{"id":43055,"date":"2025-06-11T08:54:20","date_gmt":"2025-06-11T00:54:20","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/43055.html"},"modified":"2025-06-11T08:54:20","modified_gmt":"2025-06-11T00:54:20","slug":"stm32%e4%b9%8bsg90%e8%88%b5%e6%9c%ba%e6%8e%a7%e5%88%b6%ef%bc%88%e9%99%84%e8%a7%86%e9%a2%91%e8%ae%b2%e8%a7%a3%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/43055.html","title":{"rendered":"STM32\u4e4bSG90\u8235\u673a\u63a7\u5236\uff08\u9644\u89c6\u9891\u8bb2\u89e3\uff09"},"content":{"rendered":"

\u76ee\u5f55<\/p>\n

\u524d\u8a00：<\/p>\n

\u4e00\u3001\u786c\u4ef6\u51c6\u5907\u4e0e\u63a5\u7ebf<\/p>\n

1.1 \u786c\u4ef6\u6e05\u5355<\/p>\n

1.2 \u63a5\u7ebf<\/p>\n

\u4e8c\u3001 SG90\u8235\u673a\u7b80\u4ecb<\/p>\n

1.1 \u5916\u89c2<\/p>\n

\u00a01.2 \u57fa\u672c\u53c2\u6570<\/p>\n

1.3 \u5f15\u811a\u8bf4\u660e\u00a0<\/p>\n

1.4 \u63a7\u5236\u539f\u7406<\/p>\n

1.5 \u7279\u70b9<\/p>\n

1.6 \u5e38\u89c1\u95ee\u9898<\/p>\n

\u4e09\u3001 \u5355\u7247\u673a\u7b80\u4ecb<\/p>\n

\u56db\u3001 \u7a0b\u5e8f\u8bbe\u8ba1\u00a0<\/p>\n

4.1 \u5b9a\u65f6\u5668\u914d\u7f6e<\/p>\n

4.2 \u89d2\u5ea6\u63a7\u5236\u51fd\u6570<\/p>\n

4.3 \u4e3b\u51fd\u6570\u8c03\u7528<\/p>\n

\u4e94\u3001 \u603b\u7ed3<\/p>\n

\n

\u524d\u8a00：<\/h2>\n

STM32F103C8T6\u00a0\u662f\u4e00\u6b3e\u6027\u4ef7\u6bd4\u6781\u9ad8\u7684ARM Cortex-M3\u5185\u6838\u5fae\u63a7\u5236\u5668，\u5e7f\u6cdb\u5e94\u7528\u4e8e\u5d4c\u5165\u5f0f\u5f00\u53d1\u3002SG90\u8235\u673a\u00a0\u5219\u662f\u5c0f\u578b\u8235\u673a\u7684\u4ee3\u8868，\u5e38\u7528\u4e8e\u673a\u5668\u4eba\u3001\u667a\u80fd\u5bb6\u5c45\u7b49\u573a\u666f\u3002\u672c\u6587\u5c06\u901a\u8fc7\u786c\u4ef6\u8fde\u63a5\u3001PWM\u4fe1\u53f7\u914d\u7f6e\u3001\u4ee3\u7801\u5b9e\u73b0\u7b49\u6b65\u9aa4，\u8be6\u7ec6\u8bb2\u89e3\u5982\u4f55\u7528STM32F103C8T6\u63a7\u5236SG90\u8235\u673a\u3002<\/p>\n

