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黄anle 发表于 2014-6-5 17:20:00

步进电机

PWM_Init(4096,0);       //不分频。PWM频率=72000/4096=17.5Khz
即4096为100%占空比，0为0%占空比。
正弦表：2048,2098,2148,2199,2249,2299,2348,2398,2447,2497,
2545,2594,2642,2690,2738,2785,2831,2878,2923,2968,
3013,3057,3100,3143,3185,3227,3267,3307,3347,3385,
3423,3459,3495,3531,3565,3598,3630,3662,3692,3722,
3750,3777,3804,3829,3853,3876,3898,3919,3939,3958,
3975,3992,4007,4021,4034,4045,4056,4065,4073,4080,
4085,4089,4093,4094,4095,4094,4093,4089,4085,4080,
4073,4065,4056,4045,4034,4021,4007,3992,3975,3958,
3939,3919,3898,3876,3853,3829,3804,3777,3750,3722,
3692,3662,3630,3598,3565,3531,3495,3459,3423,3385,
3347,3307,3267,3227,3185,3143,3100,3057,3013,2968,
2923,2878,2831,2785,2738,2690,2642,2594,2545,2497,
2447,2398,2348,2299,2249,2199,2148,2098,2048,1998,
1948,1897,1847,1797,1748,1698,1649,1599,1551,1502,
1454,1406,1358,1311,1265,1218,1173,1128,1083,1039,
0996,0953,0911,0869,0829,0789,0749,0711,0673,0637,
0601,0565,0531,0498,0466,0434,0404,0374,0346,0319,
0292,0267,0243,0220,0198,0177,0157,0138,0121,0104,
0089,0075,0062,0051,0040,0031,0023,0016,0011,0007,
0003,0002,0001,0002,0003,0007,0011,0016,0023,0031,
0040,0051,0062,0075,0089,0104,0121,0138,0157,0177,
0198,0220,0243,0267,0292,0319,0346,0374,0404,0434,
0466,0498,0531,0565,0601,0637,0673,0711,0749,0789,
0829,0869,0911,0953,0996,1039,1083,1128,1173,1218,
1265,1311,1358,1406,1454,1502,1551,1599,1649,1698,
1748,1797,1847,1897,1948,1998,

余弦表：4095,4094,4093,4089,4085,4080,4073,4065,4056,4045,
4034,4021,4007,3992,3975,3958,3939,3919,3898,3876,
3853,3829,3804,3777,3750,3722,3692,3662,3630,3598,
3565,3531,3495,3459,3423,3385,3347,3307,3267,3227,
3185,3143,3100,3057,3013,2968,2923,2878,2831,2785,
2738,2690,2642,2594,2545,2497,2447,2398,2348,2299,
2249,2199,2148,2098,2048,1998,1948,1897,1847,1797,
1748,1698,1649,1599,1551,1502,1454,1406,1358,1311,
1265,1218,1173,1128,1083,1039,0996,0953,0911,0869,
0829,0789,0749,0711,0673,0637,0601,0565,0531,0498,
0466,0434,0404,0374,0346,0319,0292,0267,0243,0220,
0198,0177,0157,0138,0121,0104,0089,0075,0062,0051,
0040,0031,0023,0016,0011,0007,0003,0002,0001,0002,
0003,0007,0011,0016,0023,0031,0040,0051,0062,0075,
0089,0104,0121,0138,0157,0177,0198,0220,0243,0267,
0292,0319,0346,0374,0404,0434,0466,0498,0531,0565,
0601,0637,0673,0711,0749,0789,0829,0869,0911,0953,
0996,1039,1083,1128,1173,1218,1265,1311,1358,1406,
1454,1502,1551,1599,1649,1698,1748,1797,1847,1897,
1948,1998,2048,2098,2148,2199,2249,2299,2348,2398,
2447,2497,2545,2594,2642,2690,2738,2785,2831,2878,
2923,2968,3013,3057,3100,3143,3185,3227,3267,3307,
3347,3385,3423,3459,3495,3531,3565,3598,3630,3662,
3692,3722,3750,3777,3804,3829,3853,3876,3898,3919,
3939,3958,3975,3992,4007,4021,4034,4045,4056,4065,
4073,4080,4085,4089,4093,4094,

