代码收藏家 使用STM32 HAL库实现编码器电机测速
记录一下今天参考别人的代码实现了四个电机的测速。
编码器被广泛应用于电机测速，实现电机闭环控制。所以不论是自己做小车还是后续参加各种比赛，必须要学会编码器测速。
一.参数
编码电机其实就是一个带有编码器的电机，我的这个电机是一个带霍尔传感器的电机，型号是JGB37-520，然后我的电机减速比是30（一定要记住，买的时候也要看清电机减速比是多少，涉及到转速的计算），额定电压12V，然后就是编码器的参数了，见下图
电机驱动模块我用的TB6612的四路的板子，就是下面这款，很好用，就是稍微有点贵。
二.常用测速方法
主要分为M法、T法和M/T法，详情见这篇文章STM32 CubeMax 编码器电机测速 原理与实现
三.CubeMX配置
首先是配置PWM输出定时器，我这里使用的是TIM8
然后再配置编码器输入定时器TIM2，TIM3\TIM4\TIM5按照相同的参数配置
这里开启了两个通道计数，就是倍频技术的4倍频
编码器模式下的定时器其实是个计数器，在编码器的脉冲到来时，Counter会相应地加和减，正转时加，反转时减，溢出后到达另一个极端值，比如说向上计数到达20001时会变成0
再设置每隔10ms读取定时器的值的定时器TIM6
最后注意中断优先级TIM6要小于编码器计数的定时器。
四.代码
encoder.c
#include "encoder.h"
Motor motor1;
Motor motor2;
Motor motor3;
Motor motor4;
int t1,t2,t3,t4,j1,j2,j3,j4;
void Motor_Init(void)
{
HAL_TIM_Encoder_Start(&ENCODER_TIM1, TIM_CHANNEL_ALL); //开启编码器定时器
HAL_TIM_Encoder_Start(&ENCODER_TIM2, TIM_CHANNEL_ALL);
HAL_TIM_Encoder_Start(&ENCODER_TIM3, TIM_CHANNEL_ALL);
HAL_TIM_Encoder_Start(&ENCODER_TIM4, TIM_CHANNEL_ALL);
__HAL_TIM_ENABLE_IT(&ENCODER_TIM1,TIM_IT_UPDATE); //开启编码器定时器更新中断,防溢出处理
__HAL_TIM_ENABLE_IT(&ENCODER_TIM2,TIM_IT_UPDATE);
__HAL_TIM_ENABLE_IT(&ENCODER_TIM3,TIM_IT_UPDATE);
__HAL_TIM_ENABLE_IT(&ENCODER_TIM4,TIM_IT_UPDATE);
HAL_TIM_Base_Start_IT(&GAP_TIM); //开启10ms定时器中断
__HAL_TIM_SET_COUNTER(&ENCODER_TIM1, 10000); //编码器定时器初始值设定为10000
__HAL_TIM_SET_COUNTER(&ENCODER_TIM2, 10000);
__HAL_TIM_SET_COUNTER(&ENCODER_TIM3, 10000);
__HAL_TIM_SET_COUNTER(&ENCODER_TIM4, 10000);
motor1.lastCount = 0; //结构体内容初始化
motor1.totalCount = 0;
motor1.overflowNum = 0;
motor1.speed = 0;
motor1.direct = 0;
motor2.lastCount = 0; //结构体内容初始化
motor2.totalCount = 0;
motor2.overflowNum = 0;
motor2.speed = 0;
motor2.direct = 0;
motor3.lastCount = 0; //结构体内容初始化
motor3.totalCount = 0;
motor3.overflowNum = 0;
motor3.speed = 0;
motor3.direct = 0;
motor4.lastCount = 0; //结构体内容初始化
motor4.totalCount = 0;
motor4.overflowNum = 0;
motor4.speed = 0;
motor4.direct = 0;
}
//M法测速度
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)//定时器回调函数，用于计算速度
{
if(htim->Instance==ENCODER_TIM1.Instance)//编码器输入定时器溢出中断
{
if(COUNTERNUM1 < 10000) motor1.overflowNum++; //如果是向上溢出
else if(COUNTERNUM1 >= 10000) motor1.overflowNum--; //如果是向下溢出
__HAL_TIM_SetCounter(&ENCODER_TIM1, 10000); //重新设定初始值
if(COUNTERNUM2 < 10000) motor2.overflowNum++; //如果是向上溢出
else if(COUNTERNUM2 >= 10000) motor2.overflowNum--; //如果是向下溢出
__HAL_TIM_SetCounter(&ENCODER_TIM2, 10000); //重新设定初始值
if(COUNTERNUM3 < 10000) motor3.overflowNum++; //如果是向上溢出
else if(COUNTERNUM3 >= 10000) motor3.overflowNum--; //如果是向下溢出
__HAL_TIM_SetCounter(&ENCODER_TIM3, 10000); //重新设定初始值
if(COUNTERNUM4 < 10000) motor4.overflowNum++; //如果是向上溢出
