AT32F421驱动BLDC 配合上位机控制与调参

🔧AT32 电机控制与调参上位机软件：ArteryMotorMonitor：https://www.arterytek.com/cn/support/motor_control.jsp?index=0
🌿测试电机参数：2204-12N14P，无感BLDC，极对数7
📘测试工程：bldc_1shunt_sensorless（在上面页可以下载到AT32F421_MC_Library_Project_V2.1.2）

👉 个人也是初始使用该调参上位机软件，在探索使用过程中，遇到不少问题，例如状态不正常，电机不转等问题。建议初次使用先仔细阅读相关文档和原理图，如果使用官方提供的驱动板可以略过，直接参照文档测试即可，对于采用自制驱动板的需要参考官方的原理图进行连接，软件工程也需要做相对应修改。

🍁官方提供的驱动原理图部分参考：AT-MOTOR-EVB-V2.0_SCH.pdf（个人采用的EG2133，和官方使用的驱动芯片功能一样，下桥臂低电平开启）
🌿控制引脚：（参考AT-MOTOR-EVB-V2.0_SCH.pdf原理图）

==== 3相PWM控制 ====
U  	上桥臂 PA8
V   上桥臂 PA9
W   上桥臂 PA10
----------------
U  	下桥臂 PB13
V   下桥臂 PB14
W   下桥臂 PB15
BRK  刹车 PB12  PB8
------------
==== HALL ====
PB4
PB5
PB0
==== 比较器反电动势检测 ====
PA5
PA6
PA7
=== VBUS电压 ====
PA4
--- 温度 ---
PB1

🛠工程参数设定

🔖电机主要参数在设置文件motor_control_drive_param.h中配置：

🌿驱动电机参数：

/* choose sensor */
//#define HALL_SENSORS  //带霍尔传感器检测
#define SENSORLESS    //无传感器控制的模式(通用)
#define BLDC_SENSORLESS_ADC		//六步方波无传感器控制以 ADC 检测反电势的模式
//#define BLDC_SENSORLESS_COMP		//六步方波无传感器控制以比较器检测反电势的模式......./* Motor parameters  */
#define RS_LL                        (1.89)           /* Stator resistance, ohm 电机线间电阻值(unit: Ω)*/
#define LS_LL                        (0.002387)       /* Stator inductance, H 电机线间电感值(unit: H)*/
#define POLE_PAIRS                   (14/2)              //电机极对数
#define KE                           (1.0)            /* Back EMF constant(line-to-line, peak voltage), V/rpm 电机 KE 值(unit: V/rpm)*/
#define NOMINAL_CURRENT              (1.7)	//电机额定电流 (unit: ampere)

🌿反电势检测模式：（决定调参控制上位机软件控制界面）

/* choose how to start up */
//#define INIT_ANGLE_STARTUP	//无传感器之初始角度检测启动(通用)
#define ALIGN_AND_GO_STARTUP  //无传感器之对齐启动(通用)
//#define OPENLOOP_STARTUP    //无传感器之开环启动(通用)

在这里插入图片描述

📗启动步骤和条件

以下内容和官方提供的AT32F421_MC_Library_Project中相关文档说明基本相同。

在这里插入图片描述

1. 加载工程配置
1. 打开对应串口，连接目标板串口1引脚（PB6/Tx1，PB7/Rx1）
1. 按下播放键(4.)即可周期性更新 UI 接口的数据以及与目标板通过串口实时通信, 如发送启动/停止电机
  的命令、实时调速、调试电流 PID 参数以及监控参数绘制波形等。
1. 发波启动条件：ESC_STATE_SAFTY_READY：

🌟如果不是使用的官方的驱动板，像我采用自制的驱动板，硬件参数不一样，可以在对应的驱动程序中，对相关参数。进行修改或检测内容进行屏蔽。（屏蔽位置：滴答定时器回调中SysTick_Handler）

