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改参数

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Robofish 2025-10-19 11:25:16 +08:00
parent a9f8e48463
commit 0b3cd65b2b
1 changed files with 14 additions and 14 deletions
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28
User/module/config.c
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@ -254,20 +254,20 @@ Config_RobotParam_t robot_config = {
}
},
.lqr_gains = {
.k11_coeff = { -2.213202553185133e+02f, 2.353939463356143e+02f, -1.057072351438971e+02f, -1.581085937677281e+00f }, // theta
.k12_coeff = { -9.181864404672975e+00f, 8.531964722737065e+00f, -9.696625432480346e+00f, -2.388898921230960e-01f }, // d_theta
.k13_coeff = { -6.328339397527442e+01f, 6.270159865929592e+01f, -2.133356351416681e+01f, -2.795774497769496e-01f }, // x
.k14_coeff = { -7.428160824353201e+01f, 7.371925049068537e+01f, -2.613745545093503e+01f, -5.994101373770330e-01f }, // d_x
.k15_coeff = { -6.968934105907989e+01f, 9.229969229361623e+01f, -4.424018428098277e+01f, 8.098181536555296e+00f }, // phi
.k16_coeff = { -1.527045508038401e+01f, 2.030548630730375e+01f, -1.009526207086012e+01f, 2.014358176738665e+00f }, // d_phi
.k21_coeff = { 6.254476937997669e+01f, 9.037146968574660e+00f, -4.492072460618583e+01f, 1.770766202994207e+01f }, // theta
.k22_coeff = { 3.165057029795604e-02f, 7.350960766534424e+00f, -6.597366624137901e+00f, 2.798506180182324e+00f }, // d_theta
.k23_coeff = { -5.827814614802593e+01f, 7.789995488757775e+01f, -3.841148024725668e+01f, 8.034534049078013e+00f }, // x
.k24_coeff = { -8.937952443465080e+01f, 1.128943502182752e+02f, -5.293642666103645e+01f, 1.073722383888271e+01f }, // d_x
.k25_coeff = { 2.478483065877546e+02f, -2.463640234149189e+02f, 8.359617215530402e+01f, 8.324247402653134e+00f }, // phi
.k26_coeff = { 6.307211927250707e+01f, -6.266313408748906e+01f, 2.129449351279647e+01f, 9.249265186231070e-01f }, // d_phi
},
.lqr_gains = {
.k11_coeff = { -2.213202553185133e+02f, 2.353939463356143e+02f, -1.057072351438971e+02f, -1.581085937677281e+00f }, // theta
.k12_coeff = { -9.181864404672975e+00f, 8.531964722737065e+00f, -9.696625432480346e+00f, -2.388898921230960e-01f }, // d_theta
.k13_coeff = { -6.328339397527442e+01f, 6.270159865929592e+01f, -2.133356351416681e+01f, -2.795774497769496e-01f }, // x
.k14_coeff = { -7.428160824353201e+01f, 7.371925049068537e+01f, -2.613745545093503e+01f, -5.994101373770330e-01f }, // d_x
.k15_coeff = { -6.968934105907989e+01f, 9.229969229361623e+01f, -4.424018428098277e+01f, 8.098181536555296e+00f }, // phi
.k16_coeff = { -1.527045508038401e+01f, 2.030548630730375e+01f, -1.009526207086012e+01f, 2.014358176738665e+00f }, // d_phi
.k21_coeff = { 6.254476937997669e+01f, 9.037146968574660e+00f, -4.492072460618583e+01f, 1.770766202994207e+01f }, // theta
.k22_coeff = { 3.165057029795604e-02f, 7.350960766534424e+00f, -6.597366624137901e+00f, 2.798506180182324e+00f }, // d_theta
.k23_coeff = { -5.827814614802593e+01f, 7.789995488757775e+01f, -3.841148024725668e+01f, 8.034534049078013e+00f }, // x
.k24_coeff = { -8.937952443465080e+01f, 1.128943502182752e+02f, -5.293642666103645e+01f, 1.073722383888271e+01f }, // d_x
.k25_coeff = { 2.478483065877546e+02f, -2.463640234149189e+02f, 8.359617215530402e+01f, 8.324247402653134e+00f }, // phi
.k26_coeff = { 6.307211927250707e+01f, -6.266313408748906e+01f, 2.129449351279647e+01f, 9.249265186231070e-01f }, // d_phi
},
.theta = 0.0f,
.x = 0.0f,
.phi = -0.1f,