From 7efa8b11bb3c02ad9859bb8e3c4442e4cf4c3c8d Mon Sep 17 00:00:00 2001 From: kai <1797003616@qq.com> Date: Thu, 18 Jan 2024 23:33:54 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E4=BA=94=E8=BF=9E=E6=9D=86?= =?UTF-8?q?=E8=A7=A3=E7=AE=97=E5=92=8C=E9=80=9F=E5=BA=A6=E4=BC=B0=E8=AE=A1?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- application/chassis/balance.c | 2 + application/chassis/linkNleg.h | 79 ++++++++++++++ application/chassis/speed_estimation.h | 100 ++++++++++++++++++ matlab/slprj/_jitprj/jitEngineAccessInfo.mat | Bin 5963 -> 5980 bytes .../slprj/_jitprj/sX9KsJTz0Rxcyab0eSODvaB.l | Bin 0 -> 30560 bytes .../slprj/_jitprj/sX9KsJTz0Rxcyab0eSODvaB.mat | Bin 0 -> 1289 bytes .../_sfprj/EMLReport/emlReportAccessInfo.mat | Bin 5968 -> 5992 bytes .../EMLReport/sX9KsJTz0Rxcyab0eSODvaB.mat | Bin 0 -> 39294 bytes .../precompile/D5ZxKRF0sEpdsk7hyWkDd.mat | Bin 0 -> 986 bytes .../_sfprj/precompile/autoInferAccessInfo.mat | Bin 10736 -> 10764 bytes .../precompile/hEenC4JTyow5SDrklRyRUF.mat | Bin 0 -> 957 bytes .../wheel_leg/_self/sfun/info/binfo.mat | Bin 934 -> 918 bytes matlab/slprj/_sfprj/wheel_leg/amsi_serial.mat | Bin 230 -> 230 bytes matlab/wheel_leg.slx | Bin 102943 -> 102752 bytes modules/imu/ins_task.c | 4 + modules/imu/ins_task.h | 1 + 16 files changed, 186 insertions(+) create mode 100644 application/chassis/linkNleg.h create mode 100644 application/chassis/speed_estimation.h create mode 100644 matlab/slprj/_jitprj/sX9KsJTz0Rxcyab0eSODvaB.l create mode 100644 matlab/slprj/_jitprj/sX9KsJTz0Rxcyab0eSODvaB.mat create mode 100644 matlab/slprj/_sfprj/EMLReport/sX9KsJTz0Rxcyab0eSODvaB.mat create mode 100644 matlab/slprj/_sfprj/precompile/D5ZxKRF0sEpdsk7hyWkDd.mat create mode 100644 matlab/slprj/_sfprj/precompile/hEenC4JTyow5SDrklRyRUF.mat diff --git a/application/chassis/balance.c b/application/chassis/balance.c index eb902c0..8e3ffb4 100644 --- a/application/chassis/balance.c +++ b/application/chassis/balance.c @@ -15,6 +15,8 @@ #include "arm_math.h" // 需要用到较多三角函数 #include "bsp_dwt.h" #include "bsp_log.h" +#include "linkNleg.h" +#include "speed_estimation.h" static uint32_t balance_dwt_cnt; diff --git a/application/chassis/linkNleg.h b/application/chassis/linkNleg.h new file mode 100644 index 0000000..f1ac1de --- /dev/null +++ b/application/chassis/linkNleg.h @@ -0,0 +1,79 @@ +#include "arm_math.h" +#include "balance.h" +#include "math.h" +#include "user_lib.h" + +/* 计算的T_hip和F_Leg映射为关节电机输出 */ +void VMCProject(LinkNPodParam *p) +{ + float phi12 = p->phi1 - p->phi2; + float phi34 = p->phi3 - p->phi4; + float phi32 = p->phi3 - p->phi2; + float phi53 = p->phi5 - p->phi3; + float phi52 = p->phi5 - p->phi2; + float F_m_L = p->F_leg * p->leg_len; + p->T_back = (THIGH_LEN * msin(phi12) * (F_m_L * msin(phi53) + p->T_hip * mcos(phi53))) / (p->leg_len * msin(phi32)); + p->T_front = (CALF_LEN * msin(phi34) * (F_m_L * msin(phi52) + p->T_hip * mcos(phi52))) / (p->leg_len * msin(phi32)); +} + +/** + * @brief 根据关节角度和角速度,计算单杆长度和角度以及变化率 + * + * @note 右侧视图 + * ___x + * | 1 _____ 4 + * |y / \ + * 2 \ / 3 + * \ / + * \./ + * 5 + * @param p 5连杆和腿的参数 + */ +void Link2Leg(LinkNPodParam *p, ChassisParam *chassis) +{ + float xD, yD, xB, yB, BD, A0, B0, xC, yC; + p->coord[4] = xD = JOINT_DISTANCE + THIGH_LEN * mcos(p->phi4); + p->coord[5] = yD = THIGH_LEN * msin(p->phi4); + p->coord[0] = xB = THIGH_LEN * mcos(p->phi1); + p->coord[1] = yB = THIGH_LEN * msin(p->phi1); + + BD = powf(xD - xB, 2) + powf(yD - yB, 2); + A0 = 2 * CALF_LEN * (xD - xB); + B0 = 2 * CALF_LEN * (yD - yB); + p->phi2 = 2 * atan2f(B0 + Sqrt(powf(A0, 2) + powf(B0, 2) - powf(BD, 2)), A0 + BD); + p->coord[2] = xC = xB + CALF_LEN * mcos(p->phi2); + p->coord[3] = yC = yB + CALF_LEN * msin(p->phi2); + p->phi3 = atan2f(yC - yD, xC - xD); // 稍后用于计算VMC + + // theta and LegLength solve + p->phi5 = atan2f(yC, xC - JOINT_DISTANCE / 2); + p->leg_len = Sqrt(powf(xC - JOINT_DISTANCE / 2, 2) + powf(yC, 2)); + p->theta = p->phi5 - 0.5 * PI - chassis->pitch; // 确定方向 + p->height = p->leg_len * mcos(p->theta); + + // 预测下一个时刻 + static float predict_dt = 0.0001f; + float phi1_pred = p->phi1 + p->phi1_w * predict_dt; // 预测下一时刻的关节角度(利用关节角速度) + float phi4_pred = p->phi4 + p->phi4_w * predict_dt; + + // 重新计算腿长和腿角度 + xD = JOINT_DISTANCE + THIGH_LEN * mcos(phi4_pred); + yD = THIGH_LEN * msin(phi4_pred); + xB = 0 + THIGH_LEN * mcos(phi1_pred); + yB = THIGH_LEN * msin(phi1_pred); + + BD = powf(xD - xB, 2) + powf(yD - yB, 2); + A0 = 2 * CALF_LEN * (xD - xB); + B0 = 2 * CALF_LEN * (yD - yB); + float phi2_pred = 2 * atan2f(B0 + Sqrt(powf(A0, 2) + powf(B0, 2) - powf(BD, 2)), A0 + BD); + xC = xB + CALF_LEN * mcos(phi2_pred); + yC = yB + CALF_LEN * msin(phi2_pred); + float phi5_pred = atan2f(yC, xC - JOINT_DISTANCE / 2); + + // 差分计算腿长变化率和腿角速度 + p->phi2_w = (phi2_pred - p->phi2) / predict_dt; // 稍后用于修正轮速 + p->phi5_w = (phi5_pred - p->phi5) / predict_dt; + p->legd = (Sqrt(powf(xC - JOINT_DISTANCE / 2, 2) + powf(yC, 2)) - p->leg_len) / predict_dt; + p->theta_w = ((phi5_pred - 0.5 * PI - (chassis->pitch + chassis->pitch_w) - p->theta) / predict_dt); // 可以不考虑机体? -predict_dt*chassis.pitch_w + p->height_v = p->legd * mcos(p->theta) - p->leg_len * msin(p->theta) * p->theta_w; +} diff --git a/application/chassis/speed_estimation.h b/application/chassis/speed_estimation.h new file mode 