void SysTick_Handler(void)
{int16_t sp_value = 0;flag_status mode_switch1 = SET;sp_value = adc_in_tab[ADC_POTENTIO_IDX] - SP_OFFSET;mode_switch1 = gpio_input_data_bit_read(MODE1_BUTTON_PORT, MODE1_BUTTON_PIN);switch(esc_state_old){case ESC_STATE_IDLE:if(ctrl_source == CTRL_SOURCE_EXTERNAL){if((sp_value <= 0) && (param_initial_rdy == SET) && (curr_offset_rdy == SET)){esc_state = ESC_STATE_SAFETY_READY;}else{esc_state = ESC_STATE_IDLE;}}else{if((param_initial_rdy == SET) && (curr_offset_rdy == SET)){esc_state = ESC_STATE_SAFETY_READY;}else{esc_state = ESC_STATE_IDLE;}}break;case ESC_STATE_SAFETY_READY:if(ctrl_mode == ID_MANUAL_TUNE || ctrl_mode == IQ_MANUAL_TUNE){if(start_stop_btn_flag == SET){esc_state = ESC_STATE_I_TUNE;}}else if(ctrl_mode == SPEED_CTRL){if(ctrl_source == CTRL_SOURCE_EXTERNAL){if(sp_value >= SP_RUN_POINT){if (mode_switch1 == SET)  /* CCW*/{hall_ccw_ctrl_para();rotor_speed.dir = CCW;current.volt_sign = -1;}else  /* CW*/{hall_cw_ctrl_para();rotor_speed.dir = CW;current.volt_sign = 1;}esc_state = ESC_STATE_ANGLE_INIT;}else{esc_state = ESC_STATE_SAFETY_READY;}}else if(ctrl_source == CTRL_SOURCE_SOFTWARE){if((speed_ramp.cmd_final != 0) && (start_stop_btn_flag == SET)){if(speed_ramp.cmd_final > 0)        /* CW*/{hall_cw_ctrl_para();rotor_speed.dir = CW;current.volt_sign = 1;}else if(speed_ramp.cmd_final < 0)   /* CCW*/{hall_ccw_ctrl_para();rotor_speed.dir = CCW;current.volt_sign = -1;}esc_state = ESC_STATE_ANGLE_INIT;}else{esc_state = ESC_STATE_SAFETY_READY;}}}else if(ctrl_mode == TORQUE_CTRL){if(ctrl_source == CTRL_SOURCE_EXTERNAL){if(sp_value >= SP_RUN_POINT){if (mode_switch1 == SET)   /* CCW*/{hall_ccw_ctrl_para();rotor_speed.dir = CCW;current.volt_sign = -1;}else  /* CW*/{hall_cw_ctrl_para();rotor_speed.dir = CW;current.volt_sign = 1;}esc_state = ESC_STATE_ANGLE_INIT;}else{esc_state = ESC_STATE_SAFETY_READY;}}else if(ctrl_source == CTRL_SOURCE_SOFTWARE){if((current.Ibus.Iref != 0) && (start_stop_btn_flag == SET)){if(current.Ibus.Iref > 0)        /* CW*/{hall_cw_ctrl_para();rotor_speed.dir = CW;current.volt_sign = 1;}else if(current.Ibus.Iref < 0)   /* CCW*/{hall_ccw_ctrl_para();rotor_speed.dir = CCW;current.volt_sign = -1;}esc_state = ESC_STATE_ANGLE_INIT;}else{esc_state = ESC_STATE_SAFETY_READY;}}}else if(ctrl_mode == OPEN_LOOP_CTRL){if(ctrl_source == CTRL_SOURCE_EXTERNAL){if(sp_value >= SP_RUN_POINT){openloop.period_ref = openloop.olc_init_period;openloop.volt_ref = openloop.olc_init_volt;esc_state = ESC_STATE_STARTING;}else{esc_state = ESC_STATE_SAFETY_READY;}}else if(ctrl_source == CTRL_SOURCE_SOFTWARE){if(start_stop_btn_flag == SET){openloop.period_ref = openloop.olc_init_period;openloop.volt_ref = openloop.olc_init_volt;esc_state = ESC_STATE_STARTING;}else{esc_state = ESC_STATE_SAFETY_READY;}}}if(I_auto_tune.state_flag == PROCESSING){current_auto_tuning(&I_auto_tune);set_current_pid_param(&I_auto_tune, &pid_is);I_auto_tune.state_flag = SUCCEED;}break;case