以下程序经过本人实际测试，可直接使用。
void TIM1_PWM_Config(void)
{
GPIO_InitTypeDef GPIO_InitStruct;
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_BDTRInitTypeDef TIM_BDTRInitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA|RCC_APB2Periph_GPIOB|RCC_APB2Periph_TIM1, ENABLE);
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_9|GPIO_Pin_10;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOA, &GPIO_InitStruct);
GPIO_InitStruct.GPIO_Pin = GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15;
GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStruct.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_Init(GPIOB, &GPIO_InitStruct);
TIM_DeInit(TIM1);
TIM_TimeBaseInitStructure.TIM_Prescaler=0;
TIM_TimeBaseInitStructure.TIM_Period=5000-1; //14.4KHz
TIM_TimeBaseInitStructure.TIM_CounterMode=TIM_CounterMode_Up;
TIM_TimeBaseInitStructure.TIM_ClockDivision=TIM_CKD_DIV1;
TIM_TimeBaseInit(TIM1,&TIM_TimeBaseInitStructure);
TIM_OCInitStructure.TIM_OCMode=TIM_OCMode_PWM1; //CCR=0的时候，上臂关闭下臂打开，处于刹车状态
TIM_OCInitStructure.TIM_OutputState=TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState=TIM_OutputNState_Enable;
TIM_OCInitStructure.TIM_Pulse=0;
TIM_OCInitStructure.TIM_OCPolarity=TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_OCNPolarity=TIM_OCNPolarity_High;
TIM_OCInitStructure.TIM_OCIdleState=TIM_OCIdleState_Reset;
TIM_OCInitStructure.TIM_OCNIdleState=TIM_OCNIdleState_Reset;
TIM_OC1Init(TIM1,&TIM_OCInitStructure);
TIM_OC2Init(TIM1,&TIM_OCInitStructure);
TIM_OC3Init(TIM1,&TIM_OCInitStructure);
TIM_BDTRInitStructure.TIM_OSSRState=TIM_OSSRState_Enable;
TIM_BDTRInitStructure.TIM_OSSIState=TIM_OSSIState_Enable;
TIM_BDTRInitStructure.TIM_LOCKLevel=TIM_LOCKLevel_OFF;
TIM_BDTRInitStructure.TIM_DeadTime=0x48; //13.89ns*72=1us
TIM_BDTRInitStructure.TIM_Break=TIM_Break_Disable; //刹车功能
TIM_BDTRInitStructure.TIM_BreakPolarity = TIM_BreakPolarity_High; //刹车输入高电平有效
TIM_BDTRInitStructure.TIM_AutomaticOutput=TIM_AutomaticOutput_Enable; //自动输出使能
TIM_BDTRConfig(TIM1,&TIM_BDTRInitStructure);
TIM_OC1PreloadConfig(TIM1,TIM_OCPreload_Enable);
TIM_OC2PreloadConfig(TIM1,TIM_OCPreload_Enable);
TIM_OC3PreloadConfig(TIM1,TIM_OCPreload_Enable);
TIM_ARRPreloadConfig(TIM1,ENABLE);
TIM_Cmd(TIM1,ENABLE);
TIM_CCPreloadControl(TIM1,DISABLE); //ENABLE
TIM_CtrlPWMOutputs(TIM1,ENABLE);
}
互补PWM输出，带死区。
PWM频率14.4KHz，占空比调节范围0—5000，值越大占空比越大
TIM_SetCompare1(TIM1,x);
TIM_SetCompare2(TIM1,x);
TIM_SetCompare3(TIM1,x);