电机可以转，24v供电，电流大概在0.7A左右，电流太大

于是为了控制电流小点，将正弦表跟余弦表的值减半，我是想把电流控制在300MA以内，但是电机不转了（来回抖动），求大侠指点。

http://www.amobbs.com/forum.php?mod=viewthread&tid=5541412
此链接中 myqiang1990 18楼前辈有图。

myqiang1990 发表于 2014-6-5 17:23:45

你将正弦余弦峰值减半后电机就抖动不转？不减就正常？不太可能~~除非你减半后得出的波形不对~~

myqiang1990 发表于 2014-6-5 17:24:37

来回抖~说明你相位错了！绝对是相位错了！

黄anle 发表于 2014-6-5 17:25:40

myqiang1990 发表于 2014-6-5 17:24
来回抖~说明你相位错了！绝对是相位错了！

大侠，你在线啊，我的相位是90度的，2相电机

myqiang1990 发表于 2014-6-5 17:26:37

黄anle 发表于 2014-6-5 17:25
大侠，你在线啊，我的相位是90度的，2相电机

我说通电顺序~~

黄anle 发表于 2014-6-5 17:27:32

myqiang1990 发表于 2014-6-5 17:24
来回抖~说明你相位错了！绝对是相位错了！

麻烦你看看我的正弦表跟余弦表，看看哪里出错了

黄anle 发表于 2014-6-5 17:29:37

myqiang1990 发表于 2014-6-5 17:26
我说通电顺序~~

2相4线，通过反向器反向，stm32只要2路pwm经反向变4路到l6205，我一路给正弦表，另一路给余弦表

myqiang1990 发表于 2014-6-5 17:30:19

很明显你的正弦余弦数据是错的嘛~~~

黄anle 发表于 2014-6-5 17:30:55

myqiang1990 发表于 2014-6-5 17:30
很明显你的正弦余弦数据是错的嘛~~~

要怎么改？

myqiang1990 发表于 2014-6-5 17:32:13

黄anle 发表于 2014-6-5 17:29
2相4线，通过反向器反向，stm32只要2路pwm经反向变4路到l6205，我一路给正弦表，另一路给余弦表 ...

