voice-coil-motor-control's Introduction
项目简介: 此项目目标是实现对音圈电机力矩、速度、位置的闭环控制(项目中有GIF效果图)。主控使用STM32F407单片机, 位置反馈使用2000线ABZ光编码器,使用3D打印将编码器和音圈电机连接起来,电机驱动 器使用TB67H450芯片。音圈电机是从硬盘上拆卸下来的。 音圈电机力矩控制相比三相伺服电机简单的多,控制电流大小只需一路ADC输出,再由一个 GPIO控制方向即可。电流环由TB67H450芯片保证(其内部有比较器,可使电流与给定值一致), 程序写了pid控制类,实例化了速度环和位置环两个对象,这样实现了三环的pid串级控制。 由于音圈电机转动惯量很小,可以实现很多有意思的功能,比如可以工作在速度模式,产生 阻尼效果,可以与另一个电机数据互联,实现远程控制力反馈效果(后面会开源此项目)。 如何使用? 要实现位置和速度闭环效果,需要位置或速度反馈,笔者使用过电位器和编码器作为位置反 馈,电位器可以实现较好的闭环效果,但是存在抖动(电位器会受环境电磁干扰影响),使用编 码器不存在此问题。使用项目代码很简单,拷贝各模块到工程项目中,添加头文件路径,编译即可
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