一、STM32G4 电流环闭环(二) 霍尔有感运行

2. 霍尔有感运行

文章使用的BLDC在定子侧以互差120°电角度的位置安装三个霍尔元件Ha，Hb，Hc。当转子转动的时候霍尔元件会产生三个相位差120°电角度的高低电平信号。霍尔信号会将一个电周期划分为6个扇区，每个扇区60°电角度，通过单片机的定时器捕获可以获得每个扇区的运行时间t。为了获取准确的转子角度，点击绕组A相接电源正极，BC两相接电源负极，电子磁场与转子磁场共同作用，最终定位到转子零位点，也就是A相绕组的轴线位置。确定零点位置后，根据霍尔的信号顺序，可以得到霍尔信号与转子位置的对应关系，如下表所示：

首先配置STM32G4的Hall接口；打开STM32CUBEMX；使能TIM4，选择内部时钟，在组合通道中选择XOR ON/ HALL Sensor mode；
配置定时器参数；16分频后，TIM4的时钟为10M；
生成代码并打开Keil工程
在TIM输入捕获回调函数中添加如下代码，积分时间是10k；
其中HALL角速度计算公式：
$\frac{PI}{3 * HallTemp}$
$\int^{HallTemp}_{0}HallSpeed$
在ADC注入组中断回调函数中输入，HALL传感器得到的速度和角度；在顶部添加的变量和ADC的代码修改如下

/* USER CODE BEGIN PV */
#define PI					3.14159265358979f
#define PHASE_SHIFT_ANGLE (float)(220.0f/360.0f*2.0f*PI)extern DMA_HandleTypeDef hdma_usart3_tx;
uint8_t DataB1[32] = "LED1 Toggle\r\n";
uint8_t DataB2[32] = "LED2 Toggle\r\n";
uint8_t DataB3[32] = "LED1 and LED2 Open\r\n";#define RXBUFFERSIZE  256   
char RxBuffer[RXBUFFERSIZE];  
uint8_t aRxBuffer;			   
uint8_t Uart1_Rx_Cnt = 0;	float load_data[5];
static uint8_t tempData[24] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0x80,0x7F};uint16_t DAC_temp = 0;float Vbus,Ia,Ib,Ic;
uint8_t Motor_state = 0;
uint16_t IA_Offset,IB_Offset,IC_Offset;
uint16_t adc1_in1, adc1_in2, adc1_in3, Vpoten, adc_vbus;
uint8_t ADC_offset = 0;FDCAN_RxHeaderTypeDef RxHeader;
FDCAN_TxHeaderTypeDef TxHeader;
uint8_t RxData[8]={NULL};
uint8_t TxData[8] = {NULL};float HallTemp = 0;
float HallThetaAdd = 0;
float HallTheta = 0;
float HallSpeed = 0;
float HallSpeedLast = 0;
float HallSpeedtest = 0;
float alpha = 0.3;
uint8_t HallReadTemp = 0;
/* USER CODE END PV */void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef *hadc)
{static uint8_t cnt;/* Prevent unused argument(s) compilation warning */UNUSED(hadc);if(hadc == &hadc1){if(ADC_offset == 0){cnt++;adc1_in1 = hadc1.Instance->JDR1;adc1_in2 = hadc2.Instance->JDR1;adc1_in3 = hadc1.Instance->JDR2;IA_Offset += adc1_in1;IB_Offset += adc1_in2;IC_Offset += adc1_in3;if(cnt >= 10){ADC_offset = 1;IA_Offset = IA_Offset/10;IB_Offset = IB_Offset/10;IC_Offset = IC_Offset/10;}}else{HallTheta = HallTheta + HallThetaAdd;if(HallTheta<0.0f){HallTheta += 2.0f*PI;}else if(HallTheta>(2.0f*PI)){HallTheta -= 2.0f*PI;}rtU.theta = HallTheta;rtU.SpeedFd = HallSpeed;adc1_in1 = hadc1.Instance->JDR1;adc1_in3 = hadc1.Instance->JDR2;adc1_in2 = hadc2.Instance->JDR1;Ia = (adc1_in1 - IA_Offset)*0.02197265625f;Ib = (adc1_in2 - IB_Offset)*0.02197265625f;Ic = (adc1_in3 - IC_Offset)*0.02197265625f;rtU.ia = Ia;rtU.ib = Ib;rtU.ic = Ic;FOC_Model_step();TIM1->CCR1 = rtY.tABC[0];TIM1->CCR2 = rtY.tABC[1];TIM1->CCR3 = rtY.tABC[2];load_data[0] = Ia;load_data[1] = HallTemp;load_data[2] = HallTheta;load_data[3] = rtU.SpeedRef;load_data[4] = HallSpeed;memcpy(tempData, (uint8_t *)&load_data, sizeof(load_data));HAL_UART_Transmit_DMA(&huart3,(uint8_t *)tempData,6*4);}}/* NOTE : This function should not be modified. When the callback is needed,function HAL_ADCEx_InjectedConvCpltCallback must be implemented in the user file.*/
}