你没发现你的正弦数据是错的吗？

myqiang1990 发表于 2014-6-5 17:33:02

给你一个：
//两相细分,两个波形相位相差90度
//波形周期:4
//细分参数最大值:4095
//倍数:1.00
//细分数:128
//////////////////////////正弦表///////////////////////
const unsigned short int SubSinTable10[]=
{
0,50,100,150,200,251,301,351,401,451,501,551,600,650,700,749,798,848,897,946,
995,1043,1092,1140,1188,1236,1284,1332,1379,1426,1473,1520,1567,1613,1659,1705,1750,1796,1841,1885,
1930,1974,2018,2061,2105,2148,2190,2233,2275,2316,2357,2398,2439,2479,2519,2558,2597,2636,2674,2712,
2750,2787,2823,2859,2895,2930,2965,3000,3034,3067,3100,3133,3165,3197,3228,3258,3289,3318,3348,3376,
3404,3432,3459,3486,3512,3537,3563,3587,3611,3634,3657,3680,3701,3723,3743,3763,3783,3802,3820,3838,
3855,3872,3888,3903,3918,3932,3946,3959,3972,3984,3995,4006,4016,4025,4034,4042,4050,4057,4064,4070,
4075,4079,4083,4087,4090,4092,4093,4094,/*128-->*/4094,4094,4093,4092,4090,4087,4083,4079,4075,4070,4064,4057,
4050,4042,4034,4025,4016,4006,3995,3984,3972,3959,3946,3932,3918,3903,3888,3872,3855,3838,3820,3802,
3783,3763,3743,3723,3701,3680,3657,3634,3611,3587,3563,3537,3512,3486,3459,3432,3404,3376,3348,3318,
3289,3258,3228,3197,3165,3133,3100,3067,3034,3000,2965,2930,2895,2859,2823,2787,2750,2712,2674,2636,
2597,2558,2519,2479,2439,2398,2357,2316,2275,2233,2190,2148,2105,2061,2018,1974,1930,1885,1841,1796,
1750,1705,1659,1613,1567,1520,1473,1426,1379,1332,1284,1236,1188,1140,1092,1043,995,946,897,848,
798,749,700,650,600,551,501,451,401,351,301,251,200,150,100,50,/*256-->*/0,50,100,150,
200,251,301,351,401,451,501,551,600,650,700,749,798,848,897,946,995,1043,1092,1140,
1188,1236,1284,1332,1379,1426,1473,1520,1567,1613,1659,1705,1750,1796,1841,1885,1930,1974,2018,2061,
2105,2148,2190,2233,2275,2316,2357,2398,2439,2479,2519,2558,2597,2636,2674,2712,2750,2787,2823,2859,
2895,2930,2965,3000,3034,3067,3100,3133,3165,3197,3228,3258,3289,3318,3348,3376,3404,3432,3459,3486,
3512,3537,3563,3587,3611,3634,3657,3680,3701,3723,3743,3763,3783,3802,3820,3838,3855,3872,3888,3903,
3918,3932,3946,3959,3972,3984,3995,4006,4016,4025,4034,4042,4050,4057,4064,4070,4075,4079,4083,4087,
4090,4092,4093,4094,/*384-->*/4094,4094,4093,4092,4090,4087,4083,4079,4075,4070,4064,4057,4050,4042,4034,4025,
4016,4006,3995,3984,3972,3959,3946,3932,3918,3903,3888,3872,3855,3838,3820,3802,3783,3763,3743,3723,
3701,3680,3657,3634,3611,3587,3563,3537,3512,3486,3459,3432,3404,3376,3348,3318,3289,3258,3228,3197,
3165,3133,3100,3067,3034,3000,2965,2930,2895,2859,2823,2787,2750,2712,2674,2636,2597,2558,2519,2479,
2439,2398,2357,2316,2275,2233,2190,2148,2105,2061,2018,1974,1930,1885,1841,1796,1750,1705,1659,1613,
1567,1520,1473,1426,1379,1332,1284,1236,1188,1140,1092,1043,995,946,897,848,798,749,700,650,
600,551,501,451,401,351,301,251,200,150,100,50,/*512-->*/
};

