436762-基于STM32闭环步进电机控制系统设计（仿真，程序，说明）

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基于STM32闭环步进电机控制系统设计（仿真，程序，说明）（1）基本功能:本任务通过输出脉冲控制步进电机的停止、运动、方向。使用两个按键分别控制步进电机的正转和反转，再次按下这两个按键，步进电机停止，同时 LCD 显示电机状态信息。（2）扩展功能:加入一个转速阈值设置功能，由电位器充当阈值设置器，可设置目标转速并使电机接近设置的转速。

（1）掌握基于 PROTEUS 和 KEIL 的仿真调试方法。

（2）掌握 uCOS-II 的移植，并采用多任务编程、调试。

（3）熟悉电机的工作原理和功能，并掌握电机的应用和驱动方法。

1.2 内容

（1）基本功能:本任务通过输出脉冲控制步进电机的停止、运动、方向。使用两个按键

分别控制步进电机的正转和反转，再次按下这两个按键，步进电机停止，同时 LCD 显示

电机状态信息。

（2）扩展功能:加入一个转速阈值设置功能，由电位器充当阈值设置器，可设置目标转

速并使电机接近设置的转速。

第 2 章系统硬件设计

2.1 总体框架设计

图 2-1 硬件框架图

本次任务实践的硬件架构设计如图 2-1 所示。按照设计任务的要求，本次设计采

用的主控芯片为 STM32F103，整体硬件设计以该芯片为中心，由按键输入模

块、LCD 显示模块、电机模块等组成。

2.2 硬件电路设计

（1）参考 LCD1602 液晶显示屏的芯片资料，在 LCD 显示屏的电路连接中，将

VDD 以及 VSS、VEE 接到电源以及地上。之后再将它的 3 个信号控制引脚 RS、

RW、 E 以及 8 个数据传输引脚 DO-D7 分别连接到 STM32 的相应引脚上。

（2）按键输入模块采用两个独立按键，分别连接 STM32 的 PB6、PB7 引脚，

公共端接地。

（3）电机模块使用直流无刷电机，并采用 L293D 和 IRF540 MOS 管驱动。

（4）用所谓“六步换向法”，根据转子当前的位置，按照一定的顺序给定子绕组

通电使 BLDC 电机转动。如图 2-2 所示。

永磁体 N-S 交替交换，使位置传感器产生相位差 120°的 H3、H2、H1 方波，

从而产生有效的六状态编码信号:010、011、001、101、100、110，通过逻辑组

件处理产生 V6-V1 导通、V5-V6 导通、V4-V5 导通、V3-V4 导通、V2-V3 导

通、V1-V2 导通，也就是说将直流母线电压依次加在 U ->V、w ->V、W ->U、

V->U、V->W、

U ->W 上，这样转子每转过一对 N-S 极，V1、V2、V3、V4、V5、V6 各功率管

即按固定组合成六种状态的依次导通。

图 2-2 BLDC 控制框图

图 2-3 120°HAll 换相控制图

对于典型的三相带传感器的 BLDC 电机，有 6 个不同的工作区间，每个区间中

有特定的两相绕组通电。通过检测霍尔传感器，可以得到一个 3 位编码，编码值

的范围从 1 到 6。每个编码值代表转子当前所处的区间。从而提供了需要对哪些

绕组通电的信息。因此程序可以使用简单的查表操作来确定要对哪两对特定的绕

组通电以使转子转动。注意状态"0 和 7"对于霍尔效应传感器而言是无效状态。

软件应该检查出这些值并相应地禁止 PWM。

（5） Proteus 的无刷直流电机模型带有 3 个霍尔传感器，霍尔传感器的输出信

号两相间相差 120 度。与此对应的是电机转子每旋转一周霍尔传感器就能输出

6 种编码状态，如图 2-4 所示。从图可见，霍尔传感器输出状态变化一次，就

意味着电机转子转过了 60 度。据此，可以根据单位时间 T 内捕获的霍尔传感

器输出变化的个数 n 计算出电机的转速 V=60n/T。根据这一原理，通过控制器

的输入捕获功能 IC 获取到其中一相霍尔传感器输出信号的周期，就可以比较准

精确地测量到电机的转速。

图 2-4 霍尔位置传感器输出信号波形

资源文件列表:

