包邮STM32G4入门与电机控制实战――基于X-CUBE-MCSDK的无刷直流电机与

第 1 章 STM32G4 概述 ...................................................................................................................... 1
1.1 STM32G4 系列的特性 ........................................................................................................... 1
1.2 STM32G4 的主要应用 ........................................................................................................... 5
1.3 STM32 生态资源 ................................................................................................................... 6
第 2 章 STM32 电机控制套件 P-NUCLEO-IHM03 ....................................................................... 10
2.1 NUCLEO-G431RB 开发板 .................................................................................................. 10
2.1.1 NUCLEO-G431RB 开发板概述 .................................................................................................. 10
2.1.2 NUCLEO-G431RB 开发板的硬件构成 ...................................................................................... 12
2.2 X-NUCLEO-IHM16M1 三相驱动板 ................................................................................... 17
2.2.1 X-NUCLEO-IHM16M1 三相驱动板概述 ................................................................................... 17
2.2.2 X-NUCLEO-IHM16M1 三相驱动板的硬件构成 ....................................................................... 18
2.3 三相云台电机 GBM2804H-100T ........................................................................................ 24
2.4 DC 电源 ................................................................................................................................ 25
第 3 章 软件开发环境 ...................................................................................................................... 26
3.1 开发环境概述 ....................................................................................................................... 27
3.2 STM32CubeMX .................................................................................................................... 28
3.2.1 下载和安装 .................................................................................................................................. 28
3.2.2 工具界面 ...................................................................................................................................... 32
3.3 STM32CubeIDE ................................................................................................................... 34
3.3.1 下载和安装 .................................................................................................................................. 34
3.3.2 工具界面 ...................................................................................................................................... 37
3.4 Keil（MDK-ARM） ............................................................................................................ 38
3.4.1 下载和安装 .................................................................................................................................. 38
3.4.2 操作简介 ...................................................................................................................................... 41
3.5 IAR EWARM ........................................................................................................................ 43
3.5.1 下载和安装 .................................................................................................................................. 43
3.5.2 操作简介 ...................................................................................................................................... 49
3.6 MotorControl Workbench（MC SDK） .............................................................................. 50
3.6.1 下载和安装 .................................................................................................................................. 50
3.6.2 操作简介 ...................................................................................................................................... 52
3.6.3 使用 ST Motor Profiler 获得电机参数 ........................................................................................ 56
3.6.4 ST MC SDK 5.x 固件 ................................................................................................................... 61
3.7 STM Studio ........................................................................................................................... 66
3.7.1 下载和安装 .................................................................................................................................. 66
3.7.2 操作简介 ...................................................................................................................................... 69
第 4 章 NUCLEO-G431RB 基础实验 ............................................................................................. 72
4.1 LED 点灯实验 ...................................................................................................................... 72
4.2 定时器 PWM 应用实验 ....................................................................................................... 78
4.3 外部中断实验 ....................................................................................................................... 84
4.4 串行接口应用实验 ............................................................................................................... 90
4.5 数/模转换应用实验 .............................................................................................................. 96
4.6 互补 PWM 输出实验 ......................................................................................................... 104
第 5 章 无刷直流电机控制技术 .................................................................................................... 112
5.1 无刷直流电机的系统构成 ................................................................................................. 112
5.1.1 电机本体 .................................................................................................................................... 113
5.1.2 位置传感器 ................................................................................................................................ 114
5.1.3 控制驱动电路 ............................................................................................................................ 115
5.2 无刷直流电机的数学模型 ................................................................................................. 116
5.2.1 定子电压方程 ............................................................................................................................ 116
5.2.2 反电动势方程 ............................................................................................................................ 117
5.2.3 电磁转矩方程 ............................................................................................................................ 117
5.2.4 运动方程 .................................................................................................................................... 117
5.3 无刷直流电机的控制原理 ................................................................................................. 117
5.3.1 方波控制原理 ............................................................................................................................ 118
5.3.2 无感反电动势控制原理 ............................................................................................................. 120
第 6 章 永磁同步电机控制技术 ...............................