陈桂友老师8H8K64U教学视频打卡
<h2><strong>第一课程打卡：由于有一定的基础，想做智能车比赛，所有直接开始看电机驱动的部分</strong></h2><p><img src="data/attachment/forum/202412/28/150637pfnfss4skbjddmvt.png" alt="image.png" title="image.png" /></p>
<p><img src="data/attachment/forum/202412/28/150648wijgcgz5383bgp7q.png" alt="image.png" title="image.png" /></p>
<p>课堂问题:如果我们要同时需要马达能够正转和反转，怎么办?</p>
<p>我思考了一下，可以使用H桥电路，对电机的供电进行换向</p>
<p><img src="data/attachment/forum/202412/28/150838q4wwmjiwp749tj4t.png" alt="image.png" title="image.png" /></p>
<p><img src="data/attachment/forum/202412/28/150956r0n8223338u3jc23.png" alt="image.png" title="image.png" /></p>
<p>由于继电器开关的次数是有限的，可以使用晶体管代替继电器，晶体管一般是功率晶体管来驱动电机，通过晶体管的导通和截至来控制电机的运动状态</p>
<p><img src="data/attachment/forum/202412/28/151241awmpmhu7ghgzmmhv.png" alt="image.png" title="image.png" /></p>
<p>由于使用功率晶体管使得我们的驱动电路稍显复杂一些，而且驱动性能也不是特别好，所以用集成电路来替代晶体管</p>
<p><img src="data/attachment/forum/202412/28/151931w300enq4mzfmlfz4.png" alt="image.png" title="image.png" /></p>
<p>T内的平均电压计算：</p>
<p><img src="data/attachment/forum/202412/28/152517dvww04vh44veikh0.png" alt="image.png" title="image.png" /></p>
<p>PWM应用：英飞凌的BTN7971</p>
<p><img src="data/attachment/forum/202412/28/152801ep3gqpz2upn662p1.png" alt="image.png" title="image.png" /></p>
<h1><strong>第二课：STC8H8K64U单片机的PWM模块概述</strong></h1>
<p>STC8H8K64U单片机内部集成了8通道16位高级PWM定时器，可对外输出形，分成两组，分别命名为第一组PWM(称任意频率以及任意占空比的PWM波为PWMA)和第二组PWM(称为PWMB)，它们的周期可分别单独设置(可以不同)。F区控制的互补对称PWM或捕捉外部信号，PWMA可配置成4组带死足外部信号。PWMB可配置成4路PWM输出或捕捉外部信号。</p>
<p><img src="data/attachment/forum/202412/28/154900x4juzcb3bzbty9eb.png" alt="image.png" title="image.png" /></p>
<p>带有死区控制的互补输出对称的PWM特别适合电机控制和逆变的数字电源部分</p>
<p><img src="data/attachment/forum/202412/28/154957aammr49ehq88wxer.png" alt="image.png" title="image.png" /></p>
<p>带死区的意思是为了避免上下俩个MOS管或者晶体管同时导通，以避免使得电源短路，造成事故或者故障。</p>
<p><strong>带死区</strong>是指在PWM（脉宽调制）输出时，插入一个时间间隔，以避免在电平翻转时由于开关速度的问题导致设备同时开启，从而增加负荷或造成短路等损坏设备的情况。具体来说，死区时间是在PWM波形中插入一段无输出的时间，这段时间内上下桥的输出均为0，从而防止上下桥同时导通导致的短路问题。<strong>带死区</strong>是指在PWM（脉宽调制）输出时，插入一个时间间隔，以避免在电平翻转时由于开关速度的问题导致设备同时开启，从而增加负荷或造成短路等损坏设备的情况。具体来说，死区时间是在PWM波形中插入一段无输出的时间，这段时间内上下桥的输出均为0，从而防止上下桥同时导通导致的短路问题。</p>
<h4><em><strong>带死区</strong>是指在PWM（脉宽调制）输出时，插入一个时间间隔，以避免在电平翻转时由于开关速度的问题导致设备同时开启，从而增加负荷或造成短路等损坏设备的情况。具体来说，死区时间是在PWM波形中插入一段无输出的时间，这段时间内上下桥的输出均为0，从而防止上下桥同时导通导致的短路问题</em></h4>
<p><img src="data/attachment/forum/202412/28/160135y5l5dlol5l7of9dd.png" alt="image.png" title="image.png" /></p>
<p>P端输出和对应的N端输出不能同时独立输出。例如，若单独使能了PWM1P输出，则PWM1N就不能再独立输出，除非PWM1P和PWM1N组成一组互补对称输出。</p>
<p><img src="data/attachment/forum/202412/28/160627up4gywmfwffm4mpw.png" alt="image.png" title="image.png" /></p>
<p>进行信号的捕获功能和脉宽测量是只能使用PWMP端引脚才能行，即只有PWM1PIPWM2PIPWM3PIPWM4P才有捕获功能</p>
<p><img src="data/attachment/forum/202412/28/160853cwg8wst8wrylntsn.png" alt="image.png" title="image.png" /></p>
