STM32G4入門與電機(jī)控制實(shí)戰(zhàn)：基于X-CUBE-MCSDK的無刷直流電機(jī)與永磁同步電機(jī)控制實(shí)現(xiàn)

第 1 章 STM32G4 概述 ...................................................................................................................... 1
1.1 STM32G4 系列的特性 ........................................................................................................... 1
1.2 STM32G4 的主要應(yīng)用 ........................................................................................................... 5
1.3 STM32 生態(tài)資源 ................................................................................................................... 6
第 2 章 STM32 電機(jī)控制套件 P-NUCLEO-IHM03 ....................................................................... 10
2.1 NUCLEO-G431RB 開發(fā)板 .................................................................................................. 10
2.1.1 NUCLEO-G431RB 開發(fā)板概述 .................................................................................................. 10
2.1.2 NUCLEO-G431RB 開發(fā)板的硬件構(gòu)成 ...................................................................................... 12
2.2 X-NUCLEO-IHM16M1 三相驅(qū)動板 ................................................................................... 17
2.2.1 X-NUCLEO-IHM16M1 三相驅(qū)動板概述 ................................................................................... 17
2.2.2 X-NUCLEO-IHM16M1 三相驅(qū)動板的硬件構(gòu)成 ....................................................................... 18
2.3 三相云臺電機(jī) GBM2804H-100T ........................................................................................ 24
2.4 DC 電源 ................................................................................................................................ 25
第 3 章 軟件開發(fā)環(huán)境 ...................................................................................................................... 26
3.1 開發(fā)環(huán)境概述 ....................................................................................................................... 27
3.2 STM32CubeMX .................................................................................................................... 28
3.2.1 下載和安裝 .................................................................................................................................. 28
3.2.2 工具界面 ...................................................................................................................................... 32
3.3 STM32CubeIDE ................................................................................................................... 34
3.3.1 下載和安裝 .................................................................................................................................. 34
3.3.2 工具界面 ...................................................................................................................................... 37
3.4 Keil（MDK-ARM） ............................................................................................................ 38
3.4.1 下載和安裝 .................................................................................................................................. 38
3.4.2 操作簡介 ...................................................................................................................................... 41
3.5 IAR EWARM ........................................................................................................................ 43
3.5.1 下載和安裝 .................................................................................................................................. 43
3.5.2 操作簡介 ...................................................................................................................................... 49
3.6 MotorControl Workbench（MC SDK） .............................................................................. 50
3.6.1 下載和安裝 .................................................................................................................................. 50
3.6.2 操作簡介 ...................................................................................................................................... 52
3.6.3 使用 ST Motor Profiler 獲得電機(jī)參數(shù) ........................................................................................ 56
3.6.4 ST MC SDK 5.x 固件 ................................................................................................................... 61
3.7 STM Studio ........................................................................................................................... 66
3.7.1 下載和安裝 .................................................................................................................................. 66
3.7.2 操作簡介 ...................................................................................................................................... 69
第 4 章 NUCLEO-G431RB 基礎(chǔ)實(shí)驗(yàn) ............................................................................................. 72
4.1 LED 點(diǎn)燈實(shí)驗(yàn) ...................................................................................................................... 72
4.2 定時器 PWM 應(yīng)用實(shí)驗(yàn) ....................................................................................................... 78
4.3 外部中斷實(shí)驗(yàn) ....................................................................................................................... 84
4.4 串行接口應(yīng)用實(shí)驗(yàn) ............................................................................................................... 90
4.5 數(shù)/模轉(zhuǎn)換應(yīng)用實(shí)驗(yàn) .............................................................................................................. 96
4.6 互補(bǔ) PWM 輸出實(shí)驗(yàn) ......................................................................................................... 104
第 5 章 無刷直流電機(jī)控制技術(shù) .................................................................................................... 112
5.1 無刷直流電機(jī)的系統(tǒng)構(gòu)成 ................................................................................................. 112
5.1.1 電機(jī)本體 .................................................................................................................................... 113
5.1.2 位置傳感器 ................................................................................................................................ 114
5.1.3 控制驅(qū)動電路 ............................................................................................................................ 115
5.2 無刷直流電機(jī)的數(shù)學(xué)模型 ................................................................................................. 116
5.2.1 定子電壓方程 ............................................................................................................................ 116
5.2.2 反電動勢方程 ............................................................................................................................ 117
5.2.3 電磁轉(zhuǎn)矩方程 ............................................................................................................................ 117
5.2.4 運(yùn)動方程 .................................................................................................................................... 117
5.3 無刷直流電機(jī)的控制原理 ................................................................................................. 117
5.3.1 方波控制原理 ............................................................................................................................ 118
5.3.2 無感反電動勢控制原理 ............................................................................................................. 120
第 6 章 永磁同步電機(jī)控制技術(shù) ...............................