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Robofish 2025-10-03 14:59:39 +08:00
parent d2ed44fee1
commit ad9898bdc4
4 changed files with 404 additions and 487 deletions
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User/module/balance_chassis.c
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@ -1,527 +1,445 @@
#include "device/motor_lz.h"
#define _USE_MATH_DEFINES
#include "module/balance_chassis.h"
#include "bsp/time.h"
#include "bsp/can.h"
#include "component/user_math.h"
#include "bsp/time.h"
#include "component/kinematics.h"
#include "component/limiter.h"
#include "component/user_math.h"
#include "module/balance_chassis.h"
#include <math.h>
#include <string.h>
#include <stddef.h>
#include <string.h>
/**
* @brief 使能所有电机
* @param c 底盘结构体指针
* @return
* @return
*/
static int8_t Chassis_MotorEnable(Chassis_t *c) {
if (c == NULL) return CHASSIS_ERR_NULL;
for (int i = 0; i < 4; i++) {
MOTOR_LZ_Enable(&c->param->joint_motors[i]);
}
BSP_TIME_Delay_us(200);
for (int i = 0; i < 2; i++) {
MOTOR_LK_MotorOn(&c->param->wheel_motors[i]);
}
return CHASSIS_OK;
if (c == NULL)
return CHASSIS_ERR_NULL;
for (int i = 0; i < 4; i++) {
MOTOR_LZ_Enable(&c->param->joint_motors[i]);
}
BSP_TIME_Delay_us(200);
for (int i = 0; i < 2; i++) {
MOTOR_LK_MotorOn(&c->param->wheel_motors[i]);
}
return CHASSIS_OK;
}
// /**
// * @brief 关闭所有电机
// * @param c 底盘结构体指针
// * @return
// */
// static int8_t Chassis_MotorDisable(Chassis_t *c){
// if (c == NULL) return CHASSIS_ERR_NULL;
// for (int i = 0; i < 2; i++) {
// MOTOR_LK_MotorOff(&c->param->wheel_motors[i]);
// }
// for (int i = 0; i < 4; i++) {
// MOTOR_LZ_Disable(&c->param->joint_motors[i], true);
// }
// return CHASSIS_OK;
// }
static int8_t Chassis_MotorRelax(Chassis_t *c) {
if (c == NULL)
return CHASSIS_ERR_NULL;
for (int i = 0; i < 2; i++) {
MOTOR_LK_Relax(&c->param->wheel_motors[i]);
}
BSP_TIME_Delay_us(200);
for (int i = 0; i < 4; i++) {
MOTOR_LZ_Relax(&c->param->joint_motors[i]);
}
return CHASSIS_OK;
}
static int8_t Chassis_SetMode(Chassis_t *c, Chassis_Mode_t mode) {
if (c == NULL) return CHASSIS_ERR_NULL; /* 主结构体不能为空 */
if (mode == c->mode) return CHASSIS_OK; /* 模式未改变直接返回 */
if (c == NULL)
return CHASSIS_ERR_NULL; /* 主结构体不能为空 */
if (mode == c->mode)
return CHASSIS_OK; /* 模式未改变直接返回 */
Chassis_MotorEnable(c);
Chassis_MotorEnable(c);
PID_Reset(&c->pid.leg_length[0]);
PID_Reset(&c->pid.leg_length[1]);
PID_Reset(&c->pid.yaw);
PID_Reset(&c->pid.roll);
PID_Reset(&c->pid.tp[0]);
PID_Reset(&c->pid.tp[1]);
PID_Reset(&c->pid.leg_length[0]);
PID_Reset(&c->pid.leg_length[1]);
PID_Reset(&c->pid.yaw);
PID_Reset(&c->pid.roll);
PID_Reset(&c->pid.tp[0]);
PID_Reset(&c->pid.tp[1]);
c->yaw_control.target_yaw = c->feedback.imu.euler.yaw;
//清空位移
c->chassis_state.position_x = 0.0f;
c->chassis_state.velocity_x = 0.0f;
c->chassis_state.last_velocity_x = 0.0f;
