From 7492cf8e0529da9b96d4525212e2029e56746b17 Mon Sep 17 00:00:00 2001 From: Robofish <1683502971@qq.com> Date: Sun, 5 Oct 2025 19:22:09 +0800 Subject: [PATCH] =?UTF-8?q?=E8=B0=83=E8=AF=951?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- User/module/balance_chassis.c | 4 ++-- User/module/config.c | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c index 4ac57b2..45c7bed 100644 --- a/User/module/balance_chassis.c +++ b/User/module/balance_chassis.c @@ -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], diff --git a/User/module/config.c b/User/module/config.c index 2096bd6..c592ef8 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -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,