ST FOC 5.0说明书 快速入门 SDK v5.0.pdf
ST FOC 5.0说明书 配合 开源库 https://download.csdn.net/download/hxinstar/10322042使用UM2374List of tablesList of tablesTable 1. List of acronymsTable 2Document revision history..23UM2374 Rey 13/24List of figuresUM2374List of figuresFigure 1. ST MC Workbench -Icon and installation folder treeFigure 2. ST MC Workbench-GUI expanded top viewFigure 3. ST Motor Profiler-GUI889Figure 5. ST Motor Profiler-SM-PMSM parameters exampleFigure 4. ST Motor Profiler- Hardware setup list examples1011Figure 6. ST Motor Profiler-l-PMSM parameters exampleFigure 7. ST Motor Profiler-Measurement results12Figure 8. ST Motor Profiler-Save window13Figure 9. ST MC Workbench - New Project window14Figure 10. ST MC Workbench -New Project Info window14Figure 11. ST MC Workbench -Project Settings15Figure 12. ST MC Workbench-Project Settings window.15Figure 13. ST MC Workbench -Project generation button16Figure 14. ST MC Workbench -Workspace selectionFigure 15. ST MC Workbench -Project generation build infoFigure19. ST MC Workbench- Use of the motor control and monitoring.∴、∴,"…,,∴…….17Figure 16. IDE-MC Project view example18Figure 17. STMC Workbench-Motor monitoring button.19Figure 18. ST MC Workbench -Motor monitoring GUI204/24UM2374 Rey 1/UM2374General informationGeneral informationThe Mc sDK is used for the development of motor-control applications running on STM3232-bit microcontrollers based on the arm Cortex-M processorTable 1 presents the definition of acronyms that are relevant for a better understanding ofthis documentTable 1. List of acronymsAcronymDescriptionGUIGraphical user interfaceIDEIntegrated development environmentFOCField-oriented controlFWFirmwareMotor controlMC WBMotor control Workbench(STMicroelectronics sw tool)MPMotor Profiler(STMicroelectronics software tool)PMSMPermanent-magnet synchronous motorPWMPulse-width modulationSDKSoftware development kitVCVector controlMore information about ST MC Workbench is provided in the stm32 motor control SDKv5.0toolsusermanual(um2380)availableatwww.st.comarmUM2374 Rey 15/24Motor control ecosystem setupUM23742Motor control ecosystem setupA suitable ST Motor Control ecosystem environment includesA PC running the needed Mc software toolsA third-party IDEa third-party ANSI C-compilerA JTAG/SWD interface for debugging and programmingAn STMicroelectronics application board with one of the STM32 microcontrollerssupported. It drives the power stage and featuresPWM outputs to gate driverADC channels to measure currentsDC bus voltageA three-phase PMsM motol· A power supplyRefer to the STM32 motor control software development kit(Mc sDk data brief(DB3548)atwww.st.comandtothereleasenoteformoredetails2.1Software tool setupThe STMicroelectronics motor-control ecosystem runs on a pc with Windows7The following Pc software tools are correctly installedST MC Workbench (v5.0.0 or later)STM32CubeMX(v4 24.0 or later)ST-LINK/2(v4.0.0 or later)Any supported IDEIAR Embedded Workbench@ for Arm(v7.80.4Keil MDK tools (v5.24.2 or later)Ac6 System Workbench(v2.3.0 or later)(a)Refer to the respective user manuals for proper installation. STMicroelectronics documentsareavailablefromtheinternetsiteatwwwst.comSTM32 motor control SDK v5.0 tools user manual (UM2380STM32 CubeMX for STM32 configuration and initialization c code generation usermanual (UM1718)STM32 ST-LINK utility software description user manual(UM0892)The AC6 tool framework is not supported in SDK v5.0 but in later versions6/24UM2374 Rey 1/UM2374Motor control ecosystem setup22Hardware setupThe connection of the