c->chassis_state.target_x = 0.0f;
c->yaw_control.target_yaw = c->feedback.imu.euler.yaw;
// 清空位移
c->chassis_state.position_x = 0.0f;
c->chassis_state.velocity_x = 0.0f;
c->chassis_state.last_velocity_x = 0.0f;
c->chassis_state.target_x = 0.0f;
LQR_Reset(&c->lqr[0]);
LQR_Reset(&c->lqr[1]);
c->mode = mode;
c->state = 0; // 重置状态，确保每次切换模式时都重新初始化
c->state = 0; // 重置状态，确保每次切换模式时都重新初始化
return CHASSIS_OK;
}
/* 更新机体状态估计 */
static void Chassis_UpdateChassisState(Chassis_t *c) {
if (c == NULL) return;
// 从轮子编码器估计机体速度 (参考C++代码)
float left_wheel_speed_dps = c->feedback.wheel[0].rotor_speed; // dps (度每秒)
float right_wheel_speed_dps = c->feedback.wheel[1].rotor_speed; // dps (度每秒)
// 将dps转换为rad/s
float left_wheel_speed = left_wheel_speed_dps * M_PI / 180.0f; // rad/s
float right_wheel_speed = right_wheel_speed_dps * M_PI / 180.0f; // rad/s
float wheel_radius = 0.072f;
float left_wheel_linear_vel = left_wheel_speed * wheel_radius;
float right_wheel_linear_vel = right_wheel_speed * wheel_radius;
// 机体x方向速度 (轮子中心速度)
c->chassis_state.last_velocity_x = c->chassis_state.velocity_x;
c->chassis_state.velocity_x = (left_wheel_linear_vel + right_wheel_linear_vel) / 2.0f;
// 积分得到位置
c->chassis_state.position_x += c->chassis_state.velocity_x * c->dt;
if (c == NULL)
return;
// 从轮子编码器估计机体速度 (参考C++代码)
float left_wheel_speed_dps = c->feedback.wheel[0].rotor_speed; // dps (度每秒)
float right_wheel_speed_dps =
c->feedback.wheel[1].rotor_speed; // dps (度每秒)
// 将dps转换为rad/s
float left_wheel_speed = left_wheel_speed_dps * M_PI / 180.0f; // rad/s
float right_wheel_speed = right_wheel_speed_dps * M_PI / 180.0f; // rad/s
float wheel_radius = 0.072f;
float left_wheel_linear_vel = left_wheel_speed * wheel_radius;
float right_wheel_linear_vel = right_wheel_speed * wheel_radius;
// 机体x方向速度 (轮子中心速度)
c->chassis_state.last_velocity_x = c->chassis_state.velocity_x;
c->chassis_state.velocity_x =
(left_wheel_linear_vel + right_wheel_linear_vel) / 2.0f;
// 积分得到位置
c->chassis_state.position_x += c->chassis_state.velocity_x * c->dt;
}
int8_t Chassis_Init(Chassis_t *c, Chassis_Params_t *param, float target_freq) {
if (c == NULL || param == NULL || target_freq <= 0.0f) {
return -1; // 参数错误
}
c->param = param;
int8_t Chassis_Init(Chassis_t *c, Chassis_Params_t *param, float target_freq){
if (c == NULL || param == NULL || target_freq <= 0.0f) {
return -1; // 参数错误
/*初始化can*/
BSP_CAN_Init();
/*初始化和注册所有电机*/
MOTOR_LZ_Init();
for (int i = 0; i < 4; i++) {
MOTOR_LZ_Register(&c->param->joint_motors[i]);
}
for (int i = 0; i < 2; i++) {
MOTOR_LK_Register(&c->param->wheel_motors[i]);
}
MOTOR_DM_Register(&c->param->yaw_motor);
/*初始化VMC控制器*/
VMC_Init(&c->vmc_[0], &param->vmc_param[0], target_freq);
VMC_Init(&c->vmc_[1], &param->vmc_param[1], target_freq);
/*初始化pid*/
PID_Init(&c->pid.leg_length[0], KPID_MODE_CALC_D, target_freq,
