调试ST电机库5.20遇到的问题_st电机库缺点-优快云博客

1.使用带霍尔的无刷电机运行ST MotorControl Workbench 5.2.0生成的例程。霍尔状态经常出现0或者7，是因为霍尔信号干扰太大了吗？正常的霍尔状态为1-6，一出现0或7电机就不能转了。Iq的目标值变成6067（为标称最大电流值，这个值是用标称电流3.8A转换的）。Iq的目标值是由于速度PI控制器输出的。当霍尔状态为0或7，程序将pHandle->SensorIsReliable = false; 认为此时速度传感器不可靠，将测到的速度值设成0了。由于0和设定的目标速度相差很大，同时电机不能转速度一直是0，速度PI控制器输出的Iq的目标值立马就超过了标称值6067.

下图为用STMStudio读到的霍尔状态

用示波器测到到霍尔波形

阅读ST电机库中hall_speed_pos_fdbk.c源码中的void * HALL_TIMx_CC_IRQHandler( void * pHandleVoid )函数。

void * HALL_TIMx_CC_IRQHandler( void * pHandleVoid )
{
  HALL_Handle_t * pHandle = ( HALL_Handle_t * ) pHandleVoid;
  TIM_TypeDef * TIMx = pHandle->TIMx;
  uint8_t bPrevHallState;
  uint32_t wCaptBuf;
  uint16_t hPrscBuf;
  uint16_t hHighSpeedCapture;

  if ( pHandle->SensorIsReliable )
  {
    /* A capture event generated this interrupt */
    bPrevHallState = pHandle->HallState;

    if ( pHandle->SensorPlacement == DEGREES_120 )
    {
      pHandle->HallState  = LL_GPIO_IsInputPinSet( pHandle->H3Port, pHandle->H3Pin ) << 2
                            | LL_GPIO_IsInputPinSet( pHandle->H2Port, pHandle->H2Pin ) << 1
                            | LL_GPIO_IsInputPinSet( pHandle->H1Port, pHandle->H1Pin );
    }
    else
    {
      pHandle->HallState  = ( LL_GPIO_IsInputPinSet( pHandle->H2Port, pHandle->H2Pin ) ^ 1 ) << 2
                            | LL_GPIO_IsInputPinSet( pHandle->H3Port, pHandle->H3Pin ) << 1
                            | LL_GPIO_IsInputPinSet( pHandle->H1Port, pHandle->H1Pin );
    }

    switch ( pHandle->HallState )
    {
      case STATE_5:
        if ( bPrevHallState == STATE_4 )
        {
          pHandle->Direction = POSITIVE;
          pHandle->MeasuredElAngle = pHandle->PhaseShift;
        }
        else if ( bPrevHallState == STATE_1 )
        {
          pHandle->Direction = NEGATIVE;
          pHandle->MeasuredElAngle = ( int16_t )( pHandle->PhaseShift + S16_60_PHASE_SHIFT );
        }
        else
        {
        }
        break;

      case STATE_1:
        if ( bPrevHallState == STATE_5 )
        {
          pHandle->Direction = POSITIVE;
          pHandle->MeasuredElAngle = pHandle->PhaseShift + S16_60_PHASE_SHIFT;
        }
        else if ( bPrevHallState == STATE_3 )
        {
          pHandle->Direction = NEGATIVE;
          pHandle->MeasuredElAngle = ( int16_t )( pHandle->PhaseShift + S16_120_PHASE_SHIFT );
        }
        else
        {
        }
        break;

      case STATE_3:
        if ( bPrevHallState == STATE_1 )
        {
          pHandle->Direction = POSITIVE;
          pHandle->MeasuredElAngle = ( int16_t )( pHandle->PhaseShift + S16_120_PHASE_SHIFT );
        }
        else if ( bPrevHallState == STATE_2 )
        {
          pHandle->Direction = NEGATIVE;
          pHandle->MeasuredElAngle = ( int16_t )( pHandle->PhaseShift + S16_120_PHASE_SHIFT +
                                                  S16_60_PHASE_SHIFT );
        }
        else
        {
        }

