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+:108CB000AEB0F1F7B1FBFBF76BFD6C46902104F110 :108CC0002800E8F72AF9002001904FF400210091D4 :108CD0000221029110220990CDE90321CDE905116D -:108CE000C0212890CDE907102046F2F7FDFE28B1FB -:108CF000EFF3108072B600BFFEE700BFFAF7D0F8BE -:108D0000F9F7C6FFF9F7A8FFF9F7F6FEFAF744FA04 -:108D1000FAF7DAF9FAF70CFAFAF74EFBFAF764FC0D -:108D2000FAF7A2FCFAF7E4FCFAF7DEFBFAF71CFC10 -:108D3000F9F7F2FFFAF724F8FAF75AF8FAF774FAA3 -:108D4000FAF7E6FAFAF784F9FAF78AFBF9F73CFF43 -:108D5000FAF712FD00F054F8FAF782F800F080F804 +:108CE000C0212890CDE907102046F2F701FF28B1F6 +:108CF000EFF3108072B600BFFEE700BFFAF7D4F8BA +:108D0000F9F7CAFFF9F7ACFFF9F7FAFEFAF748FAF4 +:108D1000FAF7DEF9FAF710FAFAF752FBFAF768FCFD +:108D2000FAF7A6FCFAF7E8FCFAF7E2FBFAF720FC00 +:108D3000F9F7F6FFFAF728F8FAF75EF8FAF778FA93 +:108D4000FAF7EAFAFAF788F9FAF78EFBF9F740FF33 +:108D5000FAF716FD00F054F8FAF786F800F080F8FC :108D6000FEE7000000000000EFF3058100291CBFB2 :108D70006FF00500704728B180B501F0ADFF00200D :108D800080BD00BF0020704710B582B0EFF30581B1 @@ -6487,14 +6487,14 @@ :10954000B7EECCCAB7EECDDA81EC0C8B6146B7EE44 :10955000C11AB7EEC22AB7EEC33AB7EEC44AB7EEA5 :10956000C55AB7EEC66A8DEC0E0B8DED0E7BF9F782 -:10957000B3FA1CB0BDEC0C8B80BD000000000000F5 +:10957000B7FA1CB0BDEC0C8B80BD000000000000F1 :1095800080B52DED028B92B090ED000A90ED077A38 :10959000B7EEC00AD0ED067A13464EF6831290ED70 :1095A000011A90ED022A90ED033A90ED044A90EDF5 :1095B000055A90ED086AB7EEC78A0846B7EEE77A13 :1095C000C0F601021946B7EEC11AB7EEC22AB7EECD :1095D000C33AB7EEC44AB7EEC55AB7EEC66A8DEDC8 -:1095E000107B8DEC0E0B8DED0E8BF9F775FA12B02A +:1095E000107B8DEC0E0B8DED0E8BF9F779FA12B026 :1095F000BDEC028B80BD00002DE9F04F93B090F8D8 :1096000000C090ED090A90ED0A1AB7EEC00A90ED7D :109610000B2A90ED0C3A90ED0D4A90F8394090F8F5 @@ -6503,7 +6503,7 @@ :1096400008460AA9BCF1000F94464EF66042B7EEF8 :10965000C44AC0F6010208BF734681E8F0076146BC :10966000B7EEC11AB7EEC22ACDF844B0B7EEC33A8E -:109670008DEC080B8DED084BF9F72EFA13B0BDE811 +:109670008DEC080B8DED084BF9F732FA13B0BDE80D :10968000F08F00BF4F66666C696E65004F6E6C6947 :109690006E6500000000000080B52DED048B94B0D5 :1096A00090ED150A90ED709AB7EEC00A90ED7F7AB2 @@ -6513,7 +6513,7 @@ :1096E0000102B7EEC99A6146B7EEC11AB7EEC22AB7 :1096F000B7EEC33AB7EEC44AB7EEC55AB7EEC66A7C :109700008DED108B8DED129B8DEC0E0B8DED0E7B88 -:10971000F9F7E2F914B0BDEC048B80BD0000000045 +:10971000F9F7E6F914B0BDEC048B80BD0000000041 :1097200080B52DED028B94B090ED193A90ED281A8A :1097300090ED170AB7EEC33AB7EEC00A90ED182ABB :1097400090ED1A4A90ED216A90ED165A90ED258A17 @@ -6521,7 +6521,7 @@ :10976000B7EEC11AC0F60102B7EEC44AB7EEC55A49 :10977000B7EEC66AB7EEC77AB7EEC88A81EC063B89 :109780006146B7EEC22A8DED107B8DED128B8DEC0C -:10979000060B8DED061B8DED0E6BF9F79DF914B0E0 +:10979000060B8DED061B8DED0E6BF9F7A1F914B0DC :1097A000BDEC028B80BD00002DE9F041044601F0C4 :1097B0000FF941F2101643F2F005C2F20046C2F270 :1097C0000045F0680130F060306858B13069002819 @@ -7928,30 +7928,30 @@ :10EF50001904296889041D027CFF03AD3A7D063837 :10EF6000087EFF030101027F06111A42AF1202134D :10EF7000410119082A1105513808F6285C3E9318FA -:10EF80008404290CC109161C20C190135DC3E9A299 -:10EF900072435B1EEFC29F697CC04DC708C0D2DEC2 -:10EFA0009B3F976618C10F18A4BE082358C28C084F -:10EFB0005842B7B695C15BFE0BC0B3B537C2406EC1 -:10EFC0003A42D66B90C1B7CC2CC038B7C1C2B7E0BB -:10EFD000E742CBD853C233D333418795B7C1A8F8A2 -:10EFE000DB415B9249C1E3B830407D8C9A42DBAB98 -:10EFF00003C27BA18CC188AC6F41D8DEDCBE77EA4E -:10F000004040F6A231C0D585F93F1B44A3C209C9CF -:10F01000C5426AEA35C251E915410515CDC2447AA7 -:10F02000ED42051650C2B73626411321894372CAF4 -:10F0300088C38B98BD421913EA40E9AF864281B478 -:10F0400086C204B1BB413E3AC03F5A8004215C9A5B -:10F050009999D82910280AF041DB0FC940CDCC4C32 -:10F06000142E3F0AD7233C044910492019081ABF1F -:10F070000422401A4004C11A201C69202320422B7C -:10F08000A0413C3159285B48433C19042AA014B9DB -:10F090004019646A3D40232C0132783250290C1CFF -:10F0A000295C0F801B48435019083EF0C248E4E336 -:10F0B000BC49384BCCBD3829041C06020230211251 -:10F0C00011290719043F010101020103145A80C4E8 -:10F0D00081290C390459941AE0900A1160D41E80D9 -:10F0E000BFDB0FC918091E401A20241BA040C85AB4 -:10F0F0003EF8E94019244B7A44B43A0C10169A9918 -:10F10000593F011C0401AA018570ED0108000000AF +:10EF80008404290CC109161C1052580853C3D57C9F +:10EF90007743C7DCFBC23A8663C00B51DD3FEB0E03 +:10EFA0008CBF18C503C155FE96BE367112C251A45E +:10EFB0002242C18081C1F432CFBF371DEFC161D37E +:10EFC0000942F38977C1078202C08DC823C2E7C412 +:10EFD0007442D21E10C2B8EE25412B106DF4C064ED +:10EFE0008E2F41FCABC9C028DAF53F6BB19B430FB4 +:10EFF000DF80C3D14B4742CB6D6241562C34414038 +:10F00000011DC1823EE83F0C7FF83F86BA8DC142A8 +:10F01000E521421109EDC1138A0F418EA807C2CA2A +:10F02000085F420BAE0AC2A1571D4124476F43B689 +:10F03000BB80C39A12C74234132540FAE62B42E53F +:10F040004C3AC2D618924143C219C84B803F0421A2 +:10F050005C9A9999D82910280AF041DB0FC940CD54 +:10F06000CC4C142E3F0AD7233C04491049201908E0 +:10F070001ABF0422401A4004C11A201C6920232010 +:10F08000422BA0413C3159285B48433C19042AA03B +:10F0900014B94019646A3D40232C0132783250295A +:10F0A0000C1C295C0F801B48435019083EF0C248D5 +:10F0B000E4E3BC49384BCCBD3829041C06020230BD +:10F0C000211211290719043F010101020103145AF9 +:10F0D00080C481290C390459941AE0900A1160D433 +:10F0E0001E80BFDB0FC918091E401A20241BA04038 +:10F0F000C85A3EF8E94019244B7A44B43A0C101629 +:10F100009A99593F011C0401AA018570ED0108007C :04000005080002CD20 :00000001FF diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c index df5557d..b166a3d 100644 --- a/User/module/balance_chassis.c +++ b/User/module/balance_chassis.c @@ -19,7 +19,7 @@ #define WHEEL_RADIUS 0.068f /* 轮子半径 (m) */ #define MAX_ACCELERATION 2.0f /* 最大加速度 (m/s²) */ -#define WHEEL_GEAR_RATIO 8.0f /* 轮毂电机扭矩 */ +#define WHEEL_GEAR_RATIO 4.5f /* 轮毂电机扭矩 */ #define BASE_LEG_LENGTH 0.16f /* 基础腿长 (m) */ #define LEG_LENGTH_RANGE 0.16f /* 腿长调节范围 (m) */ #define MIN_LEG_LENGTH 0.10f /* 最小腿长 (m) */ diff --git a/User/module/config.c b/User/module/config.c index 76d23f6..47cae92 100644 --- a/User/module/config.c +++ b/User/module/config.c @@ -316,20 +316,21 @@ Config_RobotParam_t robot_config = { } }, -.lqr_gains = { - .k11_coeff = { -2.210764178888050e+02f, 2.426363711747753e+02f, -1.195592871161101e+02f, -3.943946668753056e+00f }, // theta - .k12_coeff = { -2.137164311515632e+00f, 1.217737477437830e+00f, -9.525046061205586e+00f, -3.204960462460905e-01f }, // d_theta - .k13_coeff = { -5.403421185903361e+01f, 5.400834583224349e+01f, -1.871421701200579e+01f, -2.187399624044644e+00f }, // x - .k14_coeff = { -4.592744044784984e+01f, 4.660766512779469e+01f, -1.805265440365850e+01f, -2.699994690713614e+00f }, // d_x - .k15_coeff = { -9.685784551581214e+01f, 1.159388980795003e+02f, -5.296171221139453e+01f, 1.123906253873898e+01f }, // phi - .k16_coeff = { -2.294801139621741e+01f, 2.749641396600526e+01f, -1.259823164155369e+01f, 2.761284676172917e+00f }, // d_phi - .k21_coeff = { 7.727438740554770e+01f, -3.291782819657940e+01f, -1.757884718209812e+01f, 1.497962178015115e+01f }, // theta - .k22_coeff = { -4.313876591098404e-01f, 3.014310593976116e+00f, -2.775571423570345e+00f, 1.949396772465259e+00f }, // d_theta - .k23_coeff = { -8.163301739920055e+01f, 9.889264843312036e+01f, -4.547892032101780e+01f, 9.369462147227104e+00f }, // x - .k24_coeff = { -1.025410522837800e+02f, 1.187387974704523e+02f, -5.202150278239223e+01f, 1.038835798060997e+01f }, // d_x - .k25_coeff = { 2.742584002836992e+02f, -2.735816033702905e+02f, 9.479793291043821e+01f, 7.314831370012082e+00f }, // phi - .k26_coeff = { 6.734357804702088e+01f, -6.735254573603545e+01f, 2.346143287673895e+01f, 1.501777400084277e+00f }, // d_phi -}, + .lqr_gains = { + .k11_coeff = { -2.110325959941390e+02f, 2.474876302869424e+02f, -1.259312069344584e+02f, -3.555067587081389e+00f }, // theta + .k12_coeff = { 1.729035713826111e+00f, -1.094205267383853e+00f, -8.235618497594484e+00f, -2.949091603597677e-01f }, // d_theta + .k13_coeff = { -3.661055595462458e+01f, 4.066046385752247e+01f, -1.618786894025212e+01f, -1.618742454043447e+00f }, // x + .k14_coeff = { -2.988926501197955e+01f, 3.445642428071118e+01f, -1.547117906530474e+01f, -2.039186188549067e+00f }, // d_x + .k15_coeff = { -4.094585161782607e+01f, 6.119228618474273e+01f, -3.603009625243965e+01f, 1.037078067693317e+01f }, // phi + .k16_coeff = { -7.625020535837323e+00f, 1.097226354374976e+01f, -6.302244199082423e+00f, 1.920720114282383e+00f }, // d_phi + .k21_coeff = { 3.113860878856309e+02f, -2.577426343951217e+02f, 4.982404130107013e+01f, 1.415180465415879e+01f }, // theta + .k22_coeff = { 1.126082466887103e+01f, -9.812804977178935e+00f, 1.814407629267238e+00f, 1.941377111901043e+00f }, // d_theta + .k23_coeff = { -1.771607516002724e+01f, 4.047388400543465e+01f, -2.962942748901807e+01f, 8.971209797230671e+00f }, // x + .k24_coeff = { -3.391460592939657e+01f, 5.575858169617614e+01f, -3.466996436706782e+01f, 9.833893476570065e+00f }, // d_x + .k25_coeff = { 2.392778926806863e+02f, -2.574664846375947e+02f, 9.953632837845201e+01f, 2.579297039170335e+00f }, // phi + .k26_coeff = { 4.297556375859175e+01f, -4.657509218314731e+01f, 1.826212630358702e+01f, 1.257410509642398e-01f }, // d_phi + }, + .jump_params = { .crouch_time_ms = 300, .launch_time_ms = 120, diff --git a/utils/6. 综合运动控制验证/K-L0/K.m b/utils/6. 综合运动控制验证/K-L0/K.m new file mode 100644 index 0000000..dae5d2b --- /dev/null +++ b/utils/6. 综合运动控制验证/K-L0/K.m @@ -0,0 +1,28 @@ +close all; +clear;clc; +L0=[0.12 0.13 0.14 0.15 0.16 0.17 0.18 0.19 0.20 0.21 0.22 0.23 0.24 0.25 0.26 0.27 0.28 0.29 0.30 0.31 0.32 0.33 0.34 0.35 0.36]; +K11=[-13.0207 -13.6522 -14.2545 -14.8292 -15.3780 -15.9028 -16.4052 -16.8868 -17.3490 -17.7934 -18.2212 -18.6337 -19.0320 -19.4172 -19.7902 -20.1519 -20.5031 -20.8445 -21.1769 -21.5008 -21.8169 -22.1256 -22.4274 -22.7227 -23.0120]; +K12=[-1.3999 -1.4844 -1.5691 -1.6540 -1.7390 -1.8240 -1.9090 -1.9940 -2.0790 -2.1640 -2.2490 -2.3340 -2.4191 -2.5042 -2.5893 -2.6745 -2.7597 -2.8451 -2.9305 -3.0160 -3.1016 -3.1873 -3.2732 -3.3592 -3.4453]; +K13=[-3.6148 -3.6840 -3.7481 -3.8071 -3.8611 -3.9104 -3.9552 -3.9960 -4.0330 -4.0666 -4.0971 -4.1249 -4.1501 -4.1730 -4.1940 -4.2130 -4.2304 -4.2464 -4.2609 -4.2743 -4.2866 -4.2979 -4.3083 -4.3179 -4.3267]; +K14=[-3.8656 -3.9320 -3.9955 -4.0559 -4.1129 -4.1667 -4.2173 -4.2648 -4.3096 -4.3518 -4.3915 -4.4291 -4.4647 -4.4985 -4.5307 -4.5613 -4.5906 -4.6187 -4.6457 -4.6717 -4.6967 -4.7209 -4.7444 -4.7671 -4.7892]; +K15=[6.2710 6.0483 5.8343 5.6293 5.4333 5.2462 5.0681 4.8986 4.7375 4.5845 4.4393 4.3014 4.1706 4.0464 3.9284 3.8164 3.7100 3.6088 3.5125 3.4209 3.3336 3.2505 3.1712 3.0955 3.0232]; +K16=[1.1563 1.1201 1.0854 1.0522 1.0206 0.9904 0.9617 0.9343 0.9083 0.8836 0.8602 0.8379 0.8167 0.7966 0.7775 0.7593 0.7421 0.7256 0.7100 0.6951 0.6809 0.6674 0.6545 0.6422 0.6304]; +K21=[11.9463 11.9148 11.8490 11.7565 11.6436 11.5153 11.3760 11.2290 11.0769 10.9220 10.7660 10.6102 10.4556 10.3030 10.1531 10.0063 9.8629 9.7231 9.5871 9.4549 9.3266 9.2021 9.0814 8.9645 8.8513]; +K22=[1.8154 1.7992 1.7822 1.7645 1.7465 1.7284 1.7103 1.6924 1.6747 1.6574 1.6405 1.6241 1.6081 1.5926 1.5776 1.5631 1.5491 1.5356 1.5225 1.5099 1.4978 1.4860 1.4747 1.4638 1.4532]; +K23=[5.2662 5.0707 4.8792 4.6930 4.5131 4.3401 4.1744 4.0161 3.8652 3.7216 3.5852 3.4556 3.3327 3.2160 3.1053 3.0003 2.9006 2.8060 2.7162 2.6308 2.5496 2.4724 2.3989 2.3289 2.2622]; +K24=[5.3712 5.1585 4.9545 4.7593 4.5731 4.3960 4.2278 4.0683 3.9172 3.7741 3.6388 3.5107 3.3895 3.2748 3.1663 3.0635 2.9662 2.8739 2.7863 2.7032 2.6243 2.5493 2.4779 2.4100 2.3453]; +K25=[11.6084 11.9794 12.3174 12.6247 12.9036 13.1566 13.3861 13.5942 13.7831 13.9546 14.1105 14.2524 14.3817 14.4997 14.6076 