&param->leg_length);
PID_Init(&c->pid.leg_length[1], KPID_MODE_CALC_D, target_freq,
&param->leg_length);
PID_Init(&c->pid.yaw, KPID_MODE_CALC_D, target_freq, &param->yaw);
PID_Init(&c->pid.roll, KPID_MODE_CALC_D, target_freq, &param->roll);
PID_Init(&c->pid.tp[0], KPID_MODE_CALC_D, target_freq, &param->tp);
PID_Init(&c->pid.tp[1], KPID_MODE_CALC_D, target_freq, &param->tp);
/*初始化LQR控制器*/
LQR_Init(&c->lqr[0], &param->lqr_gains);
LQR_Init(&c->lqr[1], &param->lqr_gains);
/*初始化机体状态*/
c->chassis_state.position_x = 0.0f;
c->chassis_state.velocity_x = 0.0f;
c->chassis_state.last_velocity_x = 0.0f;
c->chassis_state.target_x = 0.0f;
/*初始化yaw控制状态*/
c->yaw_control.target_yaw = 0.0f;
c->yaw_control.current_yaw = 0.0f;
c->yaw_control.yaw_force = 0.0f;
return CHASSIS_OK;
}
int8_t Chassis_UpdateFeedback(Chassis_t *c) {
if (c == NULL) {
return -1; // 参数错误
}
/*更新电机反馈*/
for (int i = 0; i < 4; i++) {
MOTOR_LZ_Update(&c->param->joint_motors[i]);
}
MOTOR_LK_Update(&c->param->wheel_motors[0]);
MOTOR_LK_Update(&c->param->wheel_motors[1]);
/*将电机反馈数据赋值到标准反馈结构体，并检查是否离线*/
// 更新关节电机反馈并检查离线状态
for (int i = 0; i < 4; i++) {
MOTOR_LZ_t *joint_motor = MOTOR_LZ_GetMotor(&c->param->joint_motors[i]);
if (joint_motor != NULL) {
if (joint_motor->motor.feedback.rotor_abs_angle > M_PI) {
joint_motor->motor.feedback.rotor_abs_angle -= M_2PI;
}
joint_motor->motor.feedback.rotor_abs_angle =
-joint_motor->motor.feedback.rotor_abs_angle; // 机械零点调整
c->feedback.joint[i] = joint_motor->motor.feedback;
}
c->param = param;
/*初始化can*/
BSP_CAN_Init();
}
/*初始化和注册所有电机*/
MOTOR_LZ_Init();
for (int i = 0; i < 4; i++) {
MOTOR_LZ_Register(&c->param->joint_motors[i]);
// 更新轮子电机反馈并检查离线状态
for (int i = 0; i < 2; i++) {
MOTOR_LK_t *wheel_motor = MOTOR_LK_GetMotor(&c->param->wheel_motors[i]);
if (wheel_motor != NULL) {
c->feedback.wheel[i] = wheel_motor->motor.feedback;
}
for (int i = 0; i < 2; i++) {
MOTOR_LK_Register(&c->param->wheel_motors[i]);
}
MOTOR_DM_Register(&c->param->yaw_motor);
}
/* 更新云台电机反馈数据（yaw轴） */
MOTOR_DM_Update(&(c->param->yaw_motor));
MOTOR_DM_t *dm_motor = MOTOR_DM_GetMotor(&(c->param->yaw_motor));
if (dm_motor != NULL) {
c->feedback.yaw = dm_motor->motor.feedback;
}
// 更新机体状态估计
Chassis_UpdateChassisState(c);
return 0;
}
int8_t Chassis_UpdateIMU(Chassis_t *c, const Chassis_IMU_t imu) {
if (c == NULL) {
return -1; // 参数错误
}
c->feedback.imu = imu;
return 0;
}
int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
if (c == NULL || c_cmd == NULL) {
return CHASSIS_ERR_NULL; // 参数错误
}
c->dt = (BSP_TIME_Get_us() - c->lask_wakeup) /
1000000.0f; /* 计算两次调用的时间间隔，单位秒 */
c->lask_wakeup = BSP_TIME_Get_us();
/*设置底盘模式*/
if (Chassis_SetMode(c, c_cmd->mode) != CHASSIS_OK) {
return CHASSIS_ERR_MODE; // 设置模式失败
}
VMC_ForwardSolve(&c->vmc_[0], c->feedback.joint[0].rotor_abs_angle,
c->feedback.joint[1].rotor_abs_angle,
