mirror of
https://gitee.com/dlmu-cone/bf_original_balance_chassis
synced 2026-07-24 03:27:45 +08:00
51 lines
2.2 KiB
C
51 lines
2.2 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] = {91.443258,-113.149301,-8.780431,
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2.186397,-6.908826,-0.171192,
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47.943203,-39.423913,-13.297140,
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30.671413,-28.308799,-9.363969,
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231.778706,-224.742110,68.974495,
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18.910995,-20.079072,7.490403,
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50.114072,-58.670210,23.856863,
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3.273746,-3.321150,1.267603,
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140.969395,-137.481822,42.507159,
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93.859327,-90.754295,27.811839,
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-283.581279,232.017305,87.865897,
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-28.193619,23.802666,3.963794,};
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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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} |