else if(COUNTERNUM4 >= 10000) motor4.overflowNum--; //如果是向下溢出
__HAL_TIM_SetCounter(&ENCODER_TIM4, 10000); //重新设定初始值
}
else if(htim->Instance==GAP_TIM.Instance)//间隔定时器中断，是时候计算速度了
{
motor1.direct = __HAL_TIM_IS_TIM_COUNTING_DOWN(&ENCODER_TIM1);//如果向上计数（正转），返回值为0，否则返回值为1
motor1.totalCount = COUNTERNUM1 + motor1.overflowNum * RELOADVALUE1;//一个周期内的总计数值等于目前计数值加上溢出的计数值
motor1.speed = (float)(motor1.totalCount - motor1.lastCount) / (4 * MOTOR_SPEED_RERATIO * PULSE_PRE_ROUND) * 10;//算得每秒多少转
if(motor1.direct==0)
{
t1=motor1.speed/1;
j1=(motor1.speed-t1)*10000;
}
else
{
t1=-motor1.speed/1;
j1=-(motor1.speed+t1)*10000;
}
//motor1.speed = (float)(motor1.totalCount - motor1.lastCount) / (4 * MOTOR_SPEED_RERATIO * PULSE_PRE_ROUND) * 10 * LINE_SPEED_C//算得车轮线速度每秒多少毫米
motor1.lastCount = motor1.totalCount; //记录这一次的计数值
motor2.direct = __HAL_TIM_IS_TIM_COUNTING_DOWN(&ENCODER_TIM2);//如果向上计数（正转），返回值为0，否则返回值为1
motor2.totalCount = COUNTERNUM2 + motor1.overflowNum * RELOADVALUE2;//一个周期内的总计数值等于目前计数值加上溢出的计数值
motor2.speed = (float)(motor2.totalCount - motor2.lastCount) / (4 * MOTOR_SPEED_RERATIO * PULSE_PRE_ROUND) * 10;//算得每秒多少转
if(motor2.direct==0)
{
t2=motor2.speed/1;
j2=(motor2.speed-t2)*10000;
}
else
{
t2=-motor2.speed/1;
j2=-(motor2.speed+t2)*10000;
}
//motor1.speed = (float)(motor1.totalCount - motor1.lastCount) / (4 * MOTOR_SPEED_RERATIO * PULSE_PRE_ROUND) * 10 * LINE_SPEED_C//算得车轮线速度每秒多少毫米
motor2.lastCount = motor2.totalCount; //记录这一次的计数值
motor3.direct = __HAL_TIM_IS_TIM_COUNTING_DOWN(&ENCODER_TIM3);//如果向上计数（正转），返回值为0，否则返回值为1
motor3.totalCount = COUNTERNUM3 + motor3.overflowNum * RELOADVALUE3;//一个周期内的总计数值等于目前计数值加上溢出的计数值
motor3.speed = (float)(motor3.totalCount - motor3.lastCount) / (4 * MOTOR_SPEED_RERATIO * PULSE_PRE_ROUND) * 10;//算得每秒多少转
if(motor3.direct==0)
{
t3=motor3.speed/1;
j3=(motor3.speed-t3)*10000;
}
else
{
t3=-motor3.speed/1;
j3=-(motor3.speed+t3)*10000;
}
//motor1.speed = (float)(motor1.totalCount - motor1.lastCount) / (4 * MOTOR_SPEED_RERATIO * PULSE_PRE_ROUND) * 10 * LINE_SPEED_C//算得车轮线速度每秒多少毫米
motor3.lastCount = motor3.totalCount; //记录这一次的计数值
motor4.direct = __HAL_TIM_IS_TIM_COUNTING_DOWN(&ENCODER_TIM4);//如果向上计数（正转），返回值为0，否则返回值为1
motor4.totalCount = COUNTERNUM4 + motor4.overflowNum * RELOADVALUE4;//一个周期内的总计数值等于目前计数值加上溢出的计数值
motor4.speed = (float)(motor4.totalCount - motor4.lastCount) / (4 * MOTOR_SPEED_RERATIO * PULSE_PRE_ROUND) * 10;//算得每秒多少转
if(motor4.direct==0)
{
t4=motor4.speed/1;
j4=(motor4.speed-t4)*10000;
}
else
{
t4=-motor4.speed/1;
j4=-(motor4.speed+t4)*10000;
}