//////////////////////////余弦表///////////////////////
const unsigned short int SubCosTable10[]=
{
4095,4094,4093,4092,4090,4087,4083,4079,4075,4070,4064,4057,4050,4042,4034,4025,4016,4006,3995,3984,
3972,3959,3946,3932,3918,3903,3888,3872,3855,3838,3820,3802,3783,3763,3743,3723,3701,3680,3657,3634,
3611,3587,3563,3537,3512,3486,3459,3432,3404,3376,3348,3318,3289,3258,3228,3197,3165,3133,3100,3067,
3034,3000,2965,2930,2895,2859,2823,2787,2750,2712,2674,2636,2597,2558,2519,2479,2439,2398,2357,2316,
2275,2233,2190,2148,2105,2061,2018,1974,1930,1885,1841,1796,1750,1705,1659,1613,1567,1520,1473,1426,
1379,1332,1284,1236,1188,1140,1092,1043,995,946,897,848,798,749,700,650,600,551,501,451,
401,351,301,251,200,150,100,50,/*128-->*/0,50,100,150,200,251,301,351,401,451,501,551,
600,650,700,749,798,848,897,946,995,1043,1092,1140,1188,1236,1284,1332,1379,1426,1473,1520,
1567,1613,1659,1705,1750,1796,1841,1885,1930,1974,2018,2061,2105,2148,2190,2233,2275,2316,2357,2398,
2439,2479,2519,2558,2597,2636,2674,2712,2750,2787,2823,2859,2895,2930,2965,3000,3034,3067,3100,3133,
3165,3197,3228,3258,3289,3318,3348,3376,3404,3432,3459,3486,3512,3537,3563,3587,3611,3634,3657,3680,
3701,3723,3743,3763,3783,3802,3820,3838,3855,3872,3888,3903,3918,3932,3946,3959,3972,3984,3995,4006,
4016,4025,4034,4042,4050,4057,4064,4070,4075,4079,4083,4087,4090,4092,4093,4094,/*256-->*/4094,4094,4093,4092,
4090,4087,4083,4079,4075,4070,4064,4057,4050,4042,4034,4025,4016,4006,3995,3984,3972,3959,3946,3932,
3918,3903,3888,3872,3855,3838,3820,3802,3783,3763,3743,3723,3701,3680,3657,3634,3611,3587,3563,3537,
3512,3486,3459,3432,3404,3376,3348,3318,3289,3258,3228,3197,3165,3133,3100,3067,3034,3000,2965,2930,
2895,2859,2823,2787,2750,2712,2674,2636,2597,2558,2519,2479,2439,2398,2357,2316,2275,2233,2190,2148,
2105,2061,2018,1974,1930,1885,1841,1796,1750,1705,1659,1613,1567,1520,1473,1426,1379,1332,1284,1236,
1188,1140,1092,1043,995,946,897,848,798,749,700,650,600,551,501,451,401,351,301,251,
200,150,100,50,/*384-->*/0,50,100,150,200,251,301,351,401,451,501,551,600,650,700,749,
798,848,897,946,995,1043,1092,1140,1188,1236,1284,1332,1379,1426,1473,1520,1567,1613,1659,1705,
1750,1796,1841,1885,1930,1974,2018,2061,2105,2148,2190,2233,2275,2316,2357,2398,2439,2479,2519,2558,
2597,2636,2674,2712,2750,2787,2823,2859,2895,2930,2965,3000,3034,3067,3100,3133,3165,3197,3228,3258,
3289,3318,3348,3376,3404,3432,3459,3486,3512,3537,3563,3587,3611,3634,3657,3680,3701,3723,3743,3763,
3783,3802,3820,3838,3855,3872,3888,3903,3918,3932,3946,3959,3972,3984,3995,4006,4016,4025,4034,4042,
4050,4057,4064,4070,4075,4079,4083,4087,4090,4092,4093,4094,/*512-->*/
};