        break;

      case STATE_2:
        if ( bPrevHallState == STATE_3 )
        {
          pHandle->Direction = POSITIVE;
          pHandle->MeasuredElAngle = ( int16_t )( pHandle->PhaseShift + S16_120_PHASE_SHIFT
                                                  + S16_60_PHASE_SHIFT );
        }
        else if ( bPrevHallState == STATE_6 )
        {
          pHandle->Direction = NEGATIVE;
          pHandle->MeasuredElAngle = ( int16_t )( pHandle->PhaseShift - S16_120_PHASE_SHIFT );
        }
        else
        {
        }
        break;

      case STATE_6:
        if ( bPrevHallState == STATE_2 )
        {
          pHandle->Direction = POSITIVE;
          pHandle->MeasuredElAngle = ( int16_t )( pHandle->PhaseShift - S16_120_PHASE_SHIFT );
        }
        else if ( bPrevHallState == STATE_4 )
        {
          pHandle->Direction = NEGATIVE;
          pHandle->MeasuredElAngle = ( int16_t )( pHandle->PhaseShift - S16_60_PHASE_SHIFT );
        }
        else
        {
        }
        break;

      case STATE_4:
        if ( bPrevHallState == STATE_6 )
        {
          pHandle->Direction = POSITIVE;
          pHandle->MeasuredElAngle = ( int16_t )( pHandle->PhaseShift - S16_60_PHASE_SHIFT );
        }
        else if ( bPrevHallState == STATE_5 )
        {
          pHandle->Direction = NEGATIVE;
          pHandle->MeasuredElAngle = ( int16_t )( pHandle->PhaseShift );
        }
        else
        {
        }
        break;

      default:
        /* Bad hall sensor configutarion so update the speed reliability */
        //pHandle->SensorIsReliable = false;

        break;
    }


#ifdef HALL_MTPA
    {
      pHandle->_Super.hElAngle = pHandle->MeasuredElAngle;
    }
#endif

    /* Discard first capture */
    if ( pHandle->FirstCapt == 0u )
    {
      pHandle->FirstCapt++;
      LL_TIM_IC_GetCaptureCH1( TIMx );
    }
    else
    {
      /* used to validate the average speed measurement */
      if ( pHandle->BufferFilled < pHandle->SpeedBufferSize )
      {
        pHandle->BufferFilled++;
      }

      /* Store the latest speed acquisition */
      hHighSpeedCapture = LL_TIM_IC_GetCaptureCH1( TIMx );
      wCaptBuf = ( uint32_t )hHighSpeedCapture;
      hPrscBuf =  LL_TIM_GetPrescaler ( TIMx );

      /* Add the numbers of overflow to the counter */
      wCaptBuf += ( uint32_t )pHandle->OVFCounter * 0x10000uL;

      if ( pHandle->OVFCounter != 0u )
      {
        /* Adjust the capture using prescaler */
        uint16_t hAux;
        hAux = hPrscBuf + 1u;
        wCaptBuf *= hAux;

        if ( pHandle->RatioInc )
        {
          pHandle->RatioInc = false;  /* Previous capture caused overflow */
          /* Don't change prescaler (delay due to preload/update mechanism) */
        }
        else
        {
          if ( LL_TIM_GetPrescaler ( TIMx ) < pHandle->HALLMaxRatio ) /* Avoid OVF w/ very low freq */
          {
            LL_TIM_SetPrescaler ( TIMx, LL_TIM_GetPrescaler ( TIMx ) + 1 ); /* To avoid OVF during speed decrease */
            pHandle->RatioInc = true;   /* new prsc value updated at next capture only */
          }
        }
      }
      else
      {
        /* If prsc preload reduced in last capture, store current register + 1 */
        if ( pHandle->RatioDec ) /* and don't decrease it again */
        {
          /* Adjust the capture using prescaler */
          uint16_t hAux;
          hAux = hPrscBuf + 2u;
          wCaptBuf *= hAux;