STMicroelectronics application board to the pc requires a USBType-A connector. Refer to the description of the application board for details on the USBcableA dedicated description card is delivered with each STMicroelectronics application board forproper installation For more details, refer to the user manual of the board available atwww.st.comThe selected hardware can be one of the three setups· The complete MC KitOne of the complete inverter boardsAny STM32 evaluation board combined with one of the ST evaluation power stagesthat include the mc connectorUM2374 Rey 17/24Getting StartedUM23743Getting StartedWarning: Check that the board is correctly configured for the motorcontrol application and supplied with the expected inputvoltageNoteRefer to the user manual of the related hardware to setup the correct configuration, voltagerange, serial communication capabilities, and programming/debugging interface3.1Hardware connectionConnect a uSb cable between the pc and the stmicroelectronics application board andthe JTAG/SWD programming cable if it is different from the USB cable3.2Motor profilingLaunch the ST MC Workbench software tool either byclicking on its iconrunning it directly from the installation folder treeBoth ways of launching the ST MC Workbench are illustrated in Figure 1Figure 1. ST MC Workbench- Icon and installation folder treeI STMicroelectrorics感FOC SDKLv.3.0MotorControlv500WorkBenchST Motor Control Workbenchd ST Motor profileren the st motor profiler tool either byUsing its dedicated button in the St Mc Workbench GUl as illustrated in Figure 2Running it directly from the installation folder tree as illustrated in Figure 1Figure 2. ST MC Workbench-GUl expanded top viewFile Tools Help Documet ta ionNew ProjectLoad Project4 About HelpMotor ProfilRcGert ProJEcts己tdbrsDRpower board8/24UM2374 Rey 1/UM2374Getting StartedClick on the Select Boards button to display the list of supported boards as shown onFigure 3 and select the STMicroelectronics application board setup. Figure 4 on page 10presents examples from this listNoteThe ST Motor Profiler tool may be used only with ST hardware in the list of supportedsetups.Figure 3. ST Motor Profiler-GUI2 ST Motor Profile.l:e augmentedMotor ProfilersPole pairsPe row to detecbeed and Current /mitsMaκSpet1600FPMn7 Select Board∧pk02530pkMagnetic: SM-PMSN○-NSMMechanIcal mode lO CenElectrical modelOW000UM2374 Rey 19/24Getting StartedUM2374Figure 4. ST Motor Profiler-Hardware setup list examplesE ST Motor ProfiY Hideabsolete boarde arch Control board by narSe arch power boac bv nareControl boardower BoardxCancelHide boards with warningNUCLEO-F302R8X-NUCLEO-HMOTM1 3shNUCLEO-F302R8X-NUCLEO-HMOBM1 3shT2F302R8T6L6230PDSTM32F302R8T6STL22ON6FT●Acf8m:m3SELNRV2 Emiol connectorC Product Web PageG Product Web PageC Product Web PageC Product Web PageNUCLEO-F303RESTEVAL-IPMO5F 3ShNUCLEO.F303RESTEVAL-IPM108 3sh●Aiv命Ativ● Ac livSn Ngor ombreI connectorST-LINKV2C Product Web PageC Product Web PageC Product Web PageC Product Web PageClick on the sTmicroelectronics hardware setup to select it and configure the st motorProfiler toolAs an example, Figure 4 shows the selection of the P-NUCLEO-IHM001 motor controlNucleo pack with NucLEo-F302R8 and X-NUCLEO-IHMO7M1After hardware setup selection, fill in the parameter fields with the motor informationThe number of pole pairs of the motor(mandatory fieldThe Max Speed of the motor(optional field)by default, the st Motor Profiler tool searches for the maximum allowed speedmatching the motor and the hardware setup usedThe Max Current