TuxMonkey/bf_original_balance_chassis
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修改与轮电机固连杆，使用机体速度计算LQR增益

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kai
2024-04-28 16:14:10 +08:00
parent 41e13aee44
commit b7e4c80cb4
8 changed files with 58 additions and 46 deletions
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2
modules/motor/HTmotor/HT04.h
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@@ -11,7 +11,7 @@
#define CURRENT_SMOOTH_COEF 0.9f
#define SPEED_BUFFER_SIZE 5
#define HT_SPEED_BIAS -0.0109901428f // 电机速度偏差,单位rad/s
#define TORQUE_CONST_HT 3.5 // 扭矩常数,单位N.m/A
#define TORQUE_COEF_HT 3.5 // 扭矩系数,单位N.m/A
#define P_MIN -95.5f // Radians
#define P_MAX 95.5f

2
modules/motor/LKmotor/LK9025.h
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@@ -15,7 +15,7 @@
#define SPEED_SMOOTH_COEF 0.85f
#define REDUCTION_RATIO_DRIVEN 1
#define ECD_ANGLE_COEF_LK (360.0f / 65536.0f)
#define CURRENT_TORQUE_COEF_LK 0.00512f // 电流设定值转换成扭矩的系数
#define CURRENT_TORQUE_COEF_LK 0.00512f // 电流设定值转换成扭矩的系数，这里对应的是16T
typedef struct // 9025
{