14.7063 14.7968 14.8800 14.9564 15.0268 15.0918 15.1518 15.2074 15.2589 15.3067]; +K26=[1.7058 1.7715 1.8315 1.8863 1.9362 1.9817 2.0231 2.0609 2.0953 2.1267 2.1553 2.1815 2.2055 2.2276 2.2478 2.2664 2.2835 2.2993 2.3139 2.3274 2.3399 2.3515 2.3623 2.3724 2.3817]; + +% K11=-172.5944*L_0^3+194.4583*L_0^2-102.6573*L_0-3.2160 +% K12=-0.9840*L_0^3+0.4770*L_0^2-8.5684*L_0-0.3764 +% K13=-38.8812*L_0^3+40.3986*L_0^2-15.0820*L_0-2.3214 +% K14=-25.9829*L_0^3+28.2485*L_0^2-12.5490*L_0-2.7215 +% K15=-53.1626*L_0^3+71.4193*L_0^2-37.8708*L_0+9.8810 +% K16=-8.7478*L_0^3+11.6234*L_0^2-6.1338*L_0+1.7402 +% K21=182.7742*L_0^3-134.1998*L_0^2+17.2318*L_0+11.5442 +% K22=5.0007*L_0^3-1.7221*L_0^2-1.6219*L_0+2.0283 +% K23=-34.7106*L_0^3+55.1695*L_0^2-32.5200*L_0+8.4420 +% K24=-55.6192*L_0^3+72.6502*L_0^2-37.0784*L_0+8.8727 +% K25=214.7065*L_0^3-218.2300*L_0^2+79.9589*L_0+4.8045 +% K26=36.3354*L_0^3-37.3084*L_0^2+13.9211*L_0+0.5130 \ No newline at end of file diff --git a/utils/6. 综合运动控制验证/K-L0/K11.sfit b/utils/6. 综合运动控制验证/K-L0/K11.sfit new file mode 100644 index 0000000..13da2ff Binary files /dev/null and b/utils/6. 综合运动控制验证/K-L0/K11.sfit differ diff --git a/utils/6. 综合运动控制验证/K-L0/K12.sfit b/utils/6. 综合运动控制验证/K-L0/K12.sfit new file mode 100644 index 0000000..eb91ab8 Binary files /dev/null and b/utils/6. 综合运动控制验证/K-L0/K12.sfit differ diff --git a/utils/6. 综合运动控制验证/K-L0/K13.sfit b/utils/6. 综合运动控制验证/K-L0/K13.sfit new file mode 100644 index 0000000..eb97ac1 Binary files /dev/null and b/utils/6. 综合运动控制验证/K-L0/K13.sfit differ diff --git a/utils/6. 综合运动控制验证/K-L0/K14.sfit b/utils/6. 综合运动控制验证/K-L0/K14.sfit new file mode 100644 index 0000000..4574cbd Binary files /dev/null and b/utils/6. 综合运动控制验证/K-L0/K14.sfit differ diff --git a/utils/6. 综合运动控制验证/K-L0/K15.sfit b/utils/6. 综合运动控制验证/K-L0/K15.sfit new file mode 100644 index 0000000..92610ce Binary files /dev/null and b/utils/6. 综合运动控制验证/K-L0/K15.sfit differ diff --git a/utils/6. 综合运动控制验证/K-L0/K16.sfit b/utils/6. 综合运动控制验证/K-L0/K16.sfit new file mode 100644 index 0000000..9d77b51 Binary files /dev/null and b/utils/6. 综合运动控制验证/K-L0/K16.sfit differ diff --git a/utils/6. 综合运动控制验证/K-L0/K21.sfit b/utils/6. 综合运动控制验证/K-L0/K21.sfit new file mode 100644 index 0000000..3c4a590 Binary files /dev/null and b/utils/6. 综合运动控制验证/K-L0/K21.sfit differ diff --git a/utils/6. 综合运动控制验证/K-L0/K22.sfit b/utils/6. 综合运动控制验证/K-L0/K22.sfit new file mode 100644 index 0000000..e667a08 Binary files /dev/null and b/utils/6. 综合运动控制验证/K-L0/K22.sfit differ diff --git a/utils/6. 综合运动控制验证/K-L0/K23.sfit b/utils/6. 综合运动控制验证/K-L0/K23.sfit new file mode 100644 index 0000000..47ab70a Binary files /dev/null and b/utils/6. 综合运动控制验证/K-L0/K23.sfit differ diff --git a/utils/6. 综合运动控制验证/K-L0/K24.sfit b/utils/6. 综合运动控制验证/K-L0/K24.sfit new file mode 100644 index 0000000..66f0d0e Binary files /dev/null and b/utils/6. 综合运动控制验证/K-L0/K24.sfit differ diff --git a/utils/6. 