100644 index 0000000..836c37d --- /dev/null +++ b/application/chassis/speed_estimation.h @@ -0,0 +1,100 @@ +#include "balance.h" +#include "user_lib.h" +#include "ins_task.h" +#include "general_def.h" + +#define EST_FINAL_LPF 0.005f // 最终速度的低通滤波系数 +static KalmanFilter_t kf; + +/** + * @brief 底盘为右手系 + * + * ^ y 左轮 右轮 + * | | | 前 + * |_____ > x |------| + * z 轴从屏幕向外 | | 后 + */ + +void SpeedEstInit() +{ + // 使用kf同时估计速度和加速度 + // Kalman_Filter_Init(&kf, 2, 0, 2); + // float F[4] = {1, 0.001, 0, 1}; + // float Q[4] = {VEL_PROCESS_NOISE, 0, 0, ACC_PROCESS_NOISE}; + // float R[4] = {VEL_MEASURE_NOISE, 0, 0, ACC_MEASURE_NOISE}; + // float P[4] = {100000, 0, 0, 100000}; + // float H[4] = {1, 0, 0, 1}; + // memcpy(kf.F_data, F, sizeof(F)); + // memcpy(kf.Q_data, Q, sizeof(Q)); + // memcpy(kf.R_data, R, sizeof(R)); + // memcpy(kf.P_data, P, sizeof(P)); + // memcpy(kf.H_data, H, sizeof(H)); +} + +/** + * @brief 使用卡尔曼滤波估计底盘速度 + * @todo 增加w和dw的滤波,当w和dw均小于一定值时,不考虑dw导致的角加速度 + * + * @param lp 左侧腿 + * @param rp 右侧腿 + * @param cp 底盘 + * @param imu imu数据 + * @param delta_t 更新间隔 + */ +void SpeedEstimation(LinkNPodParam *lp, LinkNPodParam *rp, ChassisParam *cp, INS_t *imu, float delta_t) +{ + // 修正轮速和距离 + lp->wheel_w = lp->w_ecd + lp->phi2_w - cp->pitch_w; // 减去和定子固连的phi2_w + rp->wheel_w = rp->w_ecd + rp->phi2_w - cp->pitch_w; + + // 直接使用轮速反馈,不进行速度融合 + // cp->vel = (lp->wheel_w + rp->wheel_w) * WHEEL_RADIUS / 2; + // cp->dist = cp->dist + cp->vel * delta_t; + + // 以轮子为基点,计算机体两侧髋关节处的速度 + lp->body_v = lp->wheel_w * WHEEL_RADIUS + lp->leg_len * lp->theta_w + lp->legd * msin(lp->theta); + rp->body_v = rp->wheel_w * WHEEL_RADIUS + rp->leg_len * rp->theta_w + rp->legd * msin(rp->theta); + cp->vel_m = (lp->body_v + rp->body_v) / 2; // 机体速度(平动)为两侧速度的平均值 + + // 扣除旋转导致的向心加速度和角加速度*R + float *gyro = imu->Gyro, *dgyro = imu->dgyro; + static float yaw_ddwrNwwr, yaw_p_ddwrNwwr, pitch_ddwrNwwr; + static float macc_y, macc_z; // 补偿后的实际平动加速度,机体系前进方向和竖直方向 + yaw_ddwrNwwr = powf(gyro[Z], 2) * CENTER_IMU_W - dgyro[Z] * CENTER_IMU_L; // yaw旋转导致motion_acc[1]的额外加速度(机体前后方向) + yaw_p_ddwrNwwr = powf(gyro[X], 2) * CENTER_IMU_W + dgyro[X] * CENTER_IMU_H; // pitch旋转导致motion_acc[1]的额外加速度(机体前后方向) + pitch_ddwrNwwr = powf(gyro[X], 2) * CENTER_IMU_H - dgyro[X] * CENTER_IMU_W; // pitch旋转导致motion_acc[2]的额外加速度(机体竖直方向) + macc_y = -imu->MotionAccel_b[Y] - yaw_ddwrNwwr - yaw_p_ddwrNwwr; + macc_z = imu->MotionAccel_b[Z] - pitch_ddwrNwwr; + + float pitch = imu->Pitch * DEGREE_2_RAD; + cp->acc_last = cp->acc_m; + cp->acc_m = macc_y * mcos(pitch) - macc_z * msin(pitch); // 绝对系下的平动加速度,即机体系下的加速度投影到绝对系 + + // for debug 对比修正前后的加速度 + static float ry, rz, rawaa; + ry = -imu->MotionAccel_b[Y]; + rz = imu->MotionAccel_b[Z]; + rawaa = ry * mcos(pitch) - rz * msin(pitch); + + // 使用kf同时估计加速度和速度,滤波更新 + // kf.MeasuredVector[0] = cp->vel_m; + // kf.MeasuredVector[1] = cp->acc_m; + // kf.F_data[1] = delta_t; // 更新F矩阵 + // Kalman_Filter_Update(&kf); + // cp->vel = kf.xhat_data[0]; + // cp->acc = kf.xhat_data[1]; + + // 融合加速度计的数据和机体速度 + static float f, k, prior, measure, cov; + f = (cp->acc_m + cp->acc_last) / 2; // 速度梯形积分 + prior = cp->vel + f * delta_t; // x' = Fx,先验估计 + cp->vel_predict = prior; + measure = cp->vel_m; // 测量值 + cov = cp->vel_cov + VEL_PROCESS_NOISE * delta_t; // P' = P + Q ,先验协方差 + cp->vel_cov = cov; + k = cov / (cov + VEL_MEASURE_NOISE); // K = P'/(P'+R),卡尔曼增益 + cp->vel = prior + k * (measure - prior); // x^ = x'+K(z-x'),后验估计 + cp->vel_cov *= (1 - k); // P^ = (1-K)P',后验协方差 + VAL_LIMIT(cp->vel_cov, 0.01, 100); // 协方差限幅 + cp->dist = cp->dist + cp->vel * delta_t; +} \ No newline at end of file diff --git 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zfeb1n*!d+0@{cIpu-sa9P=^<-9!O!Ab+MNV?2<6oTI@yo@lVn z8w6612FODOr~iE>0<}eh+u)M%kCEK>ga#sv0iY9?{IM{VHGzOwwt;}a{rANE=dW`n zs6QA$4`KvI1Ov`MA7TJ9kmT>6*cgB;*tcXc2Ea)4ze0rnsrc{N-vSZFg7peWAhTG2 zETk$S=sFhs4trw(Y=BwNRV;voq3!Vxi|IZuyw}rKee`QLLr5gXr zC;rO+$K~oj(-wbg{41}~{VO8^;U|D)|9g(@zp|*$|H>@>%KrBx$bV(=cK^y66TqF# n!SkFwZgZO{J>fd_*X$It15PKqk5mqbYZ?panAU61; diff --git a/modules/imu/ins_task.c b/modules/imu/ins_task.c index ec084b6..ecb1f57 100644 --- a/modules/imu/ins_task.c +++ b/modules/imu/ins_task.c @@ -111,6 +111,7 @@ attitude_t *INS_Init(void) // noise of accel is relatively big and of high freq,thus lpf is used INS.AccelLPF = 0.0085; + INS.DGyroLPF = 0.008; DWT_GetDeltaT(&INS_DWT_Count); return (attitude_t *)&INS.Gyro; // @todo: 这里偷懒了,不要这样做! 修改INT_t结构体可能会导致异常,待修复. } @@ -132,6 +133,9 @@ void INS_Task(void) INS.Accel[X] = BMI088.Accel[X]; INS.Accel[Y] = BMI088.Accel[Y]; INS.Accel[Z] = BMI088.Accel[Z]; + INS.dgyro[X] = (BMI088.Gyro[X] - INS.Gyro[X])/ (INS.DGyroLPF + dt) + INS.dgyro[X] * INS.DGyroLPF / (INS.DGyroLPF + dt); + INS.dgyro[Y] = (BMI088.Gyro[Y] - INS.Gyro[Y])/ (INS.DGyroLPF + dt) + INS.dgyro[Y] * INS.DGyroLPF / (INS.DGyroLPF + dt); + INS.dgyro[Z] = (BMI088.Gyro[Z] - INS.Gyro[Z])/ (INS.DGyroLPF + dt) + INS.dgyro[Z] * INS.DGyroLPF / (INS.DGyroLPF + dt); INS.Gyro[X] = BMI088.Gyro[X]; INS.Gyro[Y] = BMI088.Gyro[Y]; INS.Gyro[Z] = BMI088.Gyro[Z]; diff --git a/modules/imu/ins_task.h b/modules/imu/ins_task.h index 4acac19..0d4528c 100644 --- a/modules/imu/ins_task.h +++ b/modules/imu/ins_task.h @@ -56,6 +56,7 @@ typedef struct // IMU量测值 float Gyro[3]; // 角速度 + float dgyro[3]; float Accel[3]; // 加速度 // 位姿 float Roll;