\u89c6\u9891\u8bb2\u89e3\u94fe\u63a5：<\/span><\/p>\n

STM32\u4e4bSG90\u8235\u673a\u6559\u5b66（\u9644\u6e90\u7801）<\/p>\n<\/p>\n

\u4e00\u3001\u786c\u4ef6\u51c6\u5907\u4e0e\u63a5\u7ebf<\/h2>\n

1.1 \u786c\u4ef6\u6e05\u5355<\/h3>\n\n\u5668\u4ef6\u6570\u91cf\u5907\u6ce8<\/tr>\n\n\n\n\n\n
STM32F103C8T6\u6700\u5c0f\u7cfb\u7edf\u677f<\/td>\n1<\/td>\n\u6838\u5fc3\u63a7\u5236\u5668<\/td>\n<\/tr>\n
SG90\u8235\u673a<\/td>\n1<\/td>\n\u5de5\u4f5c\u7535\u538b4.8-6V，\u4fe1\u53f7\u7ebf\u9700PWM<\/td>\n<\/tr>\n
5V\u7535\u6e90\u6a21\u5757<\/td>\n1<\/td>\n\u72ec\u7acb\u4f9b\u7535，\u907f\u514d\u677f\u8f7d\u7535\u6d41\u4e0d\u8db3<\/td>\n<\/tr>\n
\u675c\u90a6\u7ebf<\/td>\n\u82e5\u5e72<\/td>\n\u8fde\u63a5\u7535\u8def<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

1.2 \u63a5\u7ebf<\/h3>\n

SG90\u8235\u673a\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 STM32F103C8T6\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \u5916\u90e8\u7535\u6e90 \u68d5\u8272\u7ebf（GND）\u00a0 \u2192\u00a0\u00a0\u00a0 GND\u5f15\u811a\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \u2192\u00a0 GND \u7ea2\u8272\u7ebf（VCC）\u00a0 \u2192\u00a0 \u00a0 \u8fde\u5916\u90e85V\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0\u2192\u00a0 5V \u6a59\u8272\u7ebf（\u4fe1\u53f7）\u00a0\u00a0\u00a0\u2192\u00a0\u00a0\u00a0 PB0（TIM3_CH3） \u6ce8\u610f：\u82e5\u9700\u9a71\u52a8\u591a\u4e2a\u8235\u673a，\u5efa\u8bae\u4f7f\u7528\u72ec\u7acb\u7535\u6e90\u4f9b\u7535，\u907f\u514dSTM32\u677f\u8f7d\u7535\u6e90\u8fc7\u8f7d\u3002<\/p>\n

\u4e8c\u3001 SG90\u8235\u673a\u7b80\u4ecb<\/h2>\n

1.1 \u5916\u89c2<\/h3>\n

\"\"<\/p>\n

\u00a01.2 \u57fa\u672c\u53c2\u6570<\/h3>\n\n\u53c2\u6570\u6570\u503c<\/tr>\n\n\n\n\n\n\n\n\n\n\n
\u5de5\u4f5c\u7535\u538b<\/td>\n4.8V – 6V（\u5178\u578b5V）<\/td>\n<\/tr>\n
\u7535\u6d41\u6d88\u8017<\/td>\n100mA（\u7a7a\u95f2），250mA（\u8fd0\u884c）<\/td>\n<\/tr>\n
\u626d\u77e9<\/td>\n1.2kg\u00b7cm（4.8V），1.6kg\u00b7cm（6V）<\/td>\n<\/tr>\n
\u8f6c\u901f<\/td>\n0.12\u79d2\/60\u00b0（4.8V），0.10\u79d2\/60\u00b0（6V）<\/td>\n<\/tr>\n
\u91cd\u91cf<\/td>\n9\u514b<\/td>\n<\/tr>\n
\u5c3a\u5bf8<\/td>\n22.2mm \u00d7 11.8mm \u00d7 31mm<\/td>\n<\/tr>\n
\u8f6c\u52a8\u89d2\u5ea6<\/td>\n180\u00b0（\u90e8\u5206\u578b\u53f7\u652f\u6301360\u00b0）<\/td>\n<\/tr>\n
\u9f7f\u8f6e\u6750\u8d28<\/td>\n\u5851\u6599（\u90e8\u5206\u578b\u53f7\u4e3a\u91d1\u5c5e\u9f7f\u8f6e）<\/td>\n<\/tr>\n
\u63a5\u53e3\u7c7b\u578b<\/td>\n3\u9488（\u4fe1\u53f7\u3001\u7535\u6e90\u3001\u5730）<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

1.3 \u5f15\u811a\u8bf4\u660e\u00a0<\/h3>\n

SG90\u8235\u673a\u901a\u5e38\u67093\u6839\u7ebf<\/p>\n

\u68d5\u8272\u7ebf（GND）：\u63a5\u5730\u3002<\/p>\n

\u7ea2\u8272\u7ebf（VCC）：\u63a5\u7535\u6e90（4.8V-6V）\u3002<\/p>\n

\u6a59\u8272\u7ebf（\u4fe1\u53f7\u7ebf）：\u63a5\u6536PWM\u4fe1\u53f7\u63a7\u5236\u89d2\u5ea6\u3002<\/p>\n

