From 042ab6e3908d08637a6160a5bbb0a10f798ebe5e Mon Sep 17 00:00:00 2001 From: Robofish <1683502971@qq.com> Date: Tue, 7 Oct 2025 16:10:13 +0800 Subject: [PATCH] =?UTF-8?q?=E5=8A=A0=E5=9B=9Erol=E8=A1=A5=E5=81=BF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- User/module/balance_chassis.c | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c index 4da5ecb..4436060 100644 --- a/User/module/balance_chassis.c +++ b/User/module/balance_chassis.c @@ -397,8 +397,10 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) { // 横滚角补偿力（左腿减少支撑力） virtual_force[0] = (c->lqr[0].control_output.Tp) * sinf(c->vmc_[0].leg.theta) + - pid_output + 50.0f + roll_compensation_force; - + pid_output + 60.0f + roll_compensation_force; + // virtual_force[0] = + // (c->lqr[0].control_output.Tp) * sinf(c->vmc_[0].leg.theta) + + // pid_output + 60.0f; // VMC逆解算（包含摆角补偿） if (VMC_InverseSolve(&c->vmc_[0], virtual_force[0], c->lqr[0].control_output.Tp + Delta_Tp[0]) == 0) { @@ -421,7 +423,10 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) { // 横滚角补偿力（右腿增加支撑力） virtual_force[1] = (c->lqr[1].control_output.Tp) * sinf(c->vmc_[1].leg.theta) + - pid_output + 55.0f - roll_compensation_force; + pid_output + 65.0f - roll_compensation_force; + // virtual_force[1] = + // (c->lqr[1].control_output.Tp) * sinf(c->vmc_[1].leg.theta) + + // pid_output + 65.0f; // VMC逆解算（包含摆角补偿） if (VMC_InverseSolve(&c->vmc_[1], virtual_force[1],