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fix位移控制

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Robofish 2026-03-17 02:44:50 +08:00
parent b6c6522a63
commit 0f4dfbd61d
1 changed files with 7 additions and 1 deletions
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8
User/module/balance_chassis.c
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@ -1041,10 +1041,16 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
float world_vy = c_cmd->move_vec.vy * c->param->rotor_ctrl.max_trans_speed; float world_vy = c_cmd->move_vec.vy * c->param->rotor_ctrl.max_trans_speed;
c->chassis_state.target_velocity_x = -world_vx * sinf(gimbal_offset) + world_vy * cosf(gimbal_offset); c->chassis_state.target_velocity_x = -world_vx * sinf(gimbal_offset) + world_vy * cosf(gimbal_offset);
c->chassis_state.last_target_velocity_x = c->chassis_state.target_velocity_x; c->chassis_state.last_target_velocity_x = c->chassis_state.target_velocity_x;
c->chassis_state.target_x += c->chassis_state.target_velocity_x * c->dt;
} else { } else {
c->chassis_state.target_velocity_x = c_cmd->move_vec.vx * 2.0f; c->chassis_state.target_velocity_x = c_cmd->move_vec.vx * 2.0f;
c->chassis_state.last_target_velocity_x = c->chassis_state.target_velocity_x; c->chassis_state.last_target_velocity_x = c->chassis_state.target_velocity_x;
}
/* 有速度指令时：纯速度控制，目标位移跟随当前位移（消除位移误差）
* 无速度指令时：位移+速度双环控制，积分保持位置锁定 */
if (fabsf(c->chassis_state.target_velocity_x) > 0.01f) {
c->chassis_state.target_x = c->chassis_state.position_x;
} else {
c->chassis_state.target_x += c->chassis_state.target_velocity_x * c->dt; c->chassis_state.target_x += c->chassis_state.target_velocity_x * c->dt;
} }