黄anle 发表于 2014-6-5 17:33:23

myqiang1990 发表于 2014-6-5 17:32
你没发现你的正弦数据是错的吗？

我也不知道又没错{:sweat:} ，没人教我

myqiang1990 发表于 2014-6-5 17:34:51

下面是减半后的数据：你认真看看有啥区别？正弦波形，按照你的余弦数据来看，第一个数据是4096，那么正弦第一个数据肯定是接近0啦，怎么可能是2048？？
//两相细分,两个波形相位相差90度
//波形周期:4
//细分参数最大值:4095
//倍数:0.50
//细分数:128
//////////////////////////正弦表///////////////////////
const unsigned short int SubSinTable5[]=
{
0,25,50,75,100,125,150,175,200,225,250,275,300,325,350,374,399,424,448,473,
497,521,546,570,594,618,642,666,689,713,736,760,783,806,829,852,875,898,920,942,
965,987,1009,1030,1052,1074,1095,1116,1137,1158,1178,1199,1219,1239,1259,1279,1298,1318,1337,1356,
1375,1393,1411,1429,1447,1465,1482,1500,1517,1533,1550,1566,1582,1598,1614,1629,1644,1659,1674,1688,
1702,1716,1729,1743,1756,1768,1781,1793,1805,1817,1828,1840,1850,1861,1871,1881,1891,1901,1910,1919,
1927,1936,1944,1951,1959,1966,1973,1979,1986,1992,1997,2003,2008,2012,2017,2021,2025,2028,2032,2035,
2037,2039,2041,2043,2045,2046,2046,2047,/*128-->*/2047,2047,2046,2046,2045,2043,2041,2039,2037,2035,2032,2028,
2025,2021,2017,2012,2008,2003,1997,1992,1986,1979,1973,1966,1959,1951,1944,1936,1927,1919,1910,1901,
1891,1881,1871,1861,1850,1840,1828,1817,1805,1793,1781,1768,1756,1743,1729,1716,1702,1688,1674,1659,
1644,1629,1614,1598,1582,1566,1550,1533,1517,1500,1482,1465,1447,1429,1411,1393,1375,1356,1337,1318,
1298,1279,1259,1239,1219,1199,1178,1158,1137,1116,1095,1074,1052,1030,1009,987,965,942,920,898,
875,852,829,806,783,760,736,713,689,666,642,618,594,570,546,521,497,473,448,424,
399,374,350,325,300,275,250,225,200,175,150,125,100,75,50,25,/*256-->*/0,25,50,75,
100,125,150,175,200,225,250,275,300,325,350,374,399,424,448,473,497,521,546,570,
594,618,642,666,689,713,736,760,783,806,829,852,875,898,920,942,965,987,1009,1030,
1052,1074,1095,1116,1137,1158,1178,1199,1219,1239,1259,1279,1298,1318,1337,1356,1375,1393,1411,1429,
1447,1465,1482,1500,1517,1533,1550,1566,1582,1598,1614,1629,1644,1659,1674,1688,1702,1716,1729,1743,
1756,1768,1781,1793,1805,1817,1828,1840,1850,1861,1871,1881,1891,1901,1910,1919,1927,1936,1944,1951,
1959,1966,1973,1979,1986,1992,1997,2003,2008,2012,2017,2021,2025,2028,2032,2035,2037,2039,2041,2043,
2045,2046,2046,2047,/*384-->*/2047,2047,2046,2046,2045,2043,2041,2039,2037,2035,2032,2028,2025,2021,2017,2012,
2008,2003,1997,1992,1986,1979,1973,1966,1959,1951,1944,1936,1927,1919,1910,1901,1891,1881,1871,1861,
1850,1840,1828,1817,1805,1793,1781,1768,1756,1743,1729,1716,1702,1688,1674,1659,1644,1629,1614,1598,
1582,1566,1550,1533,1517,1500,1482,1465,1447,1429,1411,1393,1375,1356,1337,1318,1298,1279,1259,1239,
1219,1199,1178,1158,1137,1116,1095,1074,1052,1030,1009,987,965,942,920,898,875,852,829,806,
783,760,736,713,689,666,642,618,594,570,546,521,497,473,448,424,399,374,350,325,
300,275,250,225,200,175,150,125,100,75,50,25,/*512-->*/
};