1.4 \u63a7\u5236\u539f\u7406<\/h3>\n

PWM\u4fe1\u53f7\u63a7\u5236：<\/p>\n

    \n
  • \n

    \u4fe1\u53f7\u5468\u671f：20ms（50Hz）\u3002<\/p>\n<\/li>\n

  • \n

    \u8109\u51b2\u5bbd\u5ea6：0.5ms – 2.5ms，\u5bf9\u5e94\u89d2\u5ea60\u00b0 – 180\u00b0\u3002<\/p>\n<\/li>\n<\/ul>\n

    \"\"<\/p>\n

    \"\"<\/p>\n

    1.5 \u7279\u70b9<\/h3>\n

    \u4f18\u70b9：<\/p>\n

      \n
    • \n

      \u4f53\u79ef\u5c0f\u3001\u91cd\u91cf\u8f7b：\u9002\u5408\u7a7a\u95f4\u53d7\u9650\u7684\u9879\u76ee\u3002<\/p>\n<\/li>\n

    • \n

      \u4ef7\u683c\u4f4e\u5ec9：\u6210\u672c\u4f4e，\u9002\u5408\u6279\u91cf\u4f7f\u7528\u3002<\/p>\n<\/li>\n

    • \n

      \u6613\u4e8e\u63a7\u5236：\u6807\u51c6PWM\u4fe1\u53f7\u63a5\u53e3，\u517c\u5bb9\u6027\u5f3a\u3002<\/p>\n<\/li>\n<\/ul>\n

      \u7f3a\u70b9：<\/p>\n

        \n
      • \n

        \u626d\u77e9\u8f83\u5c0f：\u4ec5\u9002\u5408\u8f7b\u8d1f\u8f7d\u573a\u666f\u3002<\/p>\n<\/li>\n

      • \n

        \u5851\u6599\u9f7f\u8f6e\u6613\u78e8\u635f：\u957f\u65f6\u95f4\u9ad8\u8d1f\u8f7d\u5de5\u4f5c\u53ef\u80fd\u5bfc\u81f4\u635f\u574f\u3002<\/p>\n<\/li>\n<\/ul>\n

        1.6 \u5e38\u89c1\u95ee\u9898<\/h3>\n

        1）\u8235\u673a\u6296\u52a8\u6216\u4e0d\u8f6c\u52a8：<\/p>\n

          \n
        • \n

          \u68c0\u67e5\u7535\u6e90\u7535\u538b\u662f\u5426\u8db3\u591f\u3002<\/p>\n<\/li>\n

        • \n

          \u68c0\u67e5PWM\u4fe1\u53f7\u662f\u5426\u6b63\u786e\u3002<\/p>\n<\/li>\n<\/ul>\n

          2）\u00a0\u8235\u673a\u53d1\u70ed\u4e25\u91cd：<\/p>\n

            \n
          • \n

            \u68c0\u67e5\u662f\u5426\u8d85\u8d1f\u8377\u8fd0\u884c\u3002<\/p>\n<\/li>\n

          • \n

            \u786e\u4fdd\u8f6c\u52a8\u8303\u56f4\u5185\u65e0\u673a\u68b0\u5361\u963b\u3002<\/p>\n<\/li>\n<\/ul>\n

            3）\u00a0\u89d2\u5ea6\u4e0d\u51c6\u786e：<\/p>\n

              \n
            • \n

              \u6821\u51c6PWM\u4fe1\u53f7\u8109\u51b2\u5bbd\u5ea6\u3002<\/p>\n<\/li>\n

            • \n

              \u68c0\u67e5\u8235\u673a\u9f7f\u8f6e\u662f\u5426\u78e8\u635f\u3002<\/p>\n<\/li>\n<\/ul>\n

              \u4e09\u3001 \u5355\u7247\u673a\u7b80\u4ecb<\/h2>\n

              STM32F103C8T6\u6700\u5c0f\u7cfb\u7edf\u677f：<\/p>\n

              \"\"<\/p>\n

              \u672c\u6587\u4f7f\u7528\u7684\u5f00\u53d1\u677f\u4e3aSTM32F103C8T6\u6700\u5c0f\u7cfb\u7edf\u677f，SG90\u8235\u673a\u4f7f\u7528\u5230\u7684\u5f15\u811a\u4e3aPB0\u5f15\u811a\u3002\u00a0<\/p>\n

