mirror of
https://gitee.com/dlmu-cone/bf_original_balance_chassis
synced 2026-07-23 19:25:09 +08:00
43 lines
2.1 KiB
C
43 lines
2.1 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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float k[12][3] = {85.842511,-168.176021,-4.383994,
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-8.011354,-27.544550,0.946791,
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40.658824,-34.245857,-13.443024,
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33.057883,-37.645803,-8.872245,
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186.414265,-182.258244,59.110130,
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12.371459,-12.979501,4.575691,
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-2.044517,-13.973090,28.443243,
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-8.073717,8.553946,2.899594,
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109.977348,-109.218563,37.018016,
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67.432105,-68.632617,25.883284,
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-210.173934,175.310058,96.350481,
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-15.827060,13.395116,3.049615};
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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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// float dist_limit = abs(chassis->target_dist - chassis->dist) > MAX_DIST_TRACK ? sign(chassis->target_dist - chassis->dist) * MAX_DIST_TRACK : (chassis->target_dist - chassis->dist); // todo设置值
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// float vel_limit = abs(chassis->target_v - chassis->vel) > MAX_VEL_TRACK ? sign(chassis->target_v - chassis->vel) * MAX_VEL_TRACK : (chassis->target_v - chassis->vel);
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for (uint8_t i = 0; i < 2; ++i)
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{
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uint8_t 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 +
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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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}
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p->T_wheel = T[0];
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p->T_hip = T[1];
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} |