//////////////////////////余弦表///////////////////////
const unsigned short int SubCosTable5[]=
{
2047,2047,2046,2046,2045,2043,2041,2039,2037,2035,2032,2028,2025,2021,2017,2012,2008,2003,1997,1992,
1986,1979,1973,1966,1959,1951,1944,1936,1927,1919,1910,1901,1891,1881,1871,1861,1850,1840,1828,1817,
1805,1793,1781,1768,1756,1743,1729,1716,1702,1688,1674,1659,1644,1629,1614,1598,1582,1566,1550,1533,
1517,1500,1482,1465,1447,1429,1411,1393,1375,1356,1337,1318,1298,1279,1259,1239,1219,1199,1178,1158,
1137,1116,1095,1074,1052,1030,1009,987,965,942,920,898,875,852,829,806,783,760,736,713,
689,666,642,618,594,570,546,521,497,473,448,424,399,374,350,325,300,275,250,225,
200,175,150,125,100,75,50,25,/*128-->*/0,25,50,75,100,125,150,175,200,225,250,275,
300,325,350,374,399,424,448,473,497,521,546,570,594,618,642,666,689,713,736,760,
783,806,829,852,875,898,920,942,965,987,1009,1030,1052,1074,1095,1116,1137,1158,1178,1199,
1219,1239,1259,1279,1298,1318,1337,1356,1375,1393,1411,1429,1447,1465,1482,1500,1517,1533,1550,1566,
1582,1598,1614,1629,1644,1659,1674,1688,1702,1716,1729,1743,1756,1768,1781,1793,1805,1817,1828,1840,
1850,1861,1871,1881,1891,1901,1910,1919,1927,1936,1944,1951,1959,1966,1973,1979,1986,1992,1997,2003,
2008,2012,2017,2021,2025,2028,2032,2035,2037,2039,2041,2043,2045,2046,2046,2047,/*256-->*/2047,2047,2046,2046,
2045,2043,2041,2039,2037,2035,2032,2028,2025,2021,2017,2012,2008,2003,1997,1992,1986,1979,1973,1966,
1959,1951,1944,1936,1927,1919,1910,1901,1891,1881,1871,1861,1850,1840,1828,1817,1805,1793,1781,1768,
1756,1743,1729,1716,1702,1688,1674,1659,1644,1629,1614,1598,1582,1566,1550,1533,1517,1500,1482,1465,
1447,1429,1411,1393,1375,1356,1337,1318,1298,1279,1259,1239,1219,1199,1178,1158,1137,1116,1095,1074,
1052,1030,1009,987,965,942,920,898,875,852,829,806,783,760,736,713,689,666,642,618,
594,570,546,521,497,473,448,424,399,374,350,325,300,275,250,225,200,175,150,125,
100,75,50,25,/*384-->*/0,25,50,75,100,125,150,175,200,225,250,275,300,325,350,374,
399,424,448,473,497,521,546,570,594,618,642,666,689,713,736,760,783,806,829,852,
875,898,920,942,965,987,1009,1030,1052,1074,1095,1116,1137,1158,1178,1199,1219,1239,1259,1279,
1298,1318,1337,1356,1375,1393,1411,1429,1447,1465,1482,1500,1517,1533,1550,1566,1582,1598,1614,1629,
1644,1659,1674,1688,1702,1716,1729,1743,1756,1768,1781,1793,1805,1817,1828,1840,1850,1861,1871,1881,
1891,1901,1910,1919,1927,1936,1944,1951,1959,1966,1973,1979,1986,1992,1997,2003,2008,2012,2017,2021,
2025,2028,2032,2035,2037,2039,2041,2043,2045,2046,2046,2047,/*512-->*/
};

黄anle 发表于 2014-6-5 18:30:38

myqiang1990 发表于 2014-6-5 17:33
给你一个：
//两相细分,两个波形相位相差90度
//波形周期:4


不好意思，我刚刚回复不了，有5次回帖限制，我试过你发的数值，也是不转，都不知道哪出了问题

黄anle 发表于 2014-6-5 18:31:27

黄anle 发表于 2014-6-5 18:30
不好意思，我刚刚回复不了，有5次回帖限制，我试过你发的数值，也是不转，都不知道哪出了问题 ...

能加我qq吗？我的qq号：420781693，我发文件给你看一下，谢谢

黄anle 发表于 2014-6-6 11:33:36

myqiang1990 发表于 2014-6-5 17:34
下面是减半后的数据：你认真看看有啥区别？正弦波形，按照你的余弦数据来看，第一个数据是4096，那么正弦第 ...

