1 fs0 fc0 sc0 ls4 ws0">1.4 <span class="_"> </span><span class="ff3 ls0">无刷直流电机转矩的理论分析<span class="_ _4"></span></span><span class="ls7">......................................................................................<span class="_ _4"></span>14 </span></div><div class="t m0 x5 h2 y30 ff1 fs0 fc0 sc0 ls4 ws0">1. <span class="_"> </span><span class="ff3 ls0">传统的无刷电机绕组结构<span class="_ _4"></span></span><span class="ls2">........................................................................................<span class="_ _4"></span>14 </span></div><div class="t m0 x5 h2 y31 ff1 fs0 fc0 sc0 ls4 ws0">2. <span class="_"> </span><span class="ff3 ls0">转子磁场的分布情况<span class="_ _4"></span></span><span class="ls2">................................................................................................<span class="_ _4"></span>15 </span></div><div class="t m0 x5 h2 y32 ff1 fs0 fc0 sc0 ls4 ws0">3. <span class="_"> </span><span class="ff3 ls0">转子的受力分析<span class="_ _3"></span></span><span class="ls2">........................................................................................................<span class="_ _4"></span>16 </span></div><div class="t m0 x5 h2 y33 ff1 fs0 fc0 sc0 ls4 ws0">4. <span class="_"> </span><span class="ff3 ls0">一种近似分析模型<span class="_ _3"></span></span><span class="ls2">....................................................................................................<span class="_ _4"></span>18 </span></div><div class="t m0 x4 h2 y34 ff1 fs0 fc0 sc0 ls4 ws0">1.5 <span class="_"> </span><span class="ff3 ls0">换相与调速<span class="_ _3"></span></span><span class="ls2">......................................................................................................................<span class="_ _4"></span>19 </span></div><div class="t m0 x5 h2 y35 ff1 fs0 fc0 sc0 ls4 ws0">1. <span class="_"> </span><span class="ff3 ls0">换相基本原理<span class="_ _3"></span></span><span class="ls2">............................................................................................................<span class="_ _4"></span>19 </span></div><div class="t m0 x5 h2 y36 ff1 fs0 fc0 sc0 ls4 ws0">2. <span class="_"> </span><span class="ff3 ls0">新西达<span class="_ _1"> </span></span><span class="ls6">2212<span class="_ _6"> </span><span class="ff3 ls0">电机的换相分析<span class="_ _4"></span></span><span class="ls7">..................................................................................<span class="_ _4"></span>24 </span></span></div><div class="t m0 x5 h2 y37 ff1 fs0 fc0 sc0 ls4 ws0">3. <span class="_"> </span><span class="ff3 ls0">调速</span><span class="ls2">............................................................................................................................<span class="_ _4"></span>28 </span></div><div class="t m0 x1 h2 y38 ff1 fs0 fc0 sc0 ls4 ws0">2. <span class="_"> </span><span class="ff3 ls0">无感无刷电调的驱动电路设计<span class="_ _3"></span></span><span class="ls2">................................................................................................<span class="_ _2"></span>30 </span></div><div class="t m0 x4 h2 y39 ff1 fs0 fc0 sc0 ls4 ws0">2.1 <span class="_"> </span><span class="ff3 ls0">电池电压监测电路<span class="_ _3"></span></span><span class="ls2">..........................................................................................................<span class="_ _4"></span>30 </span></div><div class="t m0 x4 h2 y3a ff1 fs0 fc0 sc0 ls4 ws0">2.2 <span class="_"> </span><span class="ff3 ls0">换相控制电路<span class="_ _3"></span></span><span class="ls2">..................................................................................................................<span class="_ _4"></span>30 </span></div><div class="t m0 x5 h2 y3b ff1 fs0 fc0 sc0 ls4 ws0">1. <span class="_"> </span><span class="ff3 ls0">六臂全桥驱动电路原理<span class="_ _4"></span></span><span class="ls2">............................................................................................