资源简介
步进电机几乎都有一个通病就是容易丢步(失步),也就是开发板给了100个脉冲到驱动器,但是实际上步进电机只走了99步。或者走了101步,这是过冲了。为了弥补这个缺陷,可以使用加减速算法避免速度阶跃,或者使用编码器检测步进电机的步数。
步进电机安装了编码器之后,就可以对步进电机进行闭环控制,本例程使用编码器检测步进电机的步数。同时顺便检测步进电机的速度,使用PID算法做速度控制。

代码片段和文件信息
/**
******************************************************************************
* @file system_stm32f4xx.c
* @author MCD Application Team
* @version V2.6.1
* @date 14-February-2017
* @brief CMSIS Cortex-M4 Device Peripheral Access layer System Source File.
*
* This file provides two functions and one global variable to be called from
* user application:
* - SystemInit(): This function is called at startup just after reset and
* before branch to main program. This call is made inside
* the “startup_stm32f4xx.s“ file.
*
* - SystemCoreClock variable: Contains the core clock (HCLK) it can be used
* by the user application to setup the SysTick
* timer or configure other parameters.
*
* - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
* be called whenever the core clock is changed
* during program execution.
*
*
******************************************************************************
* @attention
*
* © COPYRIGHT 2017 STMicroelectronics
*
* Redistribution and use in source and binary forms with or without modification
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS“
* AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL
* DAMAGES (INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE DATA OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/** @addtogrou
属性 大小 日期 时间 名称
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文件 5339 2017-06-02 09:46 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\.mxproject
文件 723643 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f401xc.h
文件 723643 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f401xe.h
文件 1232312 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f405xx.h
文件 1348059 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h
文件 605580 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f410cx.h
文件 605889 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f410rx.h
文件 600827 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f410tx.h
文件 727138 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f411xe.h
文件 1168587 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f412cx.h
文件 1256407 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f412rx.h
文件 1256407 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f412vx.h
文件 1256479 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f412zx.h
文件 1310887 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f413xx.h
文件 1255857 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f415xx.h
文件 1371204 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f417xx.h
文件 1322050 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f423xx.h
文件 1450333 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f427xx.h
文件 1478761 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f429xx.h
文件 1474393 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f437xx.h
文件 1502045 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f439xx.h
文件 1379421 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f446xx.h
文件 1752088 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f469xx.h
文件 1775633 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f479xx.h
文件 10796 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h
文件 3848 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h
文件 26395 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f401xc.s
文件 26391 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f401xe.s
文件 29768 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f405xx.s
文件 30236 2017-05-27 11:05 YS-ExBox_HAL-013. 实验13_步进电机PID速度闭环控制\Drivers\CMSIS\Device\ST\STM32F4xx\Source\Templates\arm\startup_stm32f407xx.s
............此处省略766个文件信息
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