allowed by the motor(optional field)By default, it is the maximum peak current deliverable by the hardware setupThe nominal dC bus voltage used by the hardware setup(optional field)By default, it is the power supply stage as either the bus voltage for low voltageapplications(DC voltage), or the RMs value for high voltage application(Ac voltage)The magnetic built-in type(mandatory field)By default, the SM-PMSM is selectedThe Ld/Lq ratio(mandatory field only when l-PMSM built-in is selected as shown inFigure 6 on page 1110/24UM2374 Rey 1/
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基于Matlab读取标准RINEX格式的GPS星历数据
基于Matlab读取标准RINEX格式的GPS星历数据，采用Matlab直接读取Rinex文件张妮,等基于 Matlab读取标准 RINEX格式的GPS星历数据navdata(i). day str2num(line(10: 12));Le Edit yie seb finds Helpnavdata(i). hour=str2num (line(13: 15));navdata(i). minute str2num(line(16: 18))navdata (i).second str2num (line(19: 22));navdata(i). af0= str2num(line(23: 41))2:s10122-0041.4e012]【5.917e012]t30e95a-012navdata(i). afl str2num (line(42: 60));4.480-00navdata(i). af2 str2num (line(61: 79));4.600T+00619.8348←[6.419e007line fgetl(fid); %o second linem…2107007]navdata(i). aode str2num(line(4: 22))205-00【--007[7.2643c0090.9161【0.922】navdata().crs str2num(line(23: 41))navdata (i).dn= str2num(line(42: 60))图3读取星历数据结果navdata(i) Anomaly str2num (line(61: 79))Fig 3 Reading result of ephemeris dat4)关闭文件 status= fclose(fid)。骤,利用 Matlab矩阵的计算优势,很方便地计算不同时刻卫22星历数据的读取星的坐标,此外,还可方便查看卫星导航表层信息,判断导航星历数据的读取采用结构体数组显示的相关命令读取,数据的质量。若要获取某个卫星的相关参数可输入如示例命令:>>navdata(1)。获取结果如图2所示,为1号卫星参数读取结果3结论利用 Matlab以矩阵为单位进行计算的优势对 RINEX文件进行读取,较其他语言简单易行,结果精确,程序可移植性好,便于后续数据处理,同时还可利用 Matlab的仿真功能,实现卫星动态变化的实时模拟afl:1.47T9e-012参考文献:[1]陈东银,刘立龙,陈雷.GPS导航定位技术中面向对象读取 RINEX格式数据!测绘与空间地理信,2009(6):41-43.chen DorInCHen Lei. An ohmethod of reading rineX formatdat in GPS navigation tech-图21号卫星参数读取结果nology [J]. Geomatics and Spatial Information TechnologyFig. 2 Reading result of parameter of satliete NO.2009(6):41-43也可利用 Matlab元包数组,将数据存放并显示出来,具|2 I Gurtner W. RINEX: The receiver independent exchange for体实现代码如下mat: Version 2.10[M] Canada: Astronomical Institute UniverFN=fieldnamesnavdata)sity of Berne, 2002size=size(FN)3]孟广祥,郭标明.CPS接收机(OEM)二进制文件向 RINEXnavdata year;文件的转换[,测绘工程,2009(10:18-21.nav data=cell(oh+1);MENG Guang-xiang. Guo Biao-ming. The transformationsIzefrom GPS receiver (OEM) binary data to RINEX file[J]. Enfor i= 2: noph +1gineering of Surveyying and Mapping, 2009(10): 18-21onavcell=char(navdata year)[4]陈桂珍,戴建军.GPS-OEM原始数据向 RINEX格式转换nav_data(n, 1= char(FN(n));的方法[测绘技术装备,2006(4):26-27nav_data n, i= navdata(i-1).(char(FN(n)))CHENG Gui-zhen, DAI Jian-jun. The transformation fromGPS-OEM orignal data to RINEX Format[J]. Surveying techendnical equipment, 2006(4): 26-27读取结果如图3所示。5]张志涌.精通 Matlab6.5[M]北京:北京航空航天大学出版采用 Matlab软件读 RINEX导航文件,可以将文件所有社,2004的数据用矩阵保存,数据的显示精度不仅不会影响计算精6 Chapman Stephen J. Matlab Programming for engineers [M度,而且可以随时修改,并可根据卫星坐标的计算公式和步北京:科学出版社,200325基于Ma1ab读取标准RINX格式的GPS星历数据旧万据WANFANG DATA文献链接作者张妮,王标标, ZHANG NI, WANG Biao-biao作者单位张妮, ZHANG Ni(西安工业大学北方信息工程学院,陕西,西安,710025),王标标, WANG Biaobiao(中国人民解放军96275部队,河南洛阳,471003)刊名:电子设计工程sTc英文刊名ELECTRONIC DESIGN ENGINEERING年,卷(期):2010,18(8参考文献(6条)1. Chapman Stephen J Matlab Programming for engineers 20032.张志涌精通 Matlab6.520043.陈桂珍;戴建军 GPS-OEM原始数据向 RINEX格式转换的方法[期刊论文]测绘技术装备2006(044.孟广祥;郭标明GPS接收机(OEM二进制文件向 RINEX文件的转换2009(10)5. Gurtner W RINEX: The receiver independent exchange format: Version 2.10 2002陈东银;刘立龙;陈雷GPS导航定位技术中面向对象读取 RINEX格式数据2009(06)本文链接http://d.g.wanfangdata.comcn/periodiCaldzsjgc201008007.aspx
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