<span class="_ _4"></span>31 </span></div><div class="t m0 x5 h2 y3c ff1 fs0 fc0 sc0 ls4 ws0">2. <span class="_"> </span><span class="ff3 ls0">功率场效应管的选择<span class="_ _4"></span></span><span class="ls2">................................................................................................<span class="_ _4"></span>33 </span></div><div class="t m0 x4 h2 y3d ff1 fs0 fc0 sc0 ls4 ws0">2.3 <span class="_"> </span><span class="ff3 ls0">电流检测电路<span class="_ _3"></span></span><span class="ls2">..................................................................................................................<span class="_ _4"></span>45 </span></div><div class="t m0 x4 h2 y3e ff1 fs0 fc0 sc0 ls4 ws0">2.4 <span class="_"> </span><span class="ff3 ls0">反电势过零检测电路<span class="_ _3"></span></span><span class="ls2">......................................................................................................<span class="_ _4"></span>49 </span></div><div class="t m0 x4 h2 y3f ff1 fs0 fc0 sc0 ls4 ws0">2.5 <span class="_"> </span><span class="ff3 ls0">制作你自己的电调线路板<span class="_ _4"></span></span><span class="ls2">..............................................................................................<span class="_ _4"></span>50 </span></div><div class="t m0 x1 h2 y40 ff1 fs0 fc0 sc0 ls4 ws0">3. <span class="_"> </span><span class="ff3 ls0">无感无刷电调的软件设计<span class="_ _3"></span></span><span class="ls2">........................................................................................................<span class="_ _4"></span>52 </span></div><div class="t m0 x4 h2 y41 ff1 fs0 fc0 sc0 ls4 ws0">3.1 <span class="_"> </span><span class="ff3 ls0">电流检测</span><span class="ls2">..........................................................................................................................<span class="_ _4"></span>52 </span></div><div class="t m0 x4 h2 y42 ff1 fs0 fc0 sc0 ls4 ws0">3.2 <span class="_"> </span><span class="ff3 ls0">定时器延时与</span><span class="ls8">PWM<span class="ff3 ls0">信号<span class="_ _7"> </span></span><span class="ls2">................................................................................................<span class="_ _4"></span>53 </span></span></div><div class="t m0 x5 h2 y43 ff1 fs0 fc0 sc0 ls4 ws0">1. <span class="_"> </span><span class="ff3 ls0">定时器初始化<span class="_ _3"></span></span><span class="ls2">............................................................................................................<span class="_ _4"></span>54 </span></div><div class="t m0 x5 h2 y44 ff1 fs0 fc0 sc0 ls4 ws0">2. <span class="_"> </span><span class="ff3 ls0">定时器</span><span class="ls9">T0<span class="_"> </span><span class="ff3 ls0">的溢出中断服务程序<span class="_ _1"> </span></span><span class="ls7">..............................................................................<span class="_ _4"></span>54 </span></span></div><div class="t m0 x5 h2 y45 ff1 fs0 fc0 sc0 ls4 ws0">3. <span class="_"> </span><span class="ff3 ls0">利用</span><span class="ls9">T0<span class="_"> </span><span class="ff3 ls0">延时（毫秒极）<span class="_ _1"> </span></span><span class="ls2">..........................................................................................<span class="_ _4"></span>54 </span></span></div><div class="t m0 x5 h2 y46 ff1 fs0 fc0 sc0 ls4 ws0">4. <span class="_"> </span><span class="ff3 ls0">利用</span><span class="ls9">T0<span class="_"> </span><span class="ff3 ls0">延时（微秒极）<span class="_ _1"> </span></span><span class="ls2">..........................................................................................<span class="_ _4"></span>55 </span></span></div><div class="t m0 x5 h2 y47 ff1 fs0 fc0 sc0 ls5 ws0">5.<span class="ls0"> <span class="_ _5"> </span><span class="ls8">PWM</span><span class="ff3">信号的产生<span class="_ _7"> </span></span><span class="ls2">.....................................................................................................