              \u56db\u3001 \u7a0b\u5e8f\u8bbe\u8ba1\u00a0<\/h2>\n

              4.1 \u5b9a\u65f6\u5668\u914d\u7f6e<\/h3>\n

              \u4f7f\u7528\u00a0TIM3\u7684\u901a\u90533（PB0）\u751f\u6210PWM，\u6b65\u9aa4\u5982\u4e0b：<\/p>\n

              1)\u00a0\u65f6\u949f\u914d\u7f6e：<\/p>\n

                \n
              • \n

                \u7cfb\u7edf\u65f6\u949f\u8bbe\u4e3a72MHz（\u9ed8\u8ba4\u914d\u7f6e）\u3002<\/p>\n<\/li>\n

              • \n

                APB1\u603b\u7ebf\u9884\u5206\u9891\u7cfb\u6570\u4e3a2\u3002<\/p>\n<\/li>\n

              • \n

                TIM3\u65f6\u949f\u6e90\u4e3aAPB1\u603b\u7ebf（36*2=72MHz）\u3002<\/p>\n<\/li>\n<\/ul>\n

                2)\u00a0\u5b9a\u65f6\u5668\u53c2\u6570\u8ba1\u7b97：<\/p>\n

                  \n
                • \n

                  PWM\u9891\u7387：50Hz \u2192 \u5468\u671f20ms \u3002<\/p>\n<\/li>\n

                • \n

                  \u9884\u5206\u9891\u503c（PSC）：72MHz \/ (719 + 1) = 1MHz \u2192 \u6bcf\u4e2a\u8ba1\u6570\u5468\u671f10\u03bcs\u3002<\/p>\n<\/li>\n

                • \n

                  \u81ea\u52a8\u91cd\u88c5\u8f7d\u503c（ARR）：20,000\u03bcs \/ 10\u03bcs = 2000 \u2192\u00a0ARR = 1999（\u4ece0\u8ba1\u6570）\u3002<\/p>\n<\/li>\n<\/ul>\n

                  3)\u00a0\u8109\u51b2\u5bbd\u5ea6\u8ba1\u7b97（\u4ee590\u00b0\u4e3a\u4f8b）：<\/p>\n

                    \n
                  • \n

                    1.5ms = 1500\u03bcs \u2192\u00a0\u5360\u7a7a\u6bd4\u00a0= 1500 \/ 20000 = 7.5%\u3002<\/p>\n<\/li>\n

                  • \n

                    \u6bd4\u8f83\u5bc4\u5b58\u5668（CCR）：2000 * 7.5% = 150 \u2192\u00a0CCR = 150 – 1 = 149\u3002<\/p>\n<\/li>\n<\/ul>\n

                    \u5b9a\u65f6\u5668\u521d\u59cb\u5316\u4ee3\u7801\u5982\u4e0b：<\/p>\n

                    void SG90_PWM_Init(u16 arr, u16 psc)
                    \n{
                    \n GPIO_InitTypeDef GPIO_InitStructure;
                    \n TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
                    \n TIM_OCInitTypeDef TIM_OCInitStructure;<\/p>\n

                    \/\/ \u4f7f\u80fd\u5b9a\u65f6\u5668TIM3\u65f6\u949f，\u6ce8\u610fTIM3\u65f6\u949f\u4e3aAPB1，\u800c\u975eAPB2
                    \n RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);<\/p>\n

                    \/\/ \u4f7f\u80fdPWM\u8f93\u51faGPIO\u53e3\u65f6\u949f
                    \n RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
                    \n GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; \/\/ \u5b9a\u65f6\u5668TIM3\u7684PWM\u8f93\u51fa\u901a\u90533，TIM3_CH3
                    \n GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; \/\/ \u590d\u7528\u63a8\u633d\u8f93\u51fa
                    \n GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
                    \n GPIO_Init(GPIOB, &GPIO_InitStructure); \/\/ \u521d\u59cb\u5316GPIO<\/p>\n