<p><img src="data/attachment/forum/202412/28/161155fp3tyjhp3uzkeyz7.png" alt="image.png" title="image.png" /></p>
<p><img src="data/attachment/forum/202412/28/161341zujtqq4q1gga75qq.png" alt="image.png" title="image.png" /></p>
<p><img src="data/attachment/forum/202412/28/161732ucza83vkqk8cqcqo.png" alt="image.png" title="image.png" /></p>
<p>PWM的实基单元</p>
<p><img src="data/attachment/forum/202412/28/162701ve0fb7xboeu10fe3.png" alt="image.png" title="image.png" /></p>
<p>CK_CNT的输出是从预分频器预分频来的</p>
<p><img src="data/attachment/forum/202412/28/162818xk5sbuu7t5kncss1.png" alt="image.png" title="image.png" /></p>
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<p><img src="data/attachment/forum/202412/28/164811y66453icoia6o7q6.png" alt="image.png" title="image.png" /></p>
<p>重复计数器是自动加载的，重复速率由PWMA RCR寄存器的值定义。如果时钟/触发控制器产生，则无论重复计数器的更新事件由软件产生或者通过硬件的值是多少，立即发生更新事件，并且PWMA RCR寄存器中的内容被重载入到重复计数器。</p>
<p><img src="data/attachment/forum/202412/28/164903zyaqy0lytw61lqcz.png" alt="image.png" title="image.png" /></p>
<h1><strong>第三课 PWM控制电机实例</strong></h1>
<p>三相无刷电机</p>
<p><img src="data/attachment/forum/202412/28/165154lp7bwoyepo85eyeo.png" alt="image.png" title="image.png" /></p>
<p>有霍尔传感器可以实时监测转子的位置，无霍尔传感器是三相线圈在里面，外转子和内转子，没有霍尔传感器很难知道转子的位置。</p>
<p>线圈是星型状连接</p>
<p><img src="data/attachment/forum/202412/28/165640t31328nnmm8p8cm1.png" alt="image.png" title="image.png" /></p>
<p><img src="data/attachment/forum/202412/28/165222zgfgibkuk9kfvvzz.png" alt="image.png" title="image.png" /></p>
<p>三相六步电流流向，一步步推动磁场向前，进而推动转子旋转。</p>
<p><img src="data/attachment/forum/202412/28/174005h7cdk0t0da0abtaj.png" alt="image.png" title="image.png" />有霍尔传感器的三相无刷电机，只需要开通有霍尔的上升沿或下降沿的中断就行了，</p>
<p><img src="data/attachment/forum/202412/28/174150y14zszsj4utaxj41.png" alt="image.png" title="image.png" /></p>
<p><img src="data/attachment/forum/202412/28/174740vdtvwehtzvwhcczw.png" alt="image.png" title="image.png" /></p>
<p><img src="data/attachment/forum/202412/28/174644umrn6qezwew826vn.png" alt="image.png" title="image.png" /></p>
<p>不带霍尔传感器的就只是一个电机，没有任何信号给我，明白一个电机的等效电路，电机的每一个线圈都都等效为一个电感和电阻和一个反电动势串联</p>
<p><img src="data/attachment/forum/202412/28/175259exjj71mo7qfrwiwj.png" alt="image.png" title="image.png" /></p>
<p><img src="data/attachment/forum/202412/28/175249jaqr5tlah6qog6o6.png" alt="image.png" title="image.png" /></p>
<h1>电机的每一个线圈都都等效为一个电感和电阻和一个反电动势串联，因为电机是旋转的所电机都会有反电动势，电机的每一相都等同于电感和（线圈会有铁损）电阻和一个反电动势串联，下面就是电机的等效模型，电机驱动的时候只有俩相导通，另外一相是悬空的，所以每一步都是俩俩导通，悬空的一端仍然在转，旋转时会有反电动势，因为会切割磁感线，如下图中的Y相，由于Y相的等效为电感+电阻+反电动势，线圈+磁场旋转时会切割磁感线，则Y相肯定会有一个反电动势出来，所以我们就是通过这个反电动势来获取转子的位置。</h1>
<p>下面图中比较器反电动势监测电路中，STC8H1K28内部有俩个比较器，一个比较器正极是P37，另外一个比较器正极是放在了ADC端口；而比较器的负极一个是P36引脚，一个是1.19V的电压</p>
<p><img src="data/attachment/forum/202412/28/220120jihhy068gp6ingth.png" alt="image.png" title="image.png" /></p>