<span class="_ _4"></span>55 </span></span></div><div class="t m0 x4 h2 y48 ff1 fs0 fc0 sc0 ls4 ws0">3.3 <span class="_"> </span><span class="ff3 ls0">过零事件检测与电机换相<span class="_ _4"></span></span><span class="ls2">..............................................................................................<span class="_ _4"></span>56 </span></div><div class="t m0 x5 h2 y49 ff1 fs0 fc0 sc0 ls5 ws0">1.<span class="ls0"> <span class="_ _5"> </span><span class="ls7">BLMC.h</span><span class="ff3">中定义的宏<span class="_ _1"> </span></span><span class="ls2">................................................................................................<span class="_ _4"></span>56 </span></span></div><div class="t m0 x5 h2 y4a ff1 fs0 fc0 sc0 ls5 ws0">2.<span class="ls0"> <span class="_ _5"> </span><span class="ff3">过零检测与换相代码分析<span class="_ _4"></span></span><span class="ls7">.......................................................................................<span class="_ _4"></span>59 </span></span></div><div class="t m0 x1 h6 y4b ff3 fs2 fc0 sc0 ls0 ws0">～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～</div><div class="t m0 x1 h5 y4c ff4 fs2 fc0 sc0 lsa ws0">By: timegate<span class="_ _1"> </span><span class="ff3 ls0">墨鸢</span><span class="lsb"> <span class="ff3 ls0">技术交流<span class="_ _7"> </span></span></span><span class="ws2">QQ:1181733110 email:moyuan2000@163.com <span class="_ _8"> 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<div id="pf3" class="pf w0 h0" data-page-no="3"><div class="pc pc3 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6265ae974c65f412590f5130/bg3.jpg"><div class="t m0 x1 h5 y21 ff3 fs2 fc0 sc0 ls0 ws0">无感无刷直流电机之电调设计全攻略<span class="ff1 ls1 ws1"> <span class="_ _0"> </span>V0.01 </span></div><div class="t m0 x4 h2 y1 ff1 fs0 fc0 sc0 ls4 ws0">3.4 <span class="_"> </span><span class="ff3 ls0">启动算法</span><span class="ls2">..........................................................................................................................<span class="_ _4"></span>63 </span></div><div class="t m0 x5 h2 y4d ff1 fs0 fc0 sc0 ls4 ws0">1. <span class="_"> </span><span class="ff3 ls0">函数</span><span class="lsd">Anwerfen<span class="ff3 ls0">启动流程分析<span class="_ _2"></span></span><span class="ls7">....................................................................................<span class="_ _4"></span>63 </span></span></div><div class="t m0 x5 h2 y4e ff1 fs0 fc0 sc0 ls4 ws0">2. <span class="_"> </span><span class="ff3 ls0">启动算法机理探究<span class="_ _3"></span></span><span class="ls2">....................................................................................................<span class="_ _4"></span>65 </span></div><div class="t m0 x4 h2 y4f ff1 fs0 fc0 sc0 ls4 ws0">3.5 <span class="_"> </span><span class="ff3 ls0">上电时的</span><span class="lse">MOSFET<span class="ff3 ls0">自检<span class="_ _2"></span></span><span class="ls2">..................................................................................................<span class="_ _4"></span>68 </span></span></div><div class="t m0 x5 h2 y24 ff1 fs0 fc0 sc0 ls4 ws0">1. <span class="_"> </span><span class="ff3 ls0">函数</span><span class="lsf">Delay<span class="ff3 ls0">和</span><span class="ls10">DelayM<span class="_ _9"></span><span class="ls2">.................................................................................................<span class="_ _4"></span>68 </span></span></span></div><div class="t m0 x5 h2 y25 ff1 fs0 fc0 sc0 ls4 ws0">2. <span class="_"> </span><span class="ff3 ls0">函数</span><span class="ls11">MotorT<span class="_ _a"></span>on<span class="ff3 ls0">自检流程分析<span class="_ _3"></span></span><span class="ls7">....................................................................................