BLDC Motor Sinus Signale

[Hans (Gast)]

Hallo Zusammen,

Ich möchte gerne einen Gimbal BLDC Motor ansteuern und die 
Geschwindigkeit linear anpassen. Das ganze ist für sehr langsame 
Geschwindigkeiten gedacht, so maximal 3-4 Umdrehungen pro Sekunde. 
Gefunden habe ich unten stehenden Code von 
http://elabz.com/bldc-motor-with-arduino-circuit-and-software/ wobei 
sich mir folgende Frage stellt: Der Schrittwechsel in der Lookup Tabelle 
passiert ja nach einer forgegebenen Zeit (millis() - lastMotorDelayTime) 
>  motorDelayActual, wobei motorDelayActual direkt proportional zum Poti 
ist. Wenn nun mein Poti vom Wert 1 zum Wert 2 übergeht, dann verdoppelt 
sich ja die wartende Zeit und daher halbiert sich die Geschwindigkeit 
(Sinus Signale nur noch halbe Frequenz). Beim Wert 3 wird Sie gedrittelt 
etc. Ich habe also einen Zusammenhang 1/x für die Frequenz bzw. 
Geschwindigkeit zur Potieinstellung. Jemand eine Idee, wie man das 
linearisieren kann, dass das Geschwindigkeitsverhalten wie bei einem 
brushed DC Motor ist?

/* 
Driving a DVD drive spindle three-phase motor 
 
This code was used for the stroboscope project
  
This example code is in the public domain. Based on several Arduino code samples
 
http://elabz.com/
 
 */
 
// constants won't change. They're used here to 
// set pin numbers:
const int buttonPin = 8;// the number of the direction pushbutton pin
const int ledPin =  7;  // the number of the status LED pin (not the flash LED)
const int potPin = 0;  // pot controls the RPM speed
const int potPinFlash = 1;  // pot controls the flash speed
const int motorPin1 =9;
const int motorPin2 =10;
const int motorPin3 =11;
const int flashPin =12;
const int motorDelay=5; // together with pot controls the RPM
const int flashDelay=2; // controls duration of flash
const int frames=12; // has to be divisible by 3 in this version
const int serialDelay = 2000; //debug only
long serialLast =0; //debug only
// Variables will change:
boolean ledState = false; // the current state of the status LED output pin
int buttonState;    // the current reading from the direction input pin
int potState;       // the current reading from the RPM speed potentiometer
int potStateFlash; // the current reading from the flash rate potentiometer
int lastButtonState = LOW; 
int debounceDelay = 50;    // the debounce time; increase if the output flickers
boolean direct = true; // direction true=forward, false=backward
 
/*
int pwmSin[] = {127,110,94,78,64,50,37,26,17,10,4,1,0,1,4,10,17,26,37,50,64,78,94,110,127,144,160,176,191,204,217,228,237,244,250,253,254,253,250,244,237,228,217,204,191,176,160,144,127
}; // array of PWM duty values for 8-bit timer - sine function
*/
 
int pwmSin[]={511,444,379,315,256,200,150,106,68,39,17,4,0,4,17,39,68,106,150,200,256,315,379,444,511,578,643,707,767,822,872,916,954,983,1005,1018,1022,1018,1005,983,954,916,872,822,767,707,643,578,511
}; // array of PWM duty values for 10-bit timer - sine function
 
int increment;
int flashIncrement = 0;
int currentFlash=0;
int currentStepA=0;
int currentStepB=16;
int currentStepC=32;
// the following variables are long's because the time, measured in miliseconds,
// will quickly become a bigger number than can be stored in an int.
long lastDebounceTime = 0;  // the last time the output pin was toggled
long motorDelayActual = 0;  // the actual delay, based on pot value and motor delay set above
long flashDelayActual = 0;
long flashDelayPerCycle = 0;
long lastMotorDelayTime = 0;
long flashTime = 0; // how long has flash been ON 
long flashTimeOFF = 0; // how long has flash been OFF 
 
void setup() {
 
  TCCR1B = TCCR1B & 0b11111000 | 0x01; // set PWM frequency @ 31250 Hz for Pins 9 and 10
  TCCR2B = TCCR2B & 0b11111000 | 0x01; // set PWM frequency @ 31250 Hz for Pins 11 and 3 (3 not used)
//  ICR1 = 255 ; // 8 bit resolution
  ICR1 = 1023 ; // 10 bit resolution
 
 
  pinMode(buttonPin, INPUT);
  pinMode(potPin, INPUT);
  pinMode(potPinFlash, INPUT);
  pinMode(ledPin, OUTPUT);
  pinMode(motorPin1, OUTPUT);
  pinMode(motorPin2, OUTPUT);
  pinMode(motorPin3, OUTPUT);
  pinMode(flashPin, OUTPUT);
  digitalWrite(flashPin, LOW);
}
 
void loop() {
  // read the state of the switch into a local variable:
  int reading = digitalRead(buttonPin);
 
  // check to see if you just pressed the button 
  // (i.e. the input went from LOW to HIGH),  and you've waited 
  // long enough since the last press to ignore any noise:  
 
  // If the switch changed, due to noise or pressing:
  if (reading != lastButtonState) {
    // reset the debouncing timer
    lastDebounceTime = millis();
  } 
   
  if ((millis() - lastDebounceTime) > debounceDelay) {
    // whatever the reading is at, it's been there for longer
    // than the debounce delay, so take it as the actual current state:
    buttonState = reading;
    direct = !direct;
    ledState = !ledState;
    lastButtonState = reading;
  }
   
  // set the LED using the state of the button:
  digitalWrite(ledPin, ledState);
 
  // save the reading.  Next time through the loop,
  // it'll be the lastButtonState:
 
 potStateFlash = analogRead(potPinFlash);
 potState = analogRead(potPin);
motorDelayActual =   potState * motorDelay / 100; 
// flashDelayActual =   flashDelay+potStateFlash/200; // if we were controlling it with a POT
flashDelayActual =   flashDelay;
move();
 
   
}
 
 
 
void move()
{
if((millis() - flashTime) >  flashDelayActual)
{
  digitalWrite(flashPin, HIGH);
   
}
   
   
if((millis() - lastMotorDelayTime) >  motorDelayActual)
{ // delay time passed, move one step 
 
 
if (direct==true)
{
  increment = 1;
} else {
  increment = -1;  
} 
  currentStepA = currentStepA + increment;
  if(currentStepA > 47) currentStepA = 0;
  if(currentStepA<0) currentStepA =47;
   
  currentStepB = currentStepB + increment;
  if(currentStepB > 47) currentStepB = 0;
  if(currentStepB<0) currentStepB =47;
   
    currentStepC = currentStepC + increment;
  if(currentStepC > 47) currentStepC = 0;
  if(currentStepC<0) currentStepC =47;
 
lastMotorDelayTime = millis();
//flashDelayPerCycle = flashDelayPerCycle + flashDelayPerCycle;
currentFlash = currentFlash + 1;
if(currentFlash>24)
  { 
 
    digitalWrite(flashPin, LOW);
    currentFlash=0;
    flashTime = millis();
    flashDelayActual = millis();
 
   
  }
 
 
}
   
analogWrite(motorPin1, pwmSin[currentStepA]);
analogWrite(motorPin2, pwmSin[currentStepB]);
analogWrite(motorPin3, pwmSin[currentStepC]);
   
}