          pHandle->RatioDec = false;
        }
        else  /* If prescaler was not modified on previous capture */
        {
          /* Adjust the capture using prescaler */
          uint16_t hAux = hPrscBuf + 1u;
          wCaptBuf *= hAux;

          if ( hHighSpeedCapture < LOW_RES_THRESHOLD ) /* If capture range correct */
          {
            if ( LL_TIM_GetPrescaler ( TIMx ) > 0u ) /* or prescaler cannot be further reduced */
            {
              LL_TIM_SetPrescaler ( TIMx, LL_TIM_GetPrescaler ( TIMx ) - 1 ); /* Increase accuracy by decreasing prsc */
              /* Avoid decrementing again in next capt.(register preload delay) */
              pHandle->RatioDec = true;
            }
          }
        }
      }

#if 0
      /* Store into the buffer */
      /* Null Speed is detected, erase the buffer */
      if ( wCaptBuf > pHandle->MaxPeriod )
      {
        uint8_t bIndex;
        for ( bIndex = 0u; bIndex < pHandle->SpeedBufferSize; bIndex++ )
        {
          pHandle->SensorSpeed[bIndex]  = 0;
        }
        pHandle->BufferFilled = 0 ;
        pHandle->SpeedFIFOSetIdx = 1;
        pHandle->SpeedFIFOGetIdx = 0;
        /* Indicate new speed acquisitions */
        pHandle->NewSpeedAcquisition = 1;
        pHandle->ElSpeedSum = 0;
      }
      /* Filtering to fast speed... could be a glitch  ? */
      /* the HALL_MAX_PSEUDO_SPEED is temporary in the buffer, and never included in average computation*/
      else
#endif
        if ( wCaptBuf < pHandle->MinPeriod )
        {
          pHandle->CurrentSpeed = HALL_MAX_PSEUDO_SPEED;
          pHandle->NewSpeedAcquisition = 0;
        }
        else
        {
          pHandle->ElSpeedSum -= pHandle->SensorSpeed[pHandle->SpeedFIFOIdx]; /* value we gonna removed from the accumulator */
          if ( wCaptBuf >= pHandle->MaxPeriod )
          {
            pHandle->SensorSpeed[pHandle->SpeedFIFOIdx]  = 0;
          }
          else
          {
            pHandle->SensorSpeed[pHandle->SpeedFIFOIdx] = ( int16_t ) ( pHandle->PseudoFreqConv / wCaptBuf );
            pHandle->SensorSpeed[pHandle->SpeedFIFOIdx] *= pHandle->Direction;
            pHandle->ElSpeedSum += pHandle->SensorSpeed[pHandle->SpeedFIFOIdx];
          }
          /* Update pointers to speed buffer */
          pHandle->CurrentSpeed = pHandle->SensorSpeed[pHandle->SpeedFIFOIdx];
          pHandle->SpeedFIFOIdx++;
          if ( pHandle->SpeedFIFOIdx == pHandle->SpeedBufferSize )
          {
            pHandle->SpeedFIFOIdx = 0u;
          }
          /* Indicate new speed acquisitions */
          pHandle->NewSpeedAcquisition = 1;
        }
      /* Reset the number of overflow occurred */
      pHandle->OVFCounter = 0u;
    }
  }
  return MC_NULL;
}

其中pHandle->HallState是通过读取三个霍尔传感器的引脚电平得到的。当出现0或7时，程序设置传感器不可靠pHandle->SensorIsReliable = false;，并将速度设成0，不再进行速度读取。当我把这行注释掉，电机可以运行，不会再停下来。但是会出现异音的情况。我猜是因为霍尔的位置检测有错误时，电角度的位置和方向信息都不会更新，而这些信息在后面的FOC控制中会用到，所以导致转子转动不连贯，出现了震动。