<span class="_ _4"></span>68 </span></span></div><div class="t m0 x4 h2 y26 ff1 fs0 fc0 sc0 ls4 ws0">3.6 <span class="_"> </span><span class="ff3 ls0">让你的电机演奏音乐<span class="_ _3"></span></span><span class="ls2">......................................................................................................<span class="_ _4"></span>70 </span></div><div class="t m0 x4 h2 y27 ff1 fs0 fc0 sc0 ls4 ws0">3.7 <span class="_"> </span><span class="ff3 ls0">通信模块</span><span class="ls2">..........................................................................................................................<span class="_ _4"></span>72 </span></div><div class="t m0 x5 h2 y28 ff1 fs0 fc0 sc0 ls0 ws3">1. PPM<span class="ff3 ws0">解码<span class="_ _3"></span><span class="ff1 ls2">.....................................................................................................................<span class="_ _4"></span>72 </span></span></div><div class="t m0 x5 h2 y29 ff1 fs0 fc0 sc0 ls12 ws4">2. TWI<span class="ff3 ls0 ws0">总线通信<span class="_ _7"> </span><span class="ff1 ls2">.............................................................................................................<span class="_ _4"></span>74 </span></span></div><div class="t m0 x5 h2 y2a ff1 fs0 fc0 sc0 ls4 ws0">3. <span class="_"> </span><span class="ff3 ls0">串口通信<span class="_ _3"></span></span><span class="ls2">....................................................................................................................<span class="_ _4"></span>74 </span></div><div class="t m0 x5 h2 y2b ff1 fs0 fc0 sc0 ls4 ws0">4. <span class="_"> </span><span class="ff3 ls0">指令的收入函数</span><span class="ls13">SollwertErm<span class="_ _b"></span>ittlung<span class="_ _c"></span><span class="ls7">.........................................................................<span class="_ _4"></span>75 </span></span></div><div class="t m0 x1 h2 y50 ff1 fs0 fc0 sc0 ls4 ws0">4. <span class="_"> </span><span class="ff3 ls0">德国</span><span class="ls2">MicroKopter<span class="ff3 ls0">项目</span><span class="lsd">BL-Ctrl<span class="ff3 ls0">电调程序主程序代码流程分析（</span><span class="ls8">V0.41<span class="_"> </span><span class="ff3 ls0">版本）<span class="_ _3"></span></span><span class="ls3">....................<span class="_ _2"></span>77 </span></span></span></span></div><div class="t m0 x4 h2 y51 ff1 fs0 fc0 sc0 ls4 ws0">5.1 <span class="_"> </span><span class="ff3 ls0">全局变量列表<span class="_ _3"></span></span><span class="ls2">..................................................................................................................<span class="_ _4"></span>78 </span></div><div class="t m0 x4 h2 y52 ff1 fs0 fc0 sc0 ls4 ws5">5.2 main<span class="ff3 ls0 ws0">主函<span class="_ _b"></span>数流程分析<span class="_ _4"></span><span class="ff1 ls2">.......................................................................................................<span class="_ _4"></span>80 </span></span></div><div class="t m0 x5 h2 y53 ff1 fs0 fc0 sc0 ls4 ws0">1. <span class="_"> </span><span class="ff3 ls0">进入</span><span class="ls14">while(1)<span class="ff3 ls0">前的准备工作<span class="_ _7"> </span></span><span class="ls7">......................................................................................<span class="_ _4"></span>80 </span></span></div><div class="t m0 x5 h2 y54 ff1 fs0 fc0 sc0 ls15 ws6">2. while(1)<span class="ff3 ls0 ws0">主循环内容分析<span class="_ _7"> </span><span class="ff1 ls2">...........................................................................................<span class="_ _4"></span>81 </span></span></div><div class="t m0 x1 h2 y55 ff1 fs0 fc0 sc0 ls4 ws0">5. <span class="_"> </span><span class="ff3 ls0">高级话题<span class="_ _1"> </span></span><span class="ls2">...............................................................................................................................<span class="ls16">....