u16 SinData[]=
{
0,25,50,75,100,125,150,175,200,225,250,275,300,325,350,374,399,424,448,473,
497,521,546,570,594,618,642,666,689,713,736,760,783,806,829,852,875,898,920,942,
965,987,1009,1030,1052,1074,1095,1116,1137,1158,1178,1199,1219,1239,1259,1279,1298,1318,1337,1356,
1375,1393,1411,1429,1447,1465,1482,1500,1517,1533,1550,1566,1582,1598,1614,1629,1644,1659,1674,1688,
1702,1716,1729,1743,1756,1768,1781,1793,1805,1817,1828,1840,1850,1861,1871,1881,1891,1901,1910,1919,
1927,1936,1944,1951,1959,1966,1973,1979,1986,1992,1997,2003,2008,2012,2017,2021,2025,2028,2032,2035,
2037,2039,2041,2043,2045,2046,2046,2047,/*128-->*/2047,2047,2046,2046,2045,2043,2041,2039,2037,2035,2032,2028,
2025,2021,2017,2012,2008,2003,1997,1992,1986,1979,1973,1966,1959,1951,1944,1936,1927,1919,1910,1901,
1891,1881,1871,1861,1850,1840,1828,1817,1805,1793,1781,1768,1756,1743,1729,1716,1702,1688,1674,1659,
1644,1629,1614,1598,1582,1566,1550,1533,1517,1500,1482,1465,1447,1429,1411,1393,1375,1356,1337,1318,
1298,1279,1259,1239,1219,1199,1178,1158,1137,1116,1095,1074,1052,1030,1009,987,965,942,920,898,
875,852,829,806,783,760,736,713,689,666,642,618,594,570,546,521,497,473,448,424,
399,374,350,325,300,275,250,225,200,175,150,125,100,75,50,25,/*256-->*/0,25,50,75,
100,125,150,175,200,225,250,275,300,325,350,374,399,424,448,473,497,521,546,570,
594,618,642,666,689,713,736,760,783,806,829,852,875,898,920,942,965,987,1009,1030,
1052,1074,1095,1116,1137,1158,1178,1199,1219,1239,1259,1279,1298,1318,1337,1356,1375,1393,1411,1429,
1447,1465,1482,1500,1517,1533,1550,1566,1582,1598,1614,1629,1644,1659,1674,1688,1702,1716,1729,1743,
1756,1768,1781,1793,1805,1817,1828,1840,1850,1861,1871,1881,1891,1901,1910,1919,1927,1936,1944,1951,
1959,1966,1973,1979,1986,1992,1997,2003,2008,2012,2017,2021,2025,2028,2032,2035,2037,2039,2041,2043,
2045,2046,2046,2047,/*384-->*/2047,2047,2046,2046,2045,2043,2041,2039,2037,2035,2032,2028,2025,2021,2017,2012,
2008,2003,1997,1992,1986,1979,1973,1966,1959,1951,1944,1936,1927,1919,1910,1901,1891,1881,1871,1861,
1850,1840,1828,1817,1805,1793,1781,1768,1756,1743,1729,1716,1702,1688,1674,1659,1644,1629,1614,1598,
1582,1566,1550,1533,1517,1500,1482,1465,1447,1429,1411,1393,1375,1356,1337,1318,1298,1279,1259,1239,
1219,1199,1178,1158,1137,1116,1095,1074,1052,1030,1009,987,965,942,920,898,875,852,829,806,
783,760,736,713,689,666,642,618,594,570,546,521,497,473,448,424,399,374,350,325,
300,275,250,225,200,175,150,125,100,75,50,25,/*512-->*/

};