ESC_STATE_ANGLE_INIT:/* Determine the initial position at the beginning(BLDC sensor-less) */angle_init_func();/* Stop motor */if((ctrl_source == CTRL_SOURCE_SOFTWARE && start_stop_btn_flag == RESET) ||(ctrl_source == CTRL_SOURCE_EXTERNAL && sp_value <= SP_STOP_POINT)){esc_state = ESC_STATE_FREE_RUN;}break;case ESC_STATE_STARTING:if(ctrl_mode == OPEN_LOOP_CTRL){esc_state = ESC_STATE_RUNNING;}else{if (sense_hall_steps < SENSE_HALL_TIMES){sys_counter++;if (sys_counter >= REBOOT_PERIOD_MS){esc_state = ESC_STATE_SAFETY_READY;}}else{esc_state = ESC_STATE_RUNNING;start_state = START_STATE_STABLE_RUN;sys_counter = 0;/* Set parameter for switching to closed-loop control */rdy_to_close_loop_param();}}/* Stop motor */if((ctrl_source == CTRL_SOURCE_SOFTWARE && start_stop_btn_flag == RESET) ||(ctrl_source == CTRL_SOURCE_EXTERNAL && sp_value <= SP_STOP_POINT)){esc_state = ESC_STATE_FREE_RUN;}break;case ESC_STATE_RUNNING:if(ctrl_mode == SPEED_CTRL){if(ctrl_source == CTRL_SOURCE_EXTERNAL){if (sp_value <= SP_STOP_POINT){speed_ramp.cmd_final = 0;if(rotor_speed.filtered <= MIN_CONTROL_SPEED){esc_state = ESC_STATE_FREE_RUN;}}else{if (mode_switch1 == SET)  /* CCW*/{if (sp_value >= SP_RUN_POINT){speed_ramp.cmd_final = -MIN_CONTROL_SPEED - (((sp_value << 1) * SP_TO_SPD_CMD) >> 15);}else{speed_ramp.cmd_final = -MIN_CONTROL_SPEED;}}else                     /* CW*/{if (sp_value >= SP_RUN_POINT){speed_ramp.cmd_final = MIN_CONTROL_SPEED + (((sp_value << 1) * SP_TO_SPD_CMD) >> 15);}else{speed_ramp.cmd_final = MIN_CONTROL_SPEED;}}}command_ramp(&speed_ramp);
#if defined WITHOUT_CURRENT_CTRLvolt_cmd = pid_controller(&pid_spd_volt, (speed_ramp.command - rotor_speed.filtered));
#elsecurrent.Ibus.Iref = pid_controller(&pid_spd, (speed_ramp.command - rotor_speed.filtered));
#endif}else if(ctrl_source == CTRL_SOURCE_SOFTWARE){if (start_stop_btn_flag == RESET){esc_state = ESC_STATE_FREE_RUN;}else{if(abs(speed_ramp.cmd_final) < MIN_CONTROL_SPEED){if(rotor_speed.dir == CW)speed_ramp.cmd_final = MIN_CONTROL_SPEED;elsespeed_ramp.cmd_final = -MIN_CONTROL_SPEED;}command_ramp(&speed_ramp);#if defined WITHOUT_CURRENT_CTRLvolt_cmd = pid_controller(&pid_spd_volt, (speed_ramp.command - rotor_speed.filtered));
#elsecurrent.Ibus.Iref = pid_controller(&pid_spd, (speed_ramp.command - rotor_speed.filtered));
#endif}}}else if(ctrl_mode == TORQUE_CTRL){if(ctrl_source == CTRL_SOURCE_EXTERNAL){if (sp_value <= SP_STOP_POINT){current.Ibus.Iref = 0;if(rotor_speed.filtered <= MIN_CONTROL_SPEED){esc_state = ESC_STATE_FREE_RUN;}}else if (sp_value >= SP_RUN_POINT){if (mode_switch1 == SET)    /* CCW*/{current.Ibus.Iref = -(sp_value * SP_TO_I_CMD) >> 15;}else                        /* CW*/{current.Ibus.Iref = (sp_value * SP_TO_I_CMD) >> 15;}}}else if(ctrl_source == CTRL_SOURCE_SOFTWARE){if (start_stop_btn_flag == RESET){esc_state = ESC_STATE_FREE_RUN;}else{esc_state = ESC_STATE_RUNNING;}}}else if(ctrl_mode == OPEN_LOOP_CTRL){if(ctrl_source == CTRL_SOURCE_EXTERNAL){if(sp_value <= SP_STOP_POINT){esc_state = ESC_STATE_FREE_RUN;}else{closeloop_rdy = RESET;/* 5 ms inc openloop volt & spd */open_loop_cmd_ramp(&openloop);}}else if(ctrl_source == CTRL_SOURCE_SOFTWARE){if (start_stop_btn_flag == RESET){esc_state = ESC_STATE_FREE_RUN;}else{closeloop_rdy = RESET;/* 5 ms inc openloop volt & spd */open_loop_cmd_ramp(&openloop);}}}break;case ESC_STATE_FREE_RUN:if (rotor_speed.filtered == 0){esc_state = ESC_STATE_SAFETY_READY;}else{esc_state = ESC_STATE_FREE_RUN;}break;case ESC_STATE_BRAKING:break;case ESC_STATE_ERROR:if(error_code == MC_NO_ERROR){esc_state = ESC_STATE_IDLE;}break;case ESC_STATE_ENC_ALIGN:break;case ESC_STATE_I_TUNE:if (start_stop_btn_flag == SET){I_tune_manual();}else{current.Ibus.Iref = 0;esc_state = ESC_STATE_FREE_RUN;}break;case ESC_STATE_AUTO_LEARN:break;
#ifdef MOTOR_PARAM_IDENTIFYcase ESC_STATE_WINDING_PARAM_ID:if (motor_param_ident.state_flag == PROCESSING){param_id_process(&motor_param_ident);}else{if (motor_param_ident.Ls.f <= 0 || motor_param_ident.Rs.f <= 0){motor_param_ident.state_flag = FAILED;error_code |= error_code_mask & MC_PARAM_IDENT_ERROR;motor_param_ident.Rs.f = motor_param_ident.Rs_Old.f;motor_param_ident.Ls.f = motor_param_ident.Ls_Old.f;}else{motor_param_ident.state_flag = SUCCEED;motor_param_ident.Rs_Old.f = motor_param_ident.Rs.f;motor_param_ident.Ls_Old.f = motor_param_ident.Ls.f;}tmr_output_enable(PWM_ADVANCE_TIMER, FALSE);disable_pwm_timer();tmr_pwm_init();adc_preempt_config();PWM_ADVANCE_TIMER->cval = 0;enable_pwm_timer();esc_state = ESC_STATE_FREE_RUN;}break;
#endifcase ESC_STATE_NONE:break;}fMosTemperature = (((adc_in_tab[ADC_MOS_TEMP_IDX] * ADC_REFERENCE_VOLT / ADC_DIGITAL_SCALE_12BITS) - V0_V) / dV_dT) + T0_C;ui_wave_param.iMosTemperature_meas = (int16_t)(fMosTemperature * 100);ui_wave_param.iBusVoltage_meas = (int16_t)(adc_in_tab[ADC_BUS_VOLT_IDX]);ui_wave_param.speed_meas_filter_pu = (int16_t)(rotor_speed.filtered * RPM_TO_SPEED_PU >> 15);ui_wave_param.speed_reference_pu = (int16_t)(speed_ramp.command * RPM_TO_SPEED_PU >> 15);adc_sample.emf.emf_half_vdc_val = (int16_t)(adc_in_tab[ADC_BUS_VOLT_IDX] * EMF_HALF_VDC_GAIN);zcp_highspd_fall = (adc_sample.emf.emf_half_vdc_val) + (adc_sample.emf.emf_high_spd_offset_falling);zcp_highspd_rise = (adc_sample.emf.emf_half_vdc_val) + (adc_sample.emf.emf_high_spd_offset_rising);
#if 1/* Over/under voltage protection 屏蔽过电压*/
//  if (adc_in_tab[ADC_BUS_VOLT_IDX] < UNDERVOLTAGE_THRESHOLD_d)
//  {
//    error_code |= error_code_mask & MC_UNDER_VOLT_ERROR;
//  }
//  else if (adc_in_tab[ADC_BUS_VOLT_IDX] > OVERVOLTAGE_THRESHOLD_d)
//  {
//    error_code |= error_code_mask & MC_OVER_VOLT_ERROR;
//  }/* MOS Temperature protection 屏蔽温度*/
//  if (adc_in_tab[ADC_MOS_TEMP_IDX] > TEMPERATURE_THRESHOLD_d)
//  {
//    error_code |= error_code_mask & MC_OVER_TEMP_ERROR;
//  }
#endif/* Enter error state handler */if (error_code != MC_NO_ERROR){esc_state = ESC_STATE_ERROR;}}