<span class="_ _2"></span>86 </span></span></div><div class="t m0 x4 h2 y33 ff1 fs0 fc0 sc0 ls4 ws0">5.1 <span class="_"> </span><span class="ff3 ls0">电机的控制模型<span class="_ _3"></span></span><span class="ls2">..............................................................................................................<span class="_ _4"></span>86 </span></div><div class="t m0 x4 h2 y34 ff1 fs0 fc0 sc0 ls4 ws0">5.2 <span class="_"> </span><span class="ff3 ls0">四轴上的校正策略<span class="_ _3"></span></span><span class="ls2">..........................................................................................................<span class="_ _4"></span>87 </span></div><div class="t m0 x1 h2 y56 ff3 fs0 fc0 sc0 ls0 ws0">附录一<span class="_ _1"> </span><span class="ff1 ls2">...............................................................................................................................<span class="ls17">.............<span class="_ _2"></span>88 </span></span></div><div class="t m0 x1 h2 y57 ff3 fs0 fc0 sc0 ls0 ws0">附录二<span class="_ _1"> </span><span class="ff1 ls2">...............................................................................................................................<span class="ls17">.............<span class="_ _2"></span>89 </span></span></div><div class="t m0 x1 h2 y38 ff3 fs0 fc0 sc0 ls0 ws0">附录三<span class="_ _1"> </span><span class="ff1 ls2">...............................................................................................................................<span class="ls17">.............<span class="_ _2"></span>93 </span></span></div><div class="t m0 x1 h2 y58 ff3 fs0 fc0 sc0 ls0 ws0">附录四<span class="_ _1"> </span><span class="ff1 ls2">...............................................................................................................................<span class="ls17">.............<span class="_ _2"></span>94 </span></span></div><div class="t m0 x1 h2 y59 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y5a ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y5b ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h6 y4b ff3 fs2 fc0 sc0 ls0 ws0">～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～</div><div class="t m0 x1 h5 y4c ff4 fs2 fc0 sc0 lsa ws0">By: timegate<span class="_ _1"> </span><span class="ff3 ls0">墨鸢</span><span class="lsb"> <span class="ff3 ls0">技术交流<span class="_ _7"> </span></span></span><span class="ws2">QQ:1181733110 email:moyuan2000@163.com <span class="_ _d"> </span></span><span class="ff3 ls0">第<span class="_ _1"> </span><span class="ff1 lsc">iii<span class="_ _7"> </span></span>页<span class="ff4"> </span></span></div><div class="t m0 x6 h7 y4b ff4 fs2 fc0 sc0 ls0 ws0"> </div><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return false;'><div class="d m1"></div></a><a class="l" rel='nofollow' onclick='return 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<div id="pf4" class="pf w0 h0" data-page-no="4"><div class="pc pc4 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6265ae974c65f412590f5130/bg4.jpg"><div class="t m0 x1 h5 y21 ff3 fs2 fc0 sc0 ls0 ws0">无感无刷直流电机之电调设计全攻略<span class="ff1 ls1 ws1"> <span class="_ _0"> </span>V0.01 </span></div><div class="t m0 x7 h8 y5c ff3 fs3 fc0 sc1 ls18 ws0">前 <span class="_"> </span>言<span class="ff5 sc0 ls0"> </span></div><div class="t m0 x4 h9 y5d ff3 fs0 fc0 sc0 ls0 ws0">关注开源四轴项目也有近一年了，<span class="_ _e"></span>前期都以潜水为主，<span class="_ _e"></span>业余时间主要是在啃那些控制和</div><div class="t m0 x1 h9 y5e ff3 fs0 fc0 sc0 ls0 ws0">导航的理论书籍。<span class="_ _f"></span>最近开始动手做了，<span class="_ _f"></span>打算先从电调开始，<span class="_ _f"></span>发现真要做起来问题还真是一大</div><div class="t m0 x1 h9 y5f ff3 fs0 fc0 sc0 ls0 ws0">堆。<span class="_ _10"></span>所幸有论坛这么好一个交流平台，<span class="_ _10"></span>很多问题其实前人都已经碰到过了，<span class="_ _10"></span>参考前人的经验，</div><div class="t m0 x1 h2 y60 ff3 fs0 fc0 sc0 ls0 ws0">让我少走了很多弯路。在此要感谢论坛各位前辈大侠和阿莫的<span class="_ _1"> </span><span class="ff1 ls19">ourdev</span>。