                    TIM_TimeBaseStructure.TIM_Period = arr;\/\/\u81ea\u52a8\u91cd\u88c5\u503c
                    \n TIM_TimeBaseStructure.TIM_Prescaler =psc; \/\/\u65f6\u949f\u9884\u5206\u9891\u6570
                    \n TIM_TimeBaseStructure.TIM_ClockDivision = 0;
                    \n TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;\/\/TIM\u5411\u4e0a\u8ba1\u6570\u6a21\u5f0f
                    \n TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); \/\/\u521d\u59cb\u5316TIM3<\/p>\n

                    \/\/\u521d\u59cb\u5316TIM3_CH3\u7684PWM\u6a21\u5f0f
                    \n TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
                    \n TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
                    \n TIM_OCInitStructure.TIM_Pulse = 0;
                    \n TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;<\/p>\n

                    TIM_OC3Init(TIM3, &TIM_OCInitStructure);
                    \n TIM_OC3PreloadConfig(TIM3, TIM_OCPreload_Enable);\/\/\u4f7f\u80fd\u901a\u9053\u7684\u9884\u88c5\u8f7d\u5bc4\u5b58\u5668<\/p>\n

                    TIM_ARRPreloadConfig(TIM3, ENABLE); \/\/\u4f7f\u80fd\u91cd\u88c5\u5bc4\u5b58\u5668
                    \n TIM_Cmd(TIM3, ENABLE);\/\/\u4f7f\u80fd\u5b9a\u65f6\u5668TIM3，\u51c6\u5907\u5de5\u4f5c
                    \n}<\/p>\n

                    \u521d\u59cb\u5316\u53c2\u6570\u5982\u4e0b：\u00a0<\/p>\n

                    SG90_PWM_Init(1999,719); \/\/\u521d\u59cb\u5316\u8235\u673a <\/p>\n

                    4.2 \u89d2\u5ea6\u63a7\u5236\u51fd\u6570<\/h3>\n

                    \u5c06\u89d2\u5ea6\u8f6c\u6362\u4e3a\u5bf9\u5e94\u7684\u5360\u7a7a\u6bd4，\u89d2\u5ea6\u6700\u5927\u4e3a180\u00b0 \u3002<\/p>\n

                    void SG90_Set_Angle(uint8_t angle)
                    \n{
                    \n if (angle > 180)
                    \n angle = 180;
                    \n uint16_t duty = 10 * (angle + 45) \/ 9; \/\/ \u89d2\u5ea6\u8f6c\u5316\u4e3a\u5360\u7a7a\u6bd4<\/p>\n

                    TIM_SetCompare3(TIM3, duty); \/\/ \u8bbe\u7f6e\u5360\u7a7a\u6bd4
                    \n} <\/p>\n

                    4.3 \u4e3b\u51fd\u6570\u8c03\u7528<\/h3>\n

                    SG90_Set_Angle(0); \/\/\u5360\u7a7a\u6bd42.5%，0\u5ea6
                    \ndelay_ms(1000);
                    \nSG90_Set_Angle(90); \/\/\u5360\u7a7a\u6bd47.5%，90\u5ea6
                    \ndelay_ms(1000); <\/p>\n

                    \u4e94\u3001 \u603b\u7ed3<\/h2>\n

                    \u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u901a\u8fc7STM32F103C8T6\u7684\u5b9a\u65f6\u5668PWM\u529f\u80fd，\u53ef\u7cbe\u51c6\u63a7\u5236SG90\u8235\u673a\u89d2\u5ea6\u3002\u5173\u952e\u5728\u4e8e\u6b63\u786e\u914d\u7f6e\u5b9a\u65f6\u5668\u7684\u9884\u5206\u9891\u503c\u548c\u81ea\u52a8\u91cd\u88c5\u8f7d\u503c，\u5e76\u5408\u7406\u6620\u5c04\u89d2\u5ea6\u5230\u8109\u5bbd\u3002\u672c\u65b9\u6848\u6210\u672c\u4f4e\u3001\u53ef\u9760\u6027\u9ad8，\u9002\u5408\u673a\u5668\u4eba\u3001\u667a\u80fd\u5bb6\u5c45\u7b49\u5e94\u7528\u573a\u666f\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

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