mirror of
https://gitee.com/dlmu-cone/bf_original_balance_chassis
synced 2026-07-23 19:25:09 +08:00
51 lines
2.5 KiB
C
51 lines
2.5 KiB
C
#include "balance.h"
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#include "stdint.h"
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#include "arm_math.h"
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/**
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* @brief 根据状态反馈计算当前腿长,查表获得LQR的反馈增益,并列式计算LQR的输出
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* @note 得到的腿部力矩输出还要经过综合运动控制系统补偿后映射为两个关节电机输出
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*
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*/
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static void CalcLQR(LinkNPodParam *p, ChassisParam *chassis)
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{
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static float k[12][3] = {64.570926,-78.151551,-15.098827,
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1.716153,-4.573289,-0.526836,
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25.565621,-20.634320,-17.563574,
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11.633020,-11.021911,-13.087704,
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212.754066,-196.450645,56.227305,
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12.051262,-11.941105,4.523285,
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74.149148,-71.296364,23.673363,
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4.449069,-4.214434,1.145555,
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115.321993,-106.373546,29.626387,
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82.459182,-74.915697,20.072512,
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-163.793049,130.808796,114.419419,
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-13.396998,11.357026,4.288949};
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float T[2] = {0}; // 0 T_wheel 1 T_hip
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float l = p->leg_len;
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float lsqr = l * l;
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uint8_t i, j;
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// 离地时轮子输出置0
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i = 0; j = i * 6;
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T[i] = p->fly_flag ? 0 :
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((k[j + 0][0] * lsqr + k[j + 0][1] * l + k[j + 0][2]) * -p->theta +
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(k[j + 1][0] * lsqr + k[j + 1][1] * l + k[j + 1][2]) * -p->theta_w +
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(k[j + 2][0] * lsqr + k[j + 2][1] * l + k[j + 2][2]) * (chassis->target_dist - chassis->dist) +
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(k[j + 3][0] * lsqr + k[j + 3][1] * l + k[j + 3][2]) * (chassis->target_v - chassis->vel) +
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(k[j + 4][0] * lsqr + k[j + 4][1] * l + k[j + 4][2]) * -chassis->pitch +
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(k[j + 5][0] * lsqr + k[j + 5][1] * l + k[j + 5][2]) * -chassis->pitch_w);
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// 离地时关节输出仅保留 theta 和 theta_dot，保证滞空时腿部竖直
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i = 1; j = i * 6;
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T[i] = (k[j + 0][0] * lsqr + k[j + 0][1] * l + k[j + 0][2]) * -p->theta +
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(k[j + 1][0] * lsqr + k[j + 1][1] * l + k[j + 1][2]) * -p->theta_w + (p->fly_flag ? 0 :
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((k[j + 2][0] * lsqr + k[j + 2][1] * l + k[j + 2][2]) * (chassis->target_dist - chassis->dist) +
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(k[j + 3][0] * lsqr + k[j + 3][1] * l + k[j + 3][2]) * (chassis->target_v - chassis->vel) +
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(k[j + 4][0] * lsqr + k[j + 4][1] * l + k[j + 4][2]) * -chassis->pitch +
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(k[j + 5][0] * lsqr + k[j + 5][1] * l + k[j + 5][2]) * -chassis->pitch_w));
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p->T_wheel = T[0];
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p->T_hip = T[1];
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} |