//motor1.speed = (float)(motor1.totalCount - motor1.lastCount) / (4 * MOTOR_SPEED_RERATIO * PULSE_PRE_ROUND) * 10 * LINE_SPEED_C//算得车轮线速度每秒多少毫米
motor4.lastCount = motor4.totalCount; //记录这一次的计数值
}
} encoder.h
#ifndef _ENCODER_H_
#define _ENCODER_H_
#include "stm32f1xx.h"
#include "tim.h"
//定时器号
#define ENCODER_TIM1 htim2
#define ENCODER_TIM2 htim3
#define ENCODER_TIM3 htim4
#define ENCODER_TIM4 htim5
#define GAP_TIM htim6
#define MOTOR_SPEED_RERATIO 30u //电机减速比
#define PULSE_PRE_ROUND 11 //一圈多少个脉冲
#define RADIUS_OF_TYRE 40 //轮胎半径，单位毫米
#define LINE_SPEED_C RADIUS_OF_TYRE * 2 * 3.14
#define RELOADVALUE1 __HAL_TIM_GetAutoreload(&ENCODER_TIM1) //获取自动装载值,本例中为20000
#define COUNTERNUM1 __HAL_TIM_GetCounter(&ENCODER_TIM1) //获取编码器定时器中的计数值
#define RELOADVALUE2 __HAL_TIM_GetAutoreload(&ENCODER_TIM2)
#define COUNTERNUM2 __HAL_TIM_GetCounter(&ENCODER_TIM2)
#define RELOADVALUE3 __HAL_TIM_GetAutoreload(&ENCODER_TIM3)
#define COUNTERNUM3 __HAL_TIM_GetCounter(&ENCODER_TIM3)
#define RELOADVALUE4 __HAL_TIM_GetAutoreload(&ENCODER_TIM4)
#define COUNTERNUM4 __HAL_TIM_GetCounter(&ENCODER_TIM4)
typedef struct _Motor
{
int32_t lastCount; //上一次计数值
int32_t totalCount; //总计数值
int16_t overflowNum; //溢出次数
float speed; //电机转速
uint8_t direct; //旋转方向
}Motor;
extern int t1,t2,t3,t4,j1,j2,j3,j4;
void Motor_Init(void);
void HAL_TIM_PeriodElapsedCallback1(TIM_HandleTypeDef *htim);
#endif
main.c
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2023 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "i2c.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "bluetooth.h"
#include "Control.h"
#include "oled.h"
#include "encoder.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_TIM8_Init();
MX_USART1_UART_Init();
MX_I2C2_Init();
MX_TIM2_Init();
MX_TIM6_Init();
MX_TIM3_Init();
MX_TIM4_Init();
MX_TIM5_Init();
/* USER CODE BEGIN 2 */
HAL_UART_Receive_IT(&huart1,(uint8_t *)&USART1_NewData,1);
/* USER CODE END 2 */
OLED_Init();
OLED_CLS();
OLED_ShowChar(14,1,'.',15);
OLED_ShowChar(14,2,'.',15);
OLED_ShowChar(14,3,'.',15);
OLED_ShowChar(14,4,'.',15);
OLED_ShowStr(50,5,"By Whelve",2);
OLED_ShowStr(60,1,"r/s",1);
OLED_ShowStr(60,2,"r/s",1);
OLED_ShowStr(60,3,"r/s",1);
OLED_ShowStr(60,4,"r/s",1);
Motor_Init();
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
Control();
OLED_ShowNum(0,1,t1,2,15);
OLED_ShowNum(18,1,j1,5,15);
OLED_ShowNum(0,2,t2,2,15);
OLED_ShowNum(18,2,j2,5,15);
OLED_ShowNum(0,3,t3,2,15);
OLED_ShowNum(18,3,j3,5,15);
OLED_ShowNum(0,4,t4,2,15);
OLED_ShowNum(18,4,j4,5,15);
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */代码部分参考自STM32 CubeMax 编码器电机测速 原理与实现
最后效果不错