<p>有感和无感的区别和应用背景：</p>
<ol>
<li>
<p><strong>有感电机</strong>：</p>
<ul>
<li>在需要高精度控制的领域具有广泛应用，如数控机床、机器人、精密测量仪器等。这些领域对电机的转速、转矩和位置控制精度要求极高，有感电机能够满足这些要求。</li>
<li>此外，有感电机还应用于需要快速响应和稳定性能的场合，如电动汽车的驱动电机、风力发电机的变桨电机等。</li>
</ul>
</li>
<li>
<p><strong>无感电机</strong>：</p>
<ul>
<li>随着技术的发展和成本的降低，无感电机在越来越多的领域得到应用。特别是在家用电器、电动工具等领域，无感电机以其低成本、高可靠性和易维护性而备受青睐。</li>
<li>在新能源汽车领域，无感电机技术也展现出巨大的应用潜力。新能源汽车对电机的需求量巨大，且对电机控制精度和能效的要求越来越高。无感电机能够在满足高效能的同时降低成本，这使得它有望在未来成为新能源汽车的主流选择之一。</li>
<li>此外，无感电机还广泛应用于无人机、电动滑板车等轻型电动交通工具中，这些领域对电机的重量、体积和能效要求较高，无感电机能够满足这些要求并提供稳定的性能。</li>
</ul>
<h3>力矩控制</h3>
<ol>
<li><strong>有感电机</strong>：
<ul>
<li>由于安装了传感器，能够精确测量转子位置和速度，因此可以实现高精度的力矩控制。</li>
<li>在需要精确控制力矩的应用中，如精密加工、医疗设备等，有感电机具有显著优势。</li>
</ul>
</li>
<li><strong>无感电机</strong>：
<ul>
<li>由于没有传感器，力矩控制主要依赖于电机驱动器中的电路和估算算法。</li>
<li>相对于有感电机，无感电机的力矩控制精度可能稍低，但在一些对力矩控制要求不高的应用中，如家用电器、电动工具等，无感电机仍然能够满足需求。</li>
</ul>
</li>
</ol>
<h3>启动方式</h3>
<ol>
<li><strong>有感电机</strong>：
<ul>
<li>由于能够实时检测转子位置和速度，有感电机通常具有平稳的启动特性。</li>
<li>有感电机还支持0速度启动，即在静止状态下也能够启动电机。</li>
</ul>
</li>
<li><strong>无感电机</strong>：
<ul>
<li>由于没有传感器，无感电机在低速或静止时可能无法准确检测转子位置和速度。</li>
<li>因此，无感电机的启动可能不如有感电机平稳，特别是在低速启动时。然而，随着无感控制算法的不断优化，这一差距正在逐渐缩小。</li>
</ul>
</li>
</ol>
<h3>速度控制</h3>
<ol>
<li><strong>有感电机</strong>：
<ul>
<li>由于传感器能够实时反馈转子位置和速度，有感电机通常能够实现更精确的速度控制。</li>
<li>在需要快速响应和精确速度控制的场合，如电动汽车、风力发电等，有感电机具有显著优势。</li>
</ul>
</li>
<li><strong>无感电机</strong>：
<ul>
<li>由于没有传感器，无感电机的速度控制主要依赖于电路计算和估算算法。</li>
<li>相对于有感电机，无感电机的速度控制精度可能稍低，但在一些对速度控制要求不高的应用中，如家用电器、电动工具等，无感电机仍然能够满足需求。</li>
</ul>
</li>
</ol>
</li>
</ol>
<h1>第4课 PWM预分频时钟</h1>
<p><img src="data/attachment/forum/202412/29/160603ujj3kk6mn3bi7icb.png" alt="image.png" title="image.png" /></p>
<p><img src="data/attachment/forum/202412/29/160858wafc740f6xfphuf2.png" alt="image.png" title="image.png" /></p>
<p><img src="data/attachment/forum/202412/29/161159yqnsi5aaqvvqyojo.png" alt="image.png" title="image.png" /></p>
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<p><img src="data/attachment/forum/202412/29/161917ndad99m9ov9sj9ds.png" alt="image.png" title="image.png" /></p>
<p><img src="data/attachment/forum/202412/29/162341qahhw2pp2az22z44.png" alt="image.png" title="image.png" /></p>
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<p><img src="data/attachment/forum/202412/29/162548w5yyjyvmzi5w2ww8.png" alt="image.png" title="image.png" /></p>
<p>加油</p>
wnagming 发表于 2024-12-28 21:00
越往下越看不懂，逐渐高级了起来，已收藏
谢谢，感谢您的支持 gether 发表于 2024-12-29 07:47
加油
好的，继续努力 <h1>第5课 捕获/比较通道</h1>
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<h1>第六课：视频课程导论由于看PWM课程听起来有点吃力我开始补基础了</h1>
<p><img src="data/attachment/forum/202412/29/164002urnndpmwdzyly70h.png" alt="image.png" title="image.png" /></p>
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<h1>第7课 入门实例</h1>
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