<span class="ff1 ls1a">:-) </span></div><div class="t m0 x4 h9 y61 ff3 fs0 fc0 sc0 ls0 ws0">前人种树、<span class="_ _a"></span>后人乘凉，<span class="_ _a"></span>既然受惠于前人，<span class="_ _f"></span>怎好意思独享，<span class="_ _a"></span>当然也应该帮助一下新入门的</div><div class="t m0 x1 h9 y62 ff3 fs0 fc0 sc0 ls0 ws0">开发者。<span class="_ _e"></span>由于四轴分论坛的帖子数量已经很多了，<span class="_ _e"></span>光搜一下无刷电机和电调也有近百来篇帖</div><div class="t m0 x1 h9 y63 ff3 fs0 fc0 sc0 ls0 ws0">子，<span class="_ _11"></span>次序和深浅程度不一，<span class="_ _11"></span>想要看完并完全理解这些帖子对新人来说不啻是一个艰巨的任务。</div><div class="t m0 x1 h9 y64 ff3 fs0 fc0 sc0 ls0 ws0">而且很多帖子的发帖时间都比较久远了，<span class="_ _e"></span>回帖提问也未必能得到原作者的回答。<span class="_ _e"></span>我写这篇文</div><div class="t m0 x1 h9 y65 ff3 fs0 fc0 sc0 ls0 ws0">档的目的，<span class="_ _f"></span>就在于做一个整理和汇编，<span class="_ _f"></span>把很多零散的、<span class="_ _f"></span>前人已解答过的问题分门别类整理出</div><div class="t m0 x1 h2 y66 ff3 fs0 fc0 sc0 ls0 ws0">来，并添加一些自己制作电调时的经验和总结。<span class="ff1"> </span></div><div class="t m0 x4 h9 y67 ff3 fs0 fc0 sc0 ls0 ws0">在参考一些关于无刷电机驱动的书籍和帖子的时候，<span class="_ _12"></span>发现高手或是大师好像都比较惜字</div><div class="t m0 x1 h2 y68 ff3 fs0 fc0 sc0 ls0 ws0">如金，<span class="_ _13"></span>一些问题往往点到为止或者一笔带过，<span class="_ _13"></span>有些看似简单的问题会让像我这样的电调<span class="_ _2"></span><span class="ff1 ls1b">DI<span class="_ _3"></span>Y<span class="_ _a"></span>er</span></div><div class="t m0 x1 h9 y69 ff3 fs0 fc0 sc0 ls0 ws0">困惑很久。<span class="_ _f"></span>所以在本文行文时，<span class="_ _f"></span>笔者力图把问题以大白话的形式说明白，<span class="_ _f"></span>如果各位有觉得哪</div><div class="t m0 x1 h9 y6a ff3 fs0 fc0 sc0 ls0 ws0">里看得不明不白的，可<span class="_ _3"></span>以回帖提出（时限一个月，呵呵）<span class="_ _13"></span>，<span class="_ _3"></span>我会修改文档以试图将问题讲清</div><div class="t m0 x1 h9 y6b ff3 fs0 fc0 sc0 ls0 ws0">楚。如果有些问题我无法回答，我会老老实实跟你说我也没搞清楚，还要请高手来解惑啊。</div><div class="t m0 x1 h2 y6c ff3 fs0 fc0 sc0 ls0 ws0">如果发现我哪些内容讲错了，也请不吝指正。<span class="ff1"> </span></div><div class="t m0 x4 h2 y6d ff3 fs0 fc0 sc0 ls0 ws0">最后还将附上德国<span class="_ _1"> </span><span class="ff1 ls1c">MK<span class="_"> </span></span>项目电调代码<span class="_ _a"></span>（<span class="ff1 ls1d">V0.41<span class="_ _6"> </span></span>版本）<span class="_ _a"></span>的全代码分析，<span class="_ _a"></span>这件事可能以前没</div><div class="t m0 x1 h2 y6e ff3 fs0 fc0 sc0 ls0 ws0">人做过吧，<span class="_ _14"></span>我就来揭晓一下答案好了<span class="ff1 ls1a ws7">^ ^</span>。<span class="_ _14"></span>同时我也参照他的程序，<span class="_ _14"></span>自己写了一个可供<span class="_ _6"> </span><span class="ff1 ls1e">meg<span class="_ _3"></span>a8</span></div><div class="t m0 x1 h2 y6f ff3 fs0 fc0 sc0 ls0 ws0">和<span class="_ _1"> </span><span class="ff1 ls1e">me<span class="_ _3"></span>ga<span class="_ _3"></span>32<span class="_ _6"> </span></span>使用的电调驱动程序，将一些结构作了优化，所有变量名都从德语改成了英语，</div><div class="t m0 x1 h9 y70 ff3 fs0 fc0 sc0 ls0 ws0">添加了比较完备的中文注释，<span class="_ _f"></span>通讯规约也做了一些整理和改动，<span class="_ _f"></span>并附带上位机调试程序。<span class="_ _f"></span>也</div><div class="t m0 x1 h9 y71 ff3 fs0 fc0 sc0 ls0 ws0">希望大家能多多把自己的一些心得体会和经验拿出来，<span class="_ _e"></span>建立好一个基础的知识平台后，<span class="_ _e"></span>可以</div><div class="t m0 x1 h9 y72 ff3 fs0 fc0 sc0 ls0 ws0">让后来的开发者少走很多初期摸索的弯路，<span class="_ _e"></span>而专心于攻克我们未能解决的难点。<span class="_ _e"></span>衷心希望后</div><div class="t m0 x1 h2 y73 ff3 fs0 fc0 sc0 ls0 ws0">来的开发者能站在我们的肩膀上，走得比我们更远。<span class="ff1"> </span></div><div class="t m0 x1 h2 y74 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y75 ff1 fs0 fc0 sc0 ls1f ws0"> <span class="ff3 ls0"> <span class="_"> </span></span><span class="ls4">timegate<span class="_"> </span><span class="ff3 ls20">墨鸢</span><span class="ls0"> </span></span></div><div class="t m0 x8 h2 y76 ff1 fs0 fc0 sc0 ls5 ws0">2010<span class="_"> </span><span class="ff3 ls0">年<span class="_ _1"> </span><span class="ff1">7<span class="_"> </span></span>月<span class="ff1"> </span></span></div><div class="t m0 x1 h6 y4b ff3 fs2 fc0 sc0 ls0 ws0">～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～</div><div class="t m0 x1 h5 y4c ff4 fs2 fc0 sc0 lsa ws0">By: timegate<span class="_ _1"> </span><span class="ff3 ls0">墨鸢</span><span class="lsb"> <span class="ff3 ls0">技术交流<span class="_ _7"> </span></span></span><span class="ws2">QQ:1181733110 email:moyuan2000@163.com <span class="_ _15"> </span></span><span class="ff3 ls0">第<span class="_ _1"> </span><span class="ff1">1<span class="_ _7"> </span></span>页<span class="ff4"> </span></span></div><div class="t m0 x6 h7 y4b ff4 fs2 fc0 sc0 ls0 ws0"> </div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div>