436762-基于STM32闭环步进电机控制系统设计（仿真，程序，说明）.zip 大约有931个文件

仿真截图.jpg 97.41KB
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Proteus仿真/BLDC.pdsprj.DESKTOP-B01EQSC.xuhe.workspace 13.82KB
Proteus仿真/BLDC.pdsprj.DESKTOP-FN1053R.HELLO.workspace 4.27KB
Proteus仿真/Last Loaded BLDC.pdsbak 29.15KB
Proteus仿真/uCos_ii_Demo.hex 35.15KB
Proteus仿真/uCos_ii_Demo.hex.asm 21B
程序代码/.mxproject 6.27KB
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程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_iwdg.h 6.71KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_mmc.h 36.94KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_nand.h 14.11KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_nor.h 11.16KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pccard.h 11.46KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pcd.h 38.17KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pcd_ex.h 2.73KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_pwr.h 11.81KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc.h 66.65KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rcc_ex.h 98.94KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rtc.h 21.3KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_rtc_ex.h 15.33KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_sd.h 37.83KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_smartcard.h 37.37KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_spi.h 31.58KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_sram.h 8.26KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim.h 112.71KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_tim_ex.h 9.55KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_uart.h 42.35KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_usart.h 29KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_hal_wwdg.h 10.01KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_adc.h 227.14KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_bus.h 45.13KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_cortex.h 24.44KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_crc.h 5.57KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_dac.h 61.96KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_dma.h 76.53KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_exti.h 31.51KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_fsmc.h 39.64KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_gpio.h 88.39KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_i2c.h 63.35KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_iwdg.h 9.33KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_pwr.h 12.89KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_rcc.h 84.46KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_rtc.h 31.6KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_sdmmc.h 59.82KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_spi.h 63.29KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_system.h 23.56KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_tim.h 161.65KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_usart.h 99.23KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_usb.h 26.02KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_utils.h 8.32KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32f1xx_ll_wwdg.h 10.37KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/stm32_assert_template.h 2.16KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32f1xx_hal_can_ex_legacy.h 6.75KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32f1xx_hal_can_legacy.h 37.48KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h 200.01KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c 20.17KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc.c 91.63KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_adc_ex.c 51.78KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_can.c 80.9KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cec.c 30.58KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_cortex.c 18.91KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_crc.c 9.91KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dac.c 47.64KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dac_ex.c 15.23KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c 27.82KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_eth.c 78.58KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_exti.c 15.39KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash.c 29.55KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_flash_ex.c 36.27KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio.c 20.97KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_gpio_ex.c 4.15KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_hcd.c 46.03KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_i2c.c 233.91KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_i2s.c 61.06KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_irda.c 94.7KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_iwdg.c 8.57KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_mmc.c 90.75KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_msp_template.c 2.23KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_nand.c 72.99KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_nor.c 39.66KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pccard.c 29.97KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pcd.c 59.68KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pcd_ex.c 7.66KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_pwr.c 21.04KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc.c 49.12KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rcc_ex.c 30.16KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rtc.c 59.17KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_rtc_ex.c 16.33KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_sd.c 100.45KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_smartcard.c 84.79KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_spi.c 124.75KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_sram.c 33.38KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim.c 213.12KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_timebase_rtc_alarm_template.c 10.25KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_timebase_tim_template.c 5.23KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_tim_ex.c 63.54KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_uart.c 110.41KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_usart.c 99.68KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_wwdg.c 14.03KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_adc.c 40.9KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_crc.c 2.64KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_dac.c 12.08KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_dma.c 13.12KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_exti.c 7.28KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_fsmc.c 38.22KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_gpio.c 8.2KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_i2c.c 7.38KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_pwr.c 2.31KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_rcc.c 14.33KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_rtc.c 17.43KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_sdmmc.c 49.05KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_spi.c 20.14KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_tim.c 45.29KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_usart.c 17.54KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_usb.c 72.59KB
程序代码/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_ll_utils.c 22.87KB
程序代码/Inc/adc.h 1.5KB
程序代码/Inc/gpio.h 1.48KB
程序代码/Inc/lcd.h 1.01KB
程序代码/Inc/main.h 2.97KB
程序代码/Inc/pid.h 149B
程序代码/Inc/stm32f1xx_hal_conf.h 15.65KB
程序代码/Inc/stm32f1xx_it.h 2.24KB
程序代码/Inc/sys.h 1.46KB
程序代码/Inc/tim.h 1.73KB
程序代码/MDK-ARM/startup_stm32f103x6.s 11.82KB
程序代码/MDK-ARM/uCos_ii_Demo.uvguix.xuhe 76.87KB
程序代码/MDK-ARM/uCos_ii_Demo.uvoptx 23.72KB
程序代码/MDK-ARM/uCos_ii_Demo.uvprojx 24.38KB
程序代码/MDK-ARM/RTE/RTE_Components.h 264B
程序代码/MDK-ARM/uCos_ii_Demo/uCos_ii_Demo.hex 35.15KB
程序代码/MDK-ARM/uCos_ii_Demo/uCos_ii_Demo.hex.asm 21B
程序代码/Src/adc.c 2.94KB
程序代码/Src/gpio.c 3.82KB
程序代码/Src/lcd.c 1.35KB
程序代码/Src/main.c 13.81KB
程序代码/Src/pid.c 3.44KB
程序代码/Src/stm32f1xx_hal_msp.c 2.47KB
程序代码/Src/stm32f1xx_it.c 7.33KB
程序代码/Src/sys.c 1.23KB
程序代码/Src/system_stm32f1xx.c 14.76KB
程序代码/Src/tim.c 11.39KB
程序代码/UCOSII/CONFIG/includes.h 616B
程序代码/UCOSII/CONFIG/os_cfg.h 10.46KB
程序代码/UCOSII/CORE/os_core.c 86.27KB
程序代码/UCOSII/CORE/os_flag.c 54.74KB
程序代码/UCOSII/CORE/os_mbox.c 30.36KB
程序代码/UCOSII/CORE/os_mem.c 19.31KB
程序代码/UCOSII/CORE/os_mutex.c 36.95KB
程序代码/UCOSII/CORE/os_q.c 41.5KB
程序代码/UCOSII/CORE/os_sem.c 28.83KB
程序代码/UCOSII/CORE/os_task.c 56.4KB
程序代码/UCOSII/CORE/os_time.c 10.96KB
程序代码/UCOSII/CORE/os_tmr.c 43.96KB
程序代码/UCOSII/CORE/ucos_ii.c 1.65KB
程序代码/UCOSII/CORE/ucos_ii.h 77.52KB
程序代码/UCOSII/PORT/os_cpu.h 3.27KB
程序代码/UCOSII/PORT/os_cpu_a.asm 7.41KB
程序代码/UCOSII/PORT/os_cpu_c.c 11.82KB
程序代码/UCOSII/PORT/os_dbg.c 11.59KB
程序代码/UCOSII/PORT/os_dbg_r.c 12.67KB