TuxMonkey/bf_original_balance_chassis
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修正电机扭矩常数

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kai
2024-01-27 23:50:58 +08:00
parent c9bba0bea2
commit d8508f6a58
4 changed files with 10 additions and 8 deletions
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3
.vscode/settings.json vendored
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@@ -4,5 +4,6 @@
"general_def.h": "c", "general_def.h": "c",
"stdlib.h": "c", "stdlib.h": "c",
"bsp_can.h": "c" "bsp_can.h": "c"
} },
"C_Cpp.errorSquiggles": "disabled"
} }

12
application/chassis/balance.c
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@@ -385,12 +385,12 @@ static void LegControl()
/* 设定运动模态的输出 */ /* 设定运动模态的输出 */
static void WattLimitSet() static void WattLimitSet()
{ {
HTMotorSetRef(lf, 0.285f * -l_side.T_front); // 根据扭矩常数计算得到的系数 HTMotorSetRef(lf, 0.2857 * -l_side.T_front); // 根据扭矩常数计算得到的系数
HTMotorSetRef(lb, 0.285f * -l_side.T_back); HTMotorSetRef(lb, 0.2857 * -l_side.T_back);
HTMotorSetRef(rf, 0.285f * r_side.T_front); HTMotorSetRef(rf, 0.2857 * r_side.T_front);
HTMotorSetRef(rb, 0.285f * r_side.T_back); HTMotorSetRef(rb, 0.2857 * r_side.T_back);
LKMotorSetRef(l_driven, 274.348 * l_side.T_wheel); LKMotorSetRef(l_driven, 195.3125 * l_side.T_wheel);
LKMotorSetRef(r_driven, 274.348 * -r_side.T_wheel); LKMotorSetRef(r_driven, 195.3125 * -r_side.T_wheel);
} }

1
modules/motor/HTmotor/HT04.h
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@@ -11,6 +11,7 @@
#define CURRENT_SMOOTH_COEF 0.9f #define CURRENT_SMOOTH_COEF 0.9f
#define SPEED_BUFFER_SIZE 5 #define SPEED_BUFFER_SIZE 5
#define HT_SPEED_BIAS -0.0109901428f // 电机速度偏差,单位rad/s #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 P_MIN -95.5f // Radians #define P_MIN -95.5f // Radians
#define P_MAX 95.5f #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 SPEED_SMOOTH_COEF 0.85f
#define REDUCTION_RATIO_DRIVEN 1 #define REDUCTION_RATIO_DRIVEN 1
#define ECD_ANGLE_COEF_LK (360.0f / 65536.0f) #define ECD_ANGLE_COEF_LK (360.0f / 65536.0f)
#define CURRENT_TORQUE_COEF_LK 0.003645f // // 电流设定值转换成扭矩的系数,算出来的设定值除以这个系数就是扭矩值 #define CURRENT_TORQUE_COEF_LK 0.00512f // 电流设定值转换成扭矩的系数
typedef struct // 9025 typedef struct // 9025
{ {