<div id="pf5" class="pf w0 h0" data-page-no="5"><div class="pc pc5 w0 h0"><img class="bi x0 y0 w1 h1" alt="" src="https://static.pudn.com/prod/directory_preview_static/6265ae974c65f412590f5130/bg5.jpg"><div class="t m0 x1 h5 y21 ff3 fs2 fc0 sc0 ls0 ws0">无感无刷直流电机之电调设计全攻略<span class="ff1 ls1 ws1"> <span class="_ _0"> </span>V0.01 </span></div><div class="t m0 x9 h8 y5c ff5 fs3 fc0 sc0 ls21 ws0">1. <span class="_"> </span><span class="ff3 sc1 ls22">无刷直流电机基础知识</span><span class="ls0"> </span></div><div class="t m0 x1 h9 y5d ff3 fs0 fc0 sc0 ls0 ws0"> <span class="_"> </span> <span class="_"> </span>关于无刷直流电机的驱动的基本原理，<span class="_ _e"></span>很多教材和文档都已经讲得很清楚了，<span class="_ _e"></span>特别是坛</div><div class="t m0 x1 h2 y5e ff3 fs0 fc0 sc0 ls0 ws0">上网友提供的：<span class="_ _16"></span>《无刷直流<span class="_ _f"></span>（<span class="ff1 lse">BLDC</span>）<span class="_ _f"></span>电机基础》<span class="_ _16"></span>（<span class="ff1 ls23">MicroChip<span class="_ _6"> </span></span><span class="ls20">公司，<span class="_ _f"></span>编号<span class="_ _6"> </span><span class="ff1 ls1b">AN885</span><span class="ls0">）<span class="_ _13"></span>、<span class="_ _16"></span>《<span class="ff1 ls14">Brushless </span></span></span></div><div class="t m0 x1 h2 y5f ff1 fs0 fc0 sc0 ls15 ws8">DC Motors Made Easy<span class="ff3 ls0 ws0">》<span class="_ _13"></span>（<span class="ff1 ls24">Freescal<span class="_ _b"></span>e<span class="_"> </span><span class="ff3 ls0">公司，编号<span class="_ _1"> </span></span><span class="ls10">PZ104<span class="ff3 ls0">）和<span class="_ _6"> </span></span><span class="ls25">Atmel<span class="_"> </span><span class="ff3 ls0">公司的编号为：</span><span class="ls11">A<span class="_ _f"></span>VR194<span class="ff3 ls0">、</span></span></span></span></span></span></div><div class="t m0 x1 h2 y60 ff1 fs0 fc0 sc0 ls11 ws0">A<span class="_ _f"></span>VR491<span class="ff3 ls0">、</span><span class="ls26">AV<span class="_"> </span>R<span class="_ _9"></span>4<span class="_ _9"></span>9<span class="_"> </span>2<span class="_ _17"> </span><span class="ff3 ls27">的几篇文档，都写<span class="_ _b"></span>得很不错，深入浅出，很适合入门<span class="_ _b"></span>的初学者学习。稍</span></span></div><div class="t m0 x1 h2 y77 ff3 fs0 fc0 sc0 ls0 ws0">后我会给出它们的下载链接（见附录一）<span class="_ _13"></span>。<span class="ff1"> </span></div><div class="t m0 x1 h2 y78 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="_ _18"> </span><span class="ff3">不过一上来就让读者自己去看文档，<span class="_ _f"></span>貌似不太厚道，<span class="_ _f"></span>那我这里还是辛苦一下，<span class="_ _f"></span>把各篇文</span></div><div class="t m0 x1 h2 y79 ff3 fs0 fc0 sc0 ls0 ws0">档的精华部分抽取出来，重新组织一下，给大家一个关于无刷电机的比较概要的认识。<span class="ff1"> </span></div><div class="t m0 x1 h2 y7a ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 ha y7b ff6 fs4 fc0 sc0 ls28 ws0">1.1 <span class="_ _19"> </span><span class="ff7 sc1 ls29">三个基本定则</span><span class="ls0"> </span></div><div class="t m0 x1 h2 y7c ff1 fs0 fc0 sc0 ls0 ws0"> <span class="_ _18"> </span><span class="ff3">首先要搞清楚一件基本的事情：<span class="_ _f"></span>我们只是来搞电调的，<span class="_ _f"></span>而不是去设计电机的。