综合运动控制验证/K-L0/K25.sfit b/utils/6. 综合运动控制验证/K-L0/K25.sfit new file mode 100644 index 0000000..a83013a Binary files /dev/null and b/utils/6. 综合运动控制验证/K-L0/K25.sfit differ diff --git a/utils/6. 综合运动控制验证/K-L0/K26.sfit b/utils/6. 综合运动控制验证/K-L0/K26.sfit new file mode 100644 index 0000000..9d5721b Binary files /dev/null and b/utils/6. 综合运动控制验证/K-L0/K26.sfit differ diff --git a/utils/6. 综合运动控制验证/LQR_K.m b/utils/6. 综合运动控制验证/LQR_K.m new file mode 100644 index 0000000..4a063ae --- /dev/null +++ b/utils/6. 综合运动控制验证/LQR_K.m @@ -0,0 +1,84 @@ +close all; +clear;clc; +%% 参数 +global g R L L_M l M m_p m_w I_p I_M I_w; +L0=0.16; +g=9.80665; +R=0.155/2; +L=L0/2; +L_M=L0/2; +l=0.02; +M=10; +m_p=1; +m_w=1; +I_p=1/12*m_p*(L+L_M)^2; +I_M=1/12*M*(0.1^2+0.3^2); +I_w=1/2*m_w*R^2; + +A21=(I_M*I_w*L*g*m_p+I_M*L*M^2*R^2*g+I_M*L_M*M^2*R^2*g+I_w*L*M^2*g*l^2+I_w*L_M*M^2*g*l^2+I_M*L*R^2*g*m_p^2+I_M*I_w*L*M*g+I_M*I_w*L_M*M*g+L*M*R^2*g*l^2*m_p^2+L*M^2*R^2*g*l^2*m_p+L*M^2*R^2*g*l^2*m_w+L_M*M^2*R^2*g*l^2*m_p+L_M*M^2*R^2*g*l^2*m_w+2*I_M*L*M*R^2*g*m_p+I_M*L*M*R^2*g*m_w+I_M*L_M*M*R^2*g*m_p+I_M*L_M*M*R^2*g*m_w+I_w*L*M*g*l^2*m_p+I_M*L*R^2*g*m_p*m_w+L*M*R^2*g*l^2*m_p*m_w)/(I_M*I_p*I_w+I_p*I_w*M*l^2+I_M*I_w*L^2*m_p+I_M*I_p*R^2*m_p+I_M*I_p*R^2*m_w+I_M*I_w*L^2*M+I_M*I_w*L_M^2*M+I_M*I_p*M*R^2+I_M*L^2*M*R^2*m_w+I_M*L_M^2*M*R^2*m_p+I_M*L_M^2*M*R^2*m_w+2*I_M*I_w*L*L_M*M+I_w*L^2*M*l^2*m_p+I_p*M*R^2*l^2*m_p+I_p*M*R^2*l^2*m_w+I_M*L^2*R^2*m_p*m_w+2*I_M*L*L_M*M*R^2*m_w+L^2*M*R^2*l^2*m_p*m_w); +A25=(I_w*L*M^2*g*l^2+I_w*L_M*M^2*g*l^2+L*M^2*R^2*g*l^2*m_w+L_M*M^2*R^2*g*l^2*m_p+L_M*M^2*R^2*g*l^2*m_w)/(I_M*I_p*I_w+I_p*I_w*M*l^2+I_M*I_w*L^2*m_p+I_M*I_p*R^2*m_p+I_M*I_p*R^2*m_w+I_M*I_w*L^2*M+I_M*I_w*L_M^2*M+I_M*I_p*M*R^2+I_M*L^2*M*R^2*m_w+I_M*L_M^2*M*R^2*m_p+I_M*L_M^2*M*R^2*m_w+2*I_M*I_w*L*L_M*M+I_w*L^2*M*l^2*m_p+I_p*M*R^2*l^2*m_p+I_p*M*R^2*l^2*m_w+I_M*L^2*R^2*m_p*m_w+2*I_M*L*L_M*M*R^2*m_w+L^2*M*R^2*l^2*m_p*m_w); +A41=-(R*(R*g*L^2*M^2*l^2*m_p+I_M*R*g*L^2*M^2+R*g*L^2*M*l^2*m_p^2+2*I_M*R*g*L^2*M*m_p+I_M*R*g*L^2*m_p^2+R*g*L*L_M*M^2*l^2*m_p+2*I_M*R*g*L*L_M*M^2+2*I_M*R*g*L*L_M*M*m_p+I_M*R*g*L_M^2*M^2))/(I_M*I_p*I_w+I_p*I_w*M*l^2+I_M*I_w*L^2*m_p+I_M*I_p*R^2*m_p+I_M*I_p*R^2*m_w+I_M*I_w*L^2*M+I_M*I_w*L_M^2*M+I_M*I_p*M*R^2+I_M*L^2*M*R^2*m_w+I_M*L_M^2*M*R^2*m_p+I_M*L_M^2*M*R^2*m_w+2*I_M*I_w*L*L_M*M+I_w*L^2*M*l^2*m_p+I_p*M*R^2*l^2*m_p+I_p*M*R^2*l^2*m_w+I_M*L^2*R^2*m_p*m_w+2*I_M*L*L_M*M*R^2*m_w+L^2*M*R^2*l^2*m_p*m_w); +A45=(R*(I_p*M^2*R*g*l^2-L*L_M*M^2*R*g*l^2*m_p))/(I_M*I_p*I_w+I_p*I_w*M*l^2+I_M*I_w*L^2*m_p+I_M*I_p*R^2*m_p+I_M*I_p*R^2*m_w+I_M*I_w*L^2*M+I_M*I_w*L_M^2*M+I_M*I_p*M*R^2+I_M*L^2*M*R^2*m_w+I_M*L_M^2*M*R^2*m_p+I_M*L_M^2*M*R^2*m_w+2*I_M*I_w*L*L_M*M+I_w*L^2*M*l^2*m_p+I_p*M*R^2*l^2*m_p+I_p*M*R^2*l^2*m_w+I_M*L^2*R^2*m_p*m_w+2*I_M*L*L_M*M*R^2*m_w+L^2*M*R^2*l^2*m_p*m_w); +A61=(g*l*m_w*L^2*M^2*R^2+I_w*g*l*L^2*M^2+g*l*m_w*L^2*M*R^2*m_p+I_w*g*l*L^2*M*m_p+g*l*L*L_M*M^2*R^2*m_p+2*g*l*m_w*L*L_M*M^2*R^2+2*I_w*g*l*L*L_M*M^2+g*l*L*L_M*M*R