你好有这款电机控制 nucleo Pack P-NUCLEO-IHM03，其中包括 NUCLEO-G431RB评估板、X-NUCLEO-IHM16M1扩展板和Gimbal 电机
2022-12-06 07:42
先说一下我对四元数粗浅的理解，四元数是欧拉角之外的另一种三维角度的表达方式，比欧拉角表示法的好处是不存在 Gimbal Lock 问题。(如有误请指正)假设使用了 MPU6050 6轴传感器(详见
2019-05-30 01:05
如何实现STM32F103C8T6按键中断功能？
2021-12-14 07:25
室内指示、促销的技术，已经谈了10年以上，2003年RFID提出时，除仓点需求外，也提及海报应用，在海报上嵌入RFID，手机上装设RFID读取器，就可以读取RFID内的资讯（通常是个网址）。不过RFID的此种应用未能普及，反而是印刷方式呈现的QR Code大兴，手机只要有摄影镜头与辨识软体，就可以获取任何张贴、印刷的资讯。
2019-08-20 06:01
室内指示、促销的技术，已经谈了10年以上，2003年RFID提出时，除仓点需求外，也提及海报应用，在海报上嵌入RFID，手机上装设RFID读取器，就可以读取RFID内的资讯（通常是个网址）。不过RFID的此种应用未能普及，反而是印刷方式呈现的QR Code大兴，手机只要有摄影镜头与辨识软体，就可以获取任何张贴、印刷的资讯。
2019-09-24 08:13
请问一下电机系统的参数配置和校准是什么？
2021-09-18 08:24
：1．一对匹配的可编程滤波器和VGA2．连续增益控制范围：-5 dB至45 dB3．差分输入和输出、可调输出共模电压、可选直流输出失调校正功能 二、框架控制（Gimbal Control
2018-10-15 09:10
怎么判断ODrive是否需要功率耗散电阻？应该选择多大功率的功率耗散电阻？怎么区分我的ODrive是24v版本还是56v版本？
2021-07-13 07:28
我不确定这是否应该张贴在其他地方，但是…有人知道任何四元数库或功能面向微控制器如PSoC5吗？如果Creator带一些扩展的数学库用于机器人学或其他3D应用，那就太好了。 以上来自于百度翻译 以下为原文I'm not sure if this should be posted elsewhere but...Does anyone know of any quaternion libraries or functions geared towards microcontrollers like PSOC5? It would be nice if Creator came with some extended math libraries for robotics or other 3D applications.
2019-03-13 10:39
问候！经过一段时间的STEVAL-SPIN3201电机控制器板试验，我们更进一步，用STSPIN32F0，三个电源半桥和一个额外的蓝牙芯片构建我们自己的小PCB，用于外部通信（最终目标是无线控制两个单独使用一个操纵杆的马达）。 我们几乎完全按照评估板的原理图构建我们的电路板，这样现有的软件就可以像以前一样在定制电路板上运行;唯一的区别是三个电机相上的分流电阻值（并联2x 0.01欧姆而不是并联2x 0.02欧姆）。我通过将'Power stage parameters.h'中的'RSHUNT'值从0.01改为0.005来调整软件。 如上所述，其余电路和组件的设计与评估板完全相同。然而，一旦我们连接并测试了我们的PCB，我们就到了一点，我们都不知道该观察到的行为是什么：在STSPIN32F0成功地用软件闪存后，霍尔传感器和电机电缆连接并且电源电压为11.1V由一个外部电源适配器给出，在软件的主程序中设置了适度的速度斜坡，电机开始退缩几次，然后保持静止并且剧烈振动。在我们断开系统与电源的连接之前，电源适配器报告已达到5A的电流限制并且电压迅速下降。想知道出了什么问题，我们做了几次尝试，直到我们注意到在另一次复位后，STSPIN32F0再也没有响应，并且VDD引脚上没有3.3V可测量。我们可能已经开始使用我们的一个电机控制器，我们从头开始构建一个新的PCB，仔细管理电压引脚和连接，并确保不会发生焊接错误。我们在没有连接电机的情况下再次测试了电路板，并测量了三个栅极驱动器的输出，其表现与评估板完全相同。 下一步，相同的结果：电机发疯，电压下降几秒钟到大约8V，芯片在几次尝试后死机。第三次尝试，我们将SW引脚连接到GND，并为VDD引脚提供另一个外部电源适配器，希望内部DCDC降压稳压器不会对自身和电路板的其余部分造成任何损害，因为内部控制应该检测到这个和锁定（如数据表中“外部可选3.3 V电源电压”，第22页中所述）。可悲的是，我们以相同的结果结束：没有运行电机和外部3.3V电源报告短路。 使用了2个单独的电路板并销毁了3个微芯片，我们知道新鲜的想法，并不急于炒更多的硬件。以下问题仍未解决： - 为什么控制器认为在没有任何负载的情况下旋转小型BLDC电机需要5A甚至更多？ - 芯片破坏的原因究竟是什么？ - 当我们使用与评估板一样的硬件和软件时，为什么我们会观察到这种行为？ 如果有人能帮助我们尽快解决这个问题，我们将非常高兴。非常感谢任何建议或反馈！ 太长，马克斯#steval-spin3201 #stspin32f0以上来自于谷歌翻译以下为原文 Greetings!After some time experimenting with the STEVAL-SPIN3201 Motorcontroller board, we took it a step further and build our own little PCB with the STSPIN32F0, three power half bridges and an additional Bluetooth chip for external communication (the final goal is the wireless control of two seperate Motors using one joystick). We pretty much build our board very closely to the schematics of the evaluation board, so that the existing software will run on the