STM32 and motor development (upper system)

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        The motor itself is generally developed with PID perhaps FOC Accomplished . however , As a system , stay stm32 Before , There is usually a host system , This host system usually runs linux System or windows System . If it is linux System , Generally, there are various soc; If it is windows System , It is commonly pc Computer. .

        To illustrate how the motor control system interacts with the upper layer , We can take the writing machine as an explanation . The writer usually takes pc Treat as a host , After preprocessing the image , Generate control commands one by one . These orders , Send to... Through serial port stm32, After serial port analysis 、 interpolation 、 Speed planning 、x/y/z After control , The corresponding image can be printed by writing with a pen . Similar methods can also be used for carving 、3d Printing and other occasions .

        With the above instructions , We can try to understand , What actions a host system needs to do ;

        a） Scan image ;

        b） Grayscale processing ;

        c） Generate control instructions ;

        d） Send these instructions to mcu;

        e） Receive execution results , Feed progress back to the screen .

        It says a writing machine . We can change the scene , Like robots . Suppose there is such a robot with three wheels , The front is the driving wheel , It can move forward 、 back off 、 Spin around , Behind it is the driven wheel , There is no control . If the design goal is to make this robot from A Go to B spot , So what should it do ？ Generally speaking , It can be broken down into several steps ,

        a） Using the search algorithm , Search for a road without obstacles ;

        b） According to the requirements of minimum turning radius, this road shall be treated in sections , There is a minimum distance requirement ;

        c） Then according to the speed limit conditions, the entry speed of each section is planned 、 Exit speed 、 Entrance angle 、 Exit angle ;

        d） Add path information 、 Turning radius information 、 Speed information 、 Angle information 、 Send segmented information mcu;

        e） Receive the execution result circularly , Pass the progress in real time log Print out .

        Through the above two systems , We find that the upper system pays more attention to the overall layout of the algorithm . When the algorithm is finished , Give it all to mcu To execute . therefore , Control is mcu The strengths of , The algorithm is not . After all ,mcu The frequency and performance of are there , You can't expect mcu Do something beyond its ability .

        The actual application range of motor is very wide , No matter in the field of consumption 、 Industry 、 Military industry , They play a huge role . Controlling the motor is only the first step , The most important thing is to use the upper system to generate control instructions , Send to motor , Let it work properly to meet our needs , This is the fundamental purpose of learning motor , You can't learn motors just to learn motors . Different scenarios , Control requirements are also different , For example, some require faster , Some requirements are more accurate , Some require lower costs , Each scenario has its own specific constraints , These can only be practiced and felt constantly in work .