^2*m_p^2+g*l*m_w*L*L_M*M*R^2*m_p+I_w*g*l*L*L_M*M*m_p+g*l*L_M^2*M^2*R^2*m_p+g*l*m_w*L_M^2*M^2*R^2+I_w*g*l*L_M^2*M^2)/(I_M*I_p*I_w+I_p*I_w*M*l^2+I_M*I_w*L^2*m_p+I_M*I_p*R^2*m_p+I_M*I_p*R^2*m_w+I_M*I_w*L^2*M+I_M*I_w*L_M^2*M+I_M*I_p*M*R^2+I_M*L^2*M*R^2*m_w+I_M*L_M^2*M*R^2*m_p+I_M*L_M^2*M*R^2*m_w+2*I_M*I_w*L*L_M*M+I_w*L^2*M*l^2*m_p+I_p*M*R^2*l^2*m_p+I_p*M*R^2*l^2*m_w+I_M*L^2*R^2*m_p*m_w+2*I_M*L*L_M*M*R^2*m_w+L^2*M*R^2*l^2*m_p*m_w); +A65=(I_p*I_w*M*g*l+I_w*L^2*M^2*g*l+I_w*L_M^2*M^2*g*l+I_p*M^2*R^2*g*l+L^2*M^2*R^2*g*l*m_w+L_M^2*M^2*R^2*g*l*m_p+L_M^2*M^2*R^2*g*l*m_w+2*I_w*L*L_M*M^2*g*l+I_w*L^2*M*g*l*m_p+I_p*M*R^2*g*l*m_p+I_p*M*R^2*g*l*m_w+2*L*L_M*M^2*R^2*g*l*m_w+L^2*M*R^2*g*l*m_p*m_w)/(I_M*I_p*I_w + I_p*I_w*M*l^2+I_M*I_w*L^2*m_p+I_M*I_p*R^2*m_p+I_M*I_p*R^2*m_w+I_M*I_w*L^2*M+I_M*I_w*L_M^2*M+I_M*I_p*M*R^2+I_M*L^2*M*R^2*m_w+I_M*L_M^2*M*R^2*m_p+I_M*L_M^2*M*R^2*m_w+2*I_M*I_w*L*L_M*M+I_w*L^2*M*l^2*m_p+I_p*M*R^2*l^2*m_p+I_p*M*R^2*l^2*m_w+I_M*L^2*R^2*m_p*m_w+2*I_M*L*L_M*M*R^2*m_w+L^2*M*R^2*l^2*m_p*m_w); +A=[ 0 1 0 0 0 0; + A21 0 0 0 A25 0; + 0 0 0 1 0 0; + A41 0 0 0 A45 0; + 0 0 0 0 0 1; + A61 0 0 0 A65 0]; + +B21=-(I_M*I_w+I_M*M*R^2+I_w*M*l^2+I_M*R^2*m_p+I_M*R^2*m_w+I_M*L*M*R+I_M*L_M*M*R+M*R^2*l^2*m_p+M*R^2*l^2*m_w+I_M*L*R*m_p+L*M*R*l^2*m_p)/(I_M*I_p*I_w+I_p*I_w*M*l^2+I_M*I_w*L^2*m_p+I_M*I_p*R^2*m_p+I_M*I_p*R^2*m_w+I_M*I_w*L^2*M+I_M*I_w*L_M^2*M+I_M*I_p*M*R^2+I_M*L^2*M*R^2*m_w+I_M*L_M^2*M*R^2*m_p+I_M*L_M^2*M*R^2*m_w+2*I_M*I_w*L*L_M*M+I_w*L^2*M*l^2*m_p+I_p*M*R^2*l^2*m_p+I_p*M*R^2*l^2*m_w+I_M*L^2*R^2*m_p*m_w+2*I_M*L*L_M*M*R^2*m_w+L^2*M*R^2*l^2*m_p*m_w); +B22=(I_M*I_w+I_M*M*R^2+I_w*M*l^2+I_M*R^2*m_p+I_M*R^2*m_w+M*R^2*l^2*m_p+M*R^2*l^2*m_w+I_w*L*M*l+I_w*L_M*M*l+L*M*R^2*l*m_w+L_M*M*R^2*l*m_p+L_M*M*R^2*l*m_w)/(I_M*I_p*I_w+I_p*I_w*M*l^2+I_M*I_w*L^2*m_p+I_M*I_p*R^2*m_p+I_M*I_p*R^2*m_w+I_M*I_w*L^2*M+I_M*I_w*L_M^2*M+I_M*I_p*M*R^2+I_M*L^2*M*R^2*m_w+I_M*L_M^2*M*R^2*m_p+I_M*L_M^2*M*R^2*m_w+2*I_M*I_w*L*L_M*M+I_w*L^2*M*l^2*m_p+I_p*M*R^2*l^2*m_p+I_p*M*R^2*l^2*m_w+I_M*L^2*R^2*m_p*m_w+2*I_M*L*L_M*M*R^2*m_w+L^2*M*R^2*l^2*m_p*m_w); +B41=(R*(I_M*I_p+I_M*L^2*M+I_M*L_M^2*M+I_p*M*l^2+I_M*L^2*m_p+2*I_M*L*L_M*M+L^2*M*l^2*m_p+I_M*L*M*R+I_M*L_M*M*R+I_M*L*R*m_p+L*M*R*l^2*m_p))/(I_M*I_p*I_w+I_p*I_w*M*l^2+I_M*I_w*L^2*m_p+I_M*I_p*R^2*m_p+I_M*I_p*R^2*m_w+I_M*I_w*L^2*M+I_M*I_w*L_M^2*M+I_M*I_p*M*R^2+I_M*L^2*M*R^2*m_w+I_M*L_M^2*M*R^2*m_p+I_M*L_M^2*M*R^2*m_w+2*I_M*I_w*L*L_M*M+I_w*L^2*M*l^2*m_p+I_p*M*R^2*l^2*m_p+I_p*M*R^2*l^2*m_w+I_M*L^2*R^2*m_p*m_w+2*I_M*L*L_M*M*R^2*m_w+L^2*M*R^2*l^2*m_p*m_w); +B42=-(R*(I_M*L*M*R+I_M*L_M*M*R-I_p*M*R*l+I_M*L*R*m_p+L*M*R*l^2*m_p+L*L_M*M*R*l*m_p))/(I_M*I_p*I_w+I_p*I_w*M*l^2+I_M*I_w*L^2*m_p+I_M*I_p*R^2*m_p+I_M*I_p*R^2*m_w+I_M*I_w*L^2*M+I_M*I_w*L_M^2*M+I_M*I_p*M*R^2+I_M*L^2*M*R^2*m_w+I_M*L_M^2*M*R^2*m_p+I_M*L_M^2*M*R^2*m_w+2*I_M*I_w*L*L_M*M+I_w*L^2*M*l^2*m_p+I_p*M*R^2*l^2*m_p+I_p*M*R^2*l^2*m_w+I_M*L^2*R^2*m_p*m_w+2*I_M*L*L_M*M*R^2*m_w+L^2*M*R^2*l^2*m_p*m_w); +B61=-(I