【STM32电机培训】——5、任务3电机状态切换、正反转

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toofree 发布时间：2018-9-11 02:02

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本帖最后由 toofree 于 2018-9-14 08:46 编辑

【STM32电机培训】——5、任务3电机状态切换、正反转

任务目标：

本实验源程序基于上一贴，做了适当修改。
【STM32电机培训】——4、任务2电机设定程序修改PI参数
https://www.stmcu.org.cn/module/forum/forum.php?mod=viewthread&tid=617433&fromuid=307297
(出处: 意法半导体STM32/STM8技术社区)

新增包含了头文件“"SystemNDriveParams.h"，新增了外部变量声明“extern STM_Handle_t STM[NBR_OF_MOTORS]”，电机正、反转速度设定做成了宏定义“INVERT”、“NONINVT”。

用户主程序，可以分为5块。初始状态设定、出错处理（详见注释）、周期性正反转切换、时基控制（定时0.1s）、LED闪灯灯。现在唯一有疑问的就是，这个“错误状态”反馈怎么玩，反馈给谁？对于本实验的意义，是想知道详细出错信息吗？

下载程序到开发套件中。打开Workbench界面，并与目标板套件连接

在“监控”窗口下，在打开“Plotter”绘图窗口。观察电机速度状态变化

局部放大，可以看到电机运行速度反馈丢失出错、清除错误、重启电机、重新建立速度反馈，正常工作。

在Workbench界面观察电机状态变化，一共出现过5种状态：Run、Idle、Start、Fault Over、Unknow，但是Unknow时间太短，未能抓图捕获。

Run状态

Idle状态

Start状态

Fault Over状态

从State_t的枚举类型定义来看，状态还有好多种。如果要搞明白，需要进一步研究。

typedef enum
{
ICLWAIT = 12, /*!< Persistent state, the system is waiting for ICL
deactivation. Is not possible to run the motor if
ICL is active. Until the ICL is active the state is
forced to ICLWAIT, when ICL become inactive the state
is moved to IDLE */
IDLE = 0, /*!< Persistent state, following state can be IDLE_START
if a start motor command has been given or
IDLE_ALIGNMENT if a start alignment command has been
given */
IDLE_ALIGNMENT = 1, /*!< "Pass-through" state containg the code to be executed
only once after encoder alignment command.
Next states can be ALIGN_CHARGE_BOOT_CAP or
ALIGN_OFFSET_CALIB according the configuration. It
can also be ANY_STOP if a stop motor command has been
given. */
ALIGN_CHARGE_BOOT_CAP = 13,/*!< Persistent state where the gate driver boot
capacitors will be charged. Next states will be
ALIGN_OFFSET_CALIB. It can also be ANY_STOP if a stop
motor command has been given. */
ALIGN_OFFSET_CALIB = 14,/*!< Persistent state where the offset of motor currents
measurements will be calibrated. Next state will be
ALIGN_CLEAR. It can also be ANY_STOP if a stop motor
command has been given. */
ALIGN_CLEAR = 15, /*!< "Pass-through" state in which object is cleared and
set for the startup.
Next state will be ALIGNMENT. It can also be ANY_STOP
if a stop motor command has been given. */
ALIGNMENT = 2, /*!< Persistent state in which the encoder are properly
aligned to set mechanical angle, following state can
only be ANY_STOP */
IDLE_START = 3, /*!< "Pass-through" state containg the code to be executed
only once after start motor command.
Next states can be CHARGE_BOOT_CAP or OFFSET_CALIB
according the configuration. It can also be ANY_STOP
if a stop motor command has been given. */
CHARGE_BOOT_CAP = 16, /*!< Persistent state where the gate driver boot
capacitors will be charged. Next states will be
OFFSET_CALIB. It can also be ANY_STOP if a stop motor
command has been given. */
OFFSET_CALIB = 17, /*!< Persistent state where the offset of motor currents
measurements will be calibrated. Next state will be
CLEAR. It can also be ANY_STOP if a stop motor
command has been given. */
CLEAR = 18, /*!< "Pass-through" state in which object is cleared and
set for the startup.
Next state will be START. It can also be ANY_STOP if
a stop motor command has been given. */
START = 4, /*!< Persistent state where the motor start-up is intended
to be executed. The following state is normally
START_RUN as soon as first validated speed is
detected. Another possible following state is
ANY_STOP if a stop motor command has been executed */
START_RUN = 5, /*!< "Pass-through" state, the code to be executed only
once between START and RUN states it’s intended to be
here executed. Following state is normally RUN but
it can also be ANY_STOP if a stop motor command has
been given */
RUN = 6, /*!< Persistent state with running motor. The following
state is normally ANY_STOP when a stop motor command
has been executed */
ANY_STOP = 7, /*!< "Pass-through" state, the code to be executed only
once between any state and STOP it’s intended to be
here executed. Following state is normally STOP */
STOP = 8, /*!< Persistent state. Following state is normally
STOP_IDLE as soon as conditions for moving state
machine are detected */
STOP_IDLE = 9, /*!< "Pass-through" state, the code to be executed only
once between STOP and IDLE it’s intended to be here
executed. Following state is normally IDLE */
FAULT_NOW = 10, /*!< Persistent state, the state machine can be moved from
any condition directly to this state by
STM_FaultProcessing method. This method also manage
the passage to the only allowed following state that
is FAULT_OVER */
FAULT_OVER = 11 /*!< Persistent state where the application is intended to
stay when the fault conditions disappeared. Following
state is normally STOP_IDLE, state machine is moved as
soon as the user has acknowledged the fault condition.
*/
} State_t;