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Robofish 2025-10-05 19:22:09 +08:00
parent 89092f771b
commit 7492cf8e05
2 changed files with 3 additions and 3 deletions
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4
User/module/balance_chassis.c
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@ -382,7 +382,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
c->vmc_[0].leg.L0, leg_d_length[0], c->dt);
// 腿长控制力 = LQR摆杆力矩的径向分量 + PID腿长控制输出 + 基础支撑力 - 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 + 10.0f ;
virtual_force[0] = (c->lqr[0].control_output.Tp) * sinf(c->vmc_[0].leg.theta) + pid_output + 40.0f ;
// VMC逆解算（包含摆角补偿）
if (VMC_InverseSolve(&c->vmc_[0], virtual_force[0],
@ -403,7 +403,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
c->vmc_[1].leg.L0, leg_d_length[1], c->dt);
// 腿长控制力 = LQR摆杆力矩的径向分量 + PID腿长控制输出 + 基础支撑力 + 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 + 50.0f + roll_compensation_force;
virtual_force[1] = (c->lqr[1].control_output.Tp) * sinf(c->vmc_[1].leg.theta) + pid_output + 40.0f ;
// VMC逆解算（包含摆角补偿）
if (VMC_InverseSolve(&c->vmc_[1], virtual_force[1],

2
User/module/config.c
View File

@ -49,7 +49,7 @@ Config_RobotParam_t robot_config = {
},
.leg_length={
.k = 10.0f,
.k = 20.0f,
.p = 5.0f,
.i = 0.0f,
.d = 1.0f,