_w*L*M*l+I_w*L_M*M*l-I_p*M*R*l+L*M*R^2*l*m_w+L_M*M*R^2*l*m_p+L_M*M*R^2*l*m_w+L*L_M*M*R*l*m_p)/(I_M*I_p*I_w+I_p*I_w*M*l^2+I_M*I_w*L^2*m_p+I_M*I_p*R^2*m_p+I_M*I_p*R^2*m_w+I_M*I_w*L^2*M+I_M*I_w*L_M^2*M+I_M*I_p*M*R^2+I_M*L^2*M*R^2*m_w+I_M*L_M^2*M*R^2*m_p+I_M*L_M^2*M*R^2*m_w+2*I_M*I_w*L*L_M*M+I_w*L^2*M*l^2*m_p+I_p*M*R^2*l^2*m_p+I_p*M*R^2*l^2*m_w+I_M*L^2*R^2*m_p*m_w+2*I_M*L*L_M*M*R^2*m_w+L^2*M*R^2*l^2*m_p*m_w); +B62=(I_p*I_w+I_w*L^2*M+I_w*L_M^2*M+I_p*M*R^2+I_w*L^2*m_p+I_p*R^2*m_p+I_p*R^2*m_w+L^2*M*R^2*m_w+L_M^2*M*R^2*m_p+L_M^2*M*R^2*m_w+2*I_w*L*L_M*M+L^2*R^2*m_p*m_w+I_w*L*M*l+I_w*L_M*M*l+2*L*L_M*M*R^2*m_w+L*M*R^2*l*m_w+L_M*M*R^2*l*m_p+L_M*M*R^2*l*m_w)/(I_M*I_p*I_w+I_p*I_w*M*l^2+I_M*I_w*L^2*m_p+I_M*I_p*R^2*m_p+I_M*I_p*R^2*m_w+I_M*I_w*L^2*M+I_M*I_w*L_M^2*M+I_M*I_p*M*R^2+I_M*L^2*M*R^2*m_w+I_M*L_M^2*M*R^2*m_p+I_M*L_M^2*M*R^2*m_w+2*I_M*I_w*L*L_M*M+I_w*L^2*M*l^2*m_p+I_p*M*R^2*l^2*m_p+I_p*M*R^2*l^2*m_w+I_M*L^2*R^2*m_p*m_w+2*I_M*L*L_M*M*R^2*m_w+L^2*M*R^2*l^2*m_p*m_w); +B=[ 0 0; + B21 B22; + 0 0; + B41 B42; + 0 0; + B61 B62]; + +C=[ 1 0 0 0 0 0; + 0 1 0 0 0 0; + 0 0 1 0 0 0; + 0 0 0 1 0 0; + 0 0 0 0 1 0; + 0 0 0 0 0 1]; +D=[ 0 0; + 0 0; + 0 0; + 0 0; + 0 0; + 0 0]; + +Q=[ 1 0 0 0 0 0; + 0 1 0 0 0 0; + 0 0 20 0 0 0; + 0 0 0 5 0 0; + 0 0 0 0 50 0; + 0 0 0 0 0 1]; +R_=[1 0; + 0 0.25]; +%% +Qc=ctrb(A,B); +rank(Qc); +%% 计算增益矩阵 +[K,S,P]=lqr(A,B,Q,R_); +K +%% 模拟系统响应 +% figure(1); +% x0=[10/180*pi; +% 0; +% 0; +% 0; +% 10/180*pi; +% 0];%初始状态 +% t=0:0.05:10; +% u=[ zeros(size(t)); +% zeros(size(t));]; +% [y,x]=lsim(A-B*K,B,C,D,u,t,x0);%模拟系统响应 +% plot(t,y); +% legend('θ(t)','dθ(t)','x(t)','dx(t)','ɸ','dɸ')%添加图例 \ No newline at end of file diff --git a/utils/6. 综合运动控制验证/Model.slx b/utils/6. 综合运动控制验证/Model.slx new file mode 100644 index 0000000..9e02a45 Binary files /dev/null and b/utils/6. 综合运动控制验证/Model.slx differ diff --git a/utils/6. 综合运动控制验证/Model.slxc b/utils/6. 综合运动控制验证/Model.slxc new file mode 100644 index 0000000..92dfaae Binary files /dev/null and b/utils/6. 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a/utils/Simulation-master/balance/series_legs/get_k_length.m +++ b/utils/Simulation-master/balance/series_legs/get_k_length.m @@ -17,10 +17,10 @@ function K = get_k_length(leg_length) R1=0.068; %驱动轮半径 L1=leg_length/2; %摆杆重心到驱动轮轴距离 LM1=leg_length/2; %摆杆重心到其转轴距离 - l1=0.01; %机体质心距离转轴距离 + l1=0.02; %机体质心距离转轴距离 mw1=0.60; %驱动轮质量 mp1=1.8; %杆质量 - M1=12.0; %机体质量 + M1=16.0; %机体质量 Iw1=mw1*R1^2; %驱动轮转动惯量 Ip1=mp1*((L1+LM1)^2+0.05^2)/12.0; %摆杆转动惯量 IM1=M1*(0.3^2+0.12^2)/12.0; %机体绕质心转动惯量 @@ -48,8 +48,8 @@ function K = get_k_length(leg_length) B=subs(B,[R,L,LM,l,mw,mp,M,Iw,Ip,IM,g],[R1,L1,LM1,l1,mw1,mp1,M1,Iw1,Ip1,IM1,9.8]); B=double(B); - Q=diag([1500 200 5000 2000 20000 1000]);%theta d_theta x d_x phi d_phi%700 1 600 200 1000 1 - R=[240 0;0 60]; %T Tp + Q=diag([1 1 20 5 50 1]);%theta d_theta x d_x phi d_phi%700 1 600 200 1000 1 + R=[1.2 0;0 0.25]; %T Tp K=lqr(A,B,Q,R);