TuxMonkey/bf_original_balance_chassis
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 11:37:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

离地时进行速度闭环，基本实现稳定飞坡

Browse Source
This commit is contained in:
kai
2024-05-03 23:22:05 +08:00
parent 69e228ace0
commit 7fee0c15c3
4 changed files with 50 additions and 51 deletions
Download Patch File Download Diff File Expand all files Collapse all files

66
application/chassis/lqr_calc.h
View File

@@ -9,48 +9,44 @@
*/
static void CalcLQR(LinkNPodParam *p, ChassisParam *chassis)
{
float k[12][3] = {62.680622,-74.772126,-13.135672,
1.620796,-4.331826,-0.454705,
32.093563,-25.558681,-16.605856,
19.128242,-17.562747,-10.815380,
225.373594,-201.324771,53.236052,
13.575849,-13.013546,3.845604,
76.704297,-72.201666,20.359891,
4.520141,-4.051799,1.189345,
139.418565,-125.750074,34.110069,
88.295852,-79.170124,21.430975,
-163.725633,127.852860,110.004619,
-9.557678,7.476790,4.655220};
static float k[12][3] = {62.680622,-74.772126,-13.135672,
1.620796,-4.331826,-0.454705,
32.093563,-25.558681,-16.605856,
19.128242,-17.562747,-10.815380,
225.373594,-201.324771,53.236052,
13.575849,-13.013546,3.845604,
76.704297,-72.201666,20.359891,
4.520141,-4.051799,1.189345,
139.418565,-125.750074,34.110069,
88.295852,-79.170124,21.430975,
-163.725633,127.852860,110.004619,
-9.557678,7.476790,4.655220};
float T[2] = {0}; // 0 T_wheel 1 T_hip
float l = p->leg_len;
float lsqr = l * l;
// 离地检测
if (p->normal_force < 20.0f)
{
for (size_t i = 0; i < 12; i++)
{
// 除 theta 和 theta_dot 的关节输出外，其余增益全部置0
if(i != 6 && i != 7)
{
for (size_t j = 0; j < 3; j++)
{
k[i][j] = 0;
}
}
}
}
// 计算增益
for (uint8_t i = 0; i < 2; ++i)
{
uint8_t j = i * 6;
T[i] = (k[j + 0][0] * lsqr + k[j + 0][1] * l + k[j + 0][2]) * -p->theta +
(k[j + 1][0] * lsqr + k[j + 1][1] * l + k[j + 1][2]) * -p->theta_w +
(k[j + 2][0] * lsqr + k[j + 2][1] * l + k[j + 2][2]) * (chassis->target_dist - chassis->dist) +
(k[j + 3][0] * lsqr + k[j + 3][1] * l + k[j + 3][2]) * (chassis->target_v - chassis->vel) +
(k[j + 4][0] * lsqr + k[j + 4][1] * l + k[j + 4][2]) * -chassis->pitch +
(k[j + 5][0] * lsqr + k[j + 5][1] * l + k[j + 5][2]) * -chassis->pitch_w;
if(i == 0) // 离地时仅对速度闭环，保证落地时轮速与机体速度一致
{
T[i] = (k[j + 3][0] * lsqr + k[j + 3][1] * l + k[j + 3][2]) * (chassis->target_v - chassis->vel) + (p->fly_flag ? 0 :
( (k[j + 0][0] * lsqr + k[j + 0][1] * l + k[j + 0][2]) * -p->theta +
(k[j + 1][0] * lsqr + k[j + 1][1] * l + k[j + 1][2]) * -p->theta_w +
(k[j + 2][0] * lsqr + k[j + 2][1] * l + k[j + 2][2]) * (chassis->target_dist - chassis->dist) +
(k[j + 4][0] * lsqr + k[j + 4][1] * l + k[j + 4][2]) * -chassis->pitch +
(k[j + 5][0] * lsqr + k[j + 5][1] * l + k[j + 5][2]) * -chassis->pitch_w ));
}
else if(i == 1) // 离地时关节输出仅保留 theta 和 theta_dot，保证滞空时腿部竖直
{
T[i] = (k[j + 0][0] * lsqr + k[j + 0][1] * l + k[j + 0][2]) * -p->theta +
(k[j + 1][0] * lsqr + k[j + 1][1] * l + k[j + 1][2]) * -p->theta_w + (p->fly_flag ? 0 :
( (k[j + 2][0] * lsqr + k[j + 2][1] * l + k[j + 2][2]) * (chassis->target_dist - chassis->dist) +
(k[j + 3][0] * lsqr + k[j + 3][1] * l + k[j + 3][2]) * (chassis->target_v - chassis->vel) +
(k[j + 4][0] * lsqr + k[j + 4][1] * l + k[j + 4][2]) * -chassis->pitch +
(k[j + 5][0] * lsqr + k[j + 5][1] * l + k[j + 5][2]) * -chassis->pitch_w ));
}
}
p->T_wheel = T[0];
p->T_hip = T[1];