custom board just as good as before; the only difference being the shunt resistor values on the three motor phases (2x 0.01 Ohm in parallel instead of 2x 0.02 Ohm in parallel). I adapted the software by altering the 'RSHUNT' value in the 'Power stage parameters.h' from 0.01 to 0.005. Like stated, the rest of the circuits and components were designed to work exactly like the evaluation board. However, once we connected and tested our PCB, we arrived at a point were none of us knew what to make of the observed behavior: After the STSPIN32F0 was successfully flashed with the software, the Hall sensors and motor cables connected and a supply voltage of 11.1V was given by an external power adapter, a modest speed ramp was set in the software's main-routine and the motor started flinching a few times, before staying still and vibrating fiercly. The power adapter reported that the current limit of 5A was reached and the voltage dropped rapidly, before we disconnected the System from the power source.Wondering what went wrong, we did a few more tries, until we noticed that after another reset, the STSPIN32F0 did not respond anymore and there were no 3.3V on the VDD pin measurable. Probably having fried one of our Motorcontrollers, we started from scratch and build a new PCB, carefully managing the voltage pins and connections and making sure that no soldering error could occur. We tested the board again without the motor attached, and measured the outputs of the three gate drivers, which behaved exactly like on the evaluation board. Next step, same results: The motor went crazy, the voltage dropped for a few seconds to about 8V and the chip played dead after a few tries. On a third try, we connected the SW pin to GND and supplied the VDD pin with another external power adapter, hoping that the internal DCDC buck regulator could not cause any harm to itself and the rest of the board, since the internal control should detect this and latch off (as stated in the datasheet under 'External optional 3.3 V supply voltage', page 22). Sadly, we ended with the same result: no running motor and the external 3.3V power source reported a short circuit. Having used 2 seperate boards and destroyed 3 micro chips, we are know freshly out of ideas and not eager to fry any more hardware. The following questions remained open:- Why does the controller think he would need 5A and more to rotate a small BLDC motor without any load? - What exactly is the cause of the chip destruction?- Why do we observe this behaviour when we are using the same exact hard- and software as before with the evaluation board? We would be very glad if someone can help us figure this out soon.Any suggestions or feedback is much appreciated! So long, Max #steval-spin3201 #stspin32f0
2019-05-24 08:38