<span class="_ _f"></span>所以不要</span></div><div class="t m0 x1 h9 y7d ff3 fs0 fc0 sc0 ls0 ws0">被一些无刷电机教材一上来那些林林总总的关于什么磁路、<span class="_ _f"></span>磁导率、<span class="_ _f"></span>气隙饱和、<span class="_ _f"></span>去磁曲线等</div><div class="t m0 x1 h9 y7e ff3 fs0 fc0 sc0 ls0 ws0">基础知识给吓倒，<span class="_ _e"></span>那些东西是给设计电机的人看的，<span class="_ _e"></span>对我们这种仅仅以弄出一个电调为目标</div><div class="t m0 x1 h2 y7f ff3 fs0 fc0 sc0 ls0 ws0">的人来讲，<span class="_ _13"></span>意义不大<span class="_ _11"></span>（不过你如果打算以此为职业的话，<span class="_ _11"></span>这些东西还是建议深入学习一下的）<span class="_ _13"></span>。<span class="_ _13"></span><span class="ff1"> </span></div><div class="t m0 x1 h2 y80 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="_ _18"> </span><span class="ff3">对于入门开发者来说，<span class="_ _e"></span>只需要记牢三个基本定则：<span class="_ _1a"></span>左手定则，<span class="_ _1a"></span>右手定则，<span class="_ _e"></span>右手螺旋定则。<span class="_ _13"></span><span class="ff1"> </span></span></div><div class="t m0 x1 hb y81 ff5 fs4 fc0 sc0 ls2a ws0">1. <span class="_"> </span><span class="ff3 sc1 ls2b">左手定则</span><span class="ls0"> </span></div><div class="t m0 xa h2 y82 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="_ _18"> </span><span class="ff3">位于磁场中的载流导体，<span class="_ _e"></span>会受到力的作用，<span class="_ _14"></span>力的</span></div><div class="t m0 xa h9 y83 ff3 fs0 fc0 sc0 ls0 ws0">方向可按左手定则确定，<span class="_ _f"></span>如右图所示：<span class="_ _f"></span>伸开左手，<span class="_ _a"></span>使</div><div class="t m0 xa h2 y84 ff3 fs0 fc0 sc0 ls0 ws0">大拇指和其余四指垂直，把手心面向<span class="_ _1b"> </span><span class="ff1">N<span class="_ _1b"> </span></span>极，四指顺</div><div class="t m0 xa h9 y85 ff3 fs0 fc0 sc0 ls0 ws0">着电流的方向，<span class="_ _1c"></span>那么大拇指所指方向就是载流导体在</div><div class="t m0 xa h2 y86 ff3 fs0 fc0 sc0 ls0 ws0">磁场中的受力方向。<span class="ff1"> </span></div><div class="t m0 xa h2 y87 ff1 fs0 fc0 sc0 ls0 ws0"> <span class="_ _18"> </span><span class="ff3">力的大小为：</span></div><div class="t m0 xb hc y88 ff1 fs5 fc0 sc0 ls2c ws0">sin<span class="_ _1d"></span><span class="ff8 ls2d">FB<span class="_ _1e"></span>I<span class="_ _1e"></span>L</span></div><div class="c xc y89 w2 hd"><div class="t m2 x0 he y8a ff9 fs6 fc0 sc0 ls0 ws0">θ</div></div><div class="t m0 xd h2 y88 ff9 fs5 fc0 sc0 ls0 ws0">=<span class="_ _1f"> </span><span class="ff1 fs0"> </span></div><div class="t m0 xa h2 y8b ff3 fs0 fc0 sc0 ls0 ws0">其中：<span class="_ _3"></span><span class="ff8">B<span class="_"> </span></span>为磁感应强度<span class="_ _14"></span>（单位<span class="_ _6"> </span><span class="ff1">T</span>）<span class="_ _13"></span>，</div><div class="c xe y8c w3 hf"><div class="t m0 x0 h10 y8d ff8 fs0 fc0 sc0 ls0 ws0">I</div></div><div class="t m0 xf h9 y8b ff3 fs0 fc0 sc0 ls0 ws0">为电流大小<span class="_ _14"></span>（单</div><div class="t m0 xa h2 y8e ff3 fs0 fc0 sc0 ls0 ws0">位<span class="_ _1"> </span><span class="ff1">A</span>）<span class="_ _13"></span>，<span class="_ _20"> </span>为导体有效长度（单位<span class="_ _1"> </span><span class="ff1">m</span>）<span class="_ _13"></span>，<span class="_ _21"> </span>为力的大<span class="ff1"> </span></div><div class="t m0 x10 h10 y8f ff8 fs0 fc0 sc0 ls0 ws0">L<span class="_ _22"> </span>F</div><div class="t m0 x11 h2 y90 ff1 fs0 fc0 sc0 ls0 ws0"> </div><div class="t m0 x1 h2 y91 ff1 fs0 fc0 sc0 ls1f ws0"> <span class="_ _23"></span><span class="ff3 ls0">图<span class="_ _1"> </span><span class="ff1 ls24">1-1 <span class="_"> </span></span>左手定则<span class="ff1"> </span></span></div><div class="t m0 x1 h6 y4b ff3 fs2 fc0 sc0 ls0 ws0">～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～～</div><div class="t m0 x1 h5 y4c ff4 fs2 fc0 sc0 lsa ws0">By: timegate<span class="_ _1"> </span><span class="ff3 ls0">墨鸢</span><span class="lsb"> <span class="ff3 ls0">技术交流<span class="_ _7"> </span></span></span><span class="ws2">QQ:1181733110 email:moyuan2000@163.com <span class="_ _15"> </span></span><span class="ff3 ls0">第<span class="_ _1"> </span><span class="ff1">2<span class="_ _7"> </span></span>页<span class="ff4"> </span></span></div><div class="t m0 x6 h7 y4b ff4 fs2 fc0 sc0 ls0 ws0"> </div></div><div class="pi" data-data='{"ctm":[1.611639,0.000000,0.000000,1.611639,0.000000,0.000000]}'></div></div>