2.B-Emf constant这三个参数只有在使用观测器时才会用到。RS、LS在计算电流环KP KI时用到了。

上图中的wc为带宽系数

在使用霍尔控制，没有用观测器时，ST电机库生成的代码只有parameters_conversion.h中的下面这段代码使用了这三个参数。

/************************* OBSERVER + PLL PARAMETERS **************************/
#define MAX_BEMF_VOLTAGE  (uint16_t)((MAX_APPLICATION_SPEED * 1.2 *\
                           MOTOR_VOLTAGE_CONSTANT*SQRT_2)/(1000u*SQRT_3))

/*max phase voltage, 0-peak Volts*/
#define MAX_VOLTAGE (int16_t)((MCU_SUPPLY_VOLTAGE/2)/BUS_ADC_CONV_RATIO) 

#define MAX_CURRENT (MCU_SUPPLY_VOLTAGE/(2*RSHUNT*AMPLIFICATION_GAIN))

#define C1 (int32_t)((((int16_t)F1)*RS)/(LS*TF_REGULATION_RATE))
#define C2 (int32_t) GAIN1
#define C3 (int32_t)((((int16_t)F1)*MAX_BEMF_VOLTAGE)/(LS*MAX_CURRENT*TF_REGULATION_RATE))
#define C4 (int32_t) GAIN2
#define C5 (int32_t)((((int16_t)F1)*MAX_VOLTAGE)/(LS*MAX_CURRENT*TF_REGULATION_RATE))

#define PERCENTAGE_FACTOR    (uint16_t)(VARIANCE_THRESHOLD*128u)      
#define OBS_MINIMUM_SPEED        (uint16_t) (OBS_MINIMUM_SPEED_RPM/6u)
#define HFI_MINIMUM_SPEED        (uint16_t) (HFI_MINIMUM_SPEED_RPM/6u)

/*********************** OBSERVER + CORDIC PARAMETERS *************************/
#define CORD_C1 (int32_t)((((int16_t)CORD_F1)*RS)/(LS*TF_REGULATION_RATE))
#define CORD_C2 (int32_t) CORD_GAIN1
#define CORD_C3 (int32_t)((((int16_t)CORD_F1)*MAX_BEMF_VOLTAGE)/(LS*MAX_CURRENT\
                                                           *TF_REGULATION_RATE))
#define CORD_C4 (int32_t) CORD_GAIN2
#define CORD_C5 (int32_t)((((int16_t)CORD_F1)*MAX_VOLTAGE)/(LS*MAX_CURRENT*\
                                                          TF_REGULATION_RATE))
#define CORD_PERCENTAGE_FACTOR    (uint16_t)(CORD_VARIANCE_THRESHOLD*128u)      
#define CORD_MINIMUM_SPEED        (uint16_t) (CORD_MINIMUM_SPEED_RPM/6u)

3.仅使用编码器作为位置反馈时，效果比仅使用霍尔的时候要好。测得的速度也要稳定。如果启动电机，电机不转并且电流一直上升，可能是因为编码器AB相的接线反了。另外启动电机前需要进行Encoder Align 操作。

4.仅使用编码器作为位置反馈时，我发现测得的速度变化时都是以6的倍数来变化的。并且当速度过小，电机可能转不起来。另外当电机速度很小，力矩会比较小。力矩增大需要速度PI控制器的误差积分慢慢增加来提高输出力矩。

5.我发现st电机库中采样a,b相电流后没有进行数字滤波就直接使用了。用DAC的debug功能在示波器上看到相电流的正弦波形上会有杂波。另外，当设定好Iq和Id参考值后，Iq和Id对应的PI控制器输出相应的Vq和Vd，经过反Park变换后送到SVPWM模块生成相应的PWM波形控制6个MOS管。