基于STM32单片机的电机驱动设计

Motor Driven Design Based on Microcontroller STM32

介绍基于单片机控制直流电机驱动的设计方案。由单片机产生的转速、转向和制动的控制信号,经由逻辑电路进行运算对应于电机的特定工作状态,运算结果作为电机驱动电路H桥四个开关管的控制信号,从而实现直流电机的调速、正反转或停止等控制。利用光电传感器实时检测直流电机的转速,按照预先设定的参数调节速度,形成闭环控制。此设计方案运用到智能地面清洁机器人进行验证。完成并经测试后,样机可实现自动识别工作环境,自动清扫纸屑和灰尘等功能,达到智能清扫机器人设计要求。

This paper presents a motor driven design based on a microcontroller system which controls the direct current. The controlling signals,including speed,direction and braking,are produced by the microcontroller and calculated by the logical circuit module. The calculating results indicate the working status of the motor,and are taken as control signals for the H-Bridge of motor dirven circuit to realize speed regulating,direction changing and braking. The control system is a closed loop as the real-time rotating speed is measured by the photoelectric sensor and adjusted according to the preset parameters. A sweeping robot is used to verify the design and the results show that the working environment is recognized,the paper scrap and dust are cleaned automatically,meeting the requirements of intelligent sweeping robot.