//////////////////////////余弦表///////////////////////
u16 CosData[]=
{
2047,2047,2046,2046,2045,2043,2041,2039,2037,2035,2032,2028,2025,2021,2017,2012,2008,2003,1997,1992,
1986,1979,1973,1966,1959,1951,1944,1936,1927,1919,1910,1901,1891,1881,1871,1861,1850,1840,1828,1817,
1805,1793,1781,1768,1756,1743,1729,1716,1702,1688,1674,1659,1644,1629,1614,1598,1582,1566,1550,1533,
1517,1500,1482,1465,1447,1429,1411,1393,1375,1356,1337,1318,1298,1279,1259,1239,1219,1199,1178,1158,
1137,1116,1095,1074,1052,1030,1009,987,965,942,920,898,875,852,829,806,783,760,736,713,
689,666,642,618,594,570,546,521,497,473,448,424,399,374,350,325,300,275,250,225,
200,175,150,125,100,75,50,25,/*128-->*/0,25,50,75,100,125,150,175,200,225,250,275,
300,325,350,374,399,424,448,473,497,521,546,570,594,618,642,666,689,713,736,760,
783,806,829,852,875,898,920,942,965,987,1009,1030,1052,1074,1095,1116,1137,1158,1178,1199,
1219,1239,1259,1279,1298,1318,1337,1356,1375,1393,1411,1429,1447,1465,1482,1500,1517,1533,1550,1566,
1582,1598,1614,1629,1644,1659,1674,1688,1702,1716,1729,1743,1756,1768,1781,1793,1805,1817,1828,1840,
1850,1861,1871,1881,1891,1901,1910,1919,1927,1936,1944,1951,1959,1966,1973,1979,1986,1992,1997,2003,
2008,2012,2017,2021,2025,2028,2032,2035,2037,2039,2041,2043,2045,2046,2046,2047,/*256-->*/2047,2047,2046,2046,
2045,2043,2041,2039,2037,2035,2032,2028,2025,2021,2017,2012,2008,2003,1997,1992,1986,1979,1973,1966,
1959,1951,1944,1936,1927,1919,1910,1901,1891,1881,1871,1861,1850,1840,1828,1817,1805,1793,1781,1768,
1756,1743,1729,1716,1702,1688,1674,1659,1644,1629,1614,1598,1582,1566,1550,1533,1517,1500,1482,1465,
1447,1429,1411,1393,1375,1356,1337,1318,1298,1279,1259,1239,1219,1199,1178,1158,1137,1116,1095,1074,
1052,1030,1009,987,965,942,920,898,875,852,829,806,783,760,736,713,689,666,642,618,
594,570,546,521,497,473,448,424,399,374,350,325,300,275,250,225,200,175,150,125,
100,75,50,25,/*384-->*/0,25,50,75,100,125,150,175,200,225,250,275,300,325,350,374,
399,424,448,473,497,521,546,570,594,618,642,666,689,713,736,760,783,806,829,852,
875,898,920,942,965,987,1009,1030,1052,1074,1095,1116,1137,1158,1178,1199,1219,1239,1259,1279,
1298,1318,1337,1356,1375,1393,1411,1429,1447,1465,1482,1500,1517,1533,1550,1566,1582,1598,1614,1629,
1644,1659,1674,1688,1702,1716,1729,1743,1756,1768,1781,1793,1805,1817,1828,1840,1850,1861,1871,1881,
1891,1901,1910,1919,1927,1936,1944,1951,1959,1966,1973,1979,1986,1992,1997,2003,2008,2012,2017,2021,
2025,2028,2032,2035,2037,2039,2041,2043,2045,2046,2046,2047,/*512-->*/


};

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
int main(void)
{       
    u16 i1=0,i=16;       
        Stm32_Clock_Init(9); //系统时钟设置
        delay_init(72);             //延时初始化
        uart_init(72,9600);//串口初始化
        LED_Init();                         //初始化与LED连接的硬件接口
        Timer2_Init(3000,7199);//10Khz的计数频率，计数到10为1ms
        PWM_Init(4096,0);       //不分频。PWM频率=72000/4096=17.5Khz       
        delay_ms(100);
           while(1)
        {       

               LED0_PWM_VAL =SinData; //第1路pwm
                  LED1_PWM_VAL =CosData; //第2路pwm

               i1=i1+1;
               if(i1>512)
               i1=0;               
               delay_us(58);
                                                                                                                       
        }       
}

这样电机还是不转

zzfei 发表于 2014-6-6 11:58:02

楼主，你的标题很危险啊！

黄anle 发表于 2014-6-6 11:59:29

zzfei 发表于 2014-6-6 11:58
楼主，你的标题很危险啊！

怎么危险了？{:lol:}

黄anle 发表于 2014-6-6 16:23:03

myqiang1990 发表于 2014-6-5 17:34
下面是减半后的数据：你认真看看有啥区别？正弦波形，按照你的余弦数据来看，第一个数据是4096，那么正弦第 ...

大侠，帮我看看呗，电机不转

查看完整版本: 步进电机