c->feedback.imu.euler.pit, c->feedback.imu.gyro.y);
VMC_ForwardSolve(&c->vmc_[1], c->feedback.joint[3].rotor_abs_angle,
c->feedback.joint[2].rotor_abs_angle,
c->feedback.imu.euler.pit, c->feedback.imu.gyro.y);
/*根据底盘模式执行不同的控制逻辑*/
switch (c->mode) {
case CHASSIS_MODE_RELAX:
// 放松模式，电机不输出
Chassis_MotorRelax(c);
Chassis_LQRControl(c, c_cmd);
break;
case CHASSIS_MODE_RECOVER: {
float fn;
fn = -25.0f;
VMC_InverseSolve(&c->vmc_[0], fn, 0.0f);
VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0].torque,
&c->output.joint[1].torque);
VMC_InverseSolve(&c->vmc_[1], fn, 0.0f);
VMC_GetJointTorques(&c->vmc_[1], &c->output.joint[3].torque,
&c->output.joint[2].torque);
// Chassis_MotorEnable(c);
/*初始化VMC控制器*/
VMC_Init(&c->vmc_[0], &param->vmc_param[0], target_freq);
VMC_Init(&c->vmc_[1], &param->vmc_param[1], target_freq);
c->output.wheel[0] = 0.0f;
c->output.wheel[1] = 0.0f;
Chassis_Output(c); // 统一输出
/*初始化pid*/
PID_Init(&c->pid.leg_length[0], KPID_MODE_CALC_D, target_freq, &param->leg_length);
PID_Init(&c->pid.leg_length[1], KPID_MODE_CALC_D, target_freq, &param->leg_length);
PID_Init(&c->pid.yaw, KPID_MODE_CALC_D, target_freq, &param->yaw);
PID_Init(&c->pid.roll, KPID_MODE_CALC_D, target_freq, &param->roll);
PID_Init(&c->pid.tp[0], KPID_MODE_CALC_D, target_freq, &param->tp);
PID_Init(&c->pid.tp[1], KPID_MODE_CALC_D, target_freq, &param->tp);
} break;
/*初始化LQR控制器*/
LQR_Init(&c->lqr[0], &param->lqr_gains);
LQR_Init(&c->lqr[1], &param->lqr_gains);
/*初始化机体状态*/
c->chassis_state.position_x = 0.0f;
c->chassis_state.velocity_x = 0.0f;
c->chassis_state.last_velocity_x = 0.0f;
c->chassis_state.target_x = 0.0f;
/*初始化yaw控制状态*/
c->yaw_control.target_yaw = 0.0f;
c->yaw_control.current_yaw = 0.0f;
c->yaw_control.yaw_force = 0.0f;
return CHASSIS_OK;
}
case CHASSIS_MODE_WHELL_LEG_BALANCE:
// 执行LQR控制（包含PID腿长控制）
Chassis_LQRControl(c, c_cmd);
int8_t Chassis_UpdateFeedback(Chassis_t *c){
if (c == NULL) {
return -1; // 参数错误
}
/*更新电机反馈*/
for (int i = 0; i < 4; i++) {
MOTOR_LZ_Update(&c->param->joint_motors[i]);
}
MOTOR_LK_Update(&c->param->wheel_motors[0]);
MOTOR_LK_Update(&c->param->wheel_motors[1]);
/*将电机反馈数据赋值到标准反馈结构体，并检查是否离线*/
// 更新关节电机反馈并检查离线状态
for (int i = 0; i < 4; i++) {
MOTOR_LZ_t *joint_motor = MOTOR_LZ_GetMotor(&c->param->joint_motors[i]);
if (joint_motor != NULL) {
if (joint_motor->motor.feedback.rotor_abs_angle > M_PI ){
joint_motor->motor.feedback.rotor_abs_angle -= M_2PI;
}
joint_motor->motor.feedback.rotor_abs_angle = - joint_motor->motor.feedback.rotor_abs_angle; // 机械零点调整
Chassis_Output(c); // 统一输出
break;
c->feedback.joint[i] = joint_motor->motor.feedback;
}
}
// 更新轮子电机反馈并检查离线状态
for (int i = 0; i < 2; i++) {
MOTOR_LK_t *wheel_motor = MOTOR_LK_GetMotor(&c->param->wheel_motors[i]);
if (wheel_motor != NULL) {
c->feedback.wheel[i] = wheel_motor->motor.feedback;
}
}
default:
return CHASSIS_ERR_MODE;
}
/* 更新云台电机反馈数据（yaw轴） */
MOTOR_DM_Update(&(c->param->yaw_motor));
MOTOR_DM_t *dm_motor = MOTOR_DM_GetMotor(&(c->param->yaw_motor));
if (dm_motor != NULL) {
c->feedback.yaw = dm_motor->motor.feedback;
}
// 更新机体状态估计
Chassis_UpdateChassisState(c);
return 0;
}
int8_t Chassis_UpdateIMU(Chassis_t *c, const Chassis_IMU_t imu){
if (c == NULL) {
return -1; // 参数错误
}
c->feedback.imu = imu;
// c->feedback.imu.euler.pit = - c->feedback.imu.euler.pit;
return 0;
}
int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd){
if (c == NULL || c_cmd == NULL) {
return CHASSIS_ERR_NULL; // 参数错误
}
c->dt = (BSP_TIME_Get_us() - c->lask_wakeup) / 1000000.0f; /* 计算两次调用的时间间隔，单位秒 */
c->lask_wakeup = BSP_TIME_Get_us();
/*设置底盘模式*/
if (Chassis_SetMode(c, c_cmd->mode) != CHASSIS_OK) {
return CHASSIS_ERR_MODE; // 设置模式失败
}
/*根据底盘模式执行不同的控制逻辑*/
switch (c->mode) {
case CHASSIS_MODE_RELAX:
// 放松模式，电机不输出
// BSP_CAN_WaitForEmptyMailbox(BSP_CAN_1, 10);
MOTOR_LZ_Relax(&c->param->joint_motors[0]);
// BSP_CAN_WaitForEmptyMailbox(BSP_CAN_1, 10);
MOTOR_LZ_Relax(&c->param->joint_motors[1]);
// BSP_CAN_WaitForEmptyMailbox(BSP_CAN_1, 10);
MOTOR_LZ_Relax(&c->param->joint_motors[2]);
// BSP_CAN_WaitForEmptyMailbox(BSP_CAN_1, 10);
MOTOR_LZ_Relax(&c->param->joint_motors[3]);
BSP_TIME_Delay_us(200); // 等待CAN总线空闲，确保前面的命令发送完成
// BSP_CAN_WaitForEmptyMailbox(BSP_CAN_1, 10);
MOTOR_LK_Relax(&c->param->wheel_motors[0]);
// BSP_CAN_WaitForEmptyMailbox(BSP_CAN_1, 10);
MOTOR_LK_Relax(&c->param->wheel_motors[1]);
// 更新VMC正解算用于状态估计
VMC_ForwardSolve(&c->vmc_[0], c->feedback.joint[0].rotor_abs_angle, c->feedback.joint[1].rotor_abs_angle,
c->feedback.imu.euler.pit, c->feedback.imu.gyro.y);
VMC_ForwardSolve(&c->vmc_[1], c->feedback.joint[3].rotor_abs_angle, c->feedback.joint[2].rotor_abs_angle,
c->feedback.imu.euler.pit, c->feedback.imu.gyro.y);
Chassis_LQRControl(c, c_cmd);
break;
case CHASSIS_MODE_RECOVER:
{
VMC_ForwardSolve(&c->vmc_[0], c->feedback.joint[0].rotor_abs_angle, c->feedback.joint[1].rotor_abs_angle,
c->feedback.imu.euler.pit, c->feedback.imu.gyro.y);
VMC_ForwardSolve(&c->vmc_[1], c->feedback.joint[3].rotor_abs_angle, c->feedback.joint[2].rotor_abs_angle,
c->feedback.imu.euler.pit, c->feedback.imu.gyro.y);
float fn;
fn = -25.0f;
VMC_InverseSolve(&c->vmc_[0], fn, 0.0f);
VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0].torque, &c->output.joint[1].torque);
VMC_InverseSolve(&c->vmc_[1], fn, 0.0f);
VMC_GetJointTorques(&c->vmc_[1], &c->output.joint[3].torque, &c->output.joint[2].torque);
// Chassis_MotorEnable(c);
c->output.wheel[0] = 0.0f;
c->output.wheel[1] = 0.0f;
Chassis_Output(c); // 统一输出
}
break;
case CHASSIS_MODE_WHELL_BALANCE:
// 更新VMC正解算用于状态估计
for (int i = 0; i < 4; i++) {
c->output.joint[i].torque = 0.0f;
}
for (int i = 0; i < 2; i++) {
c->output.wheel[i] = 0.0f;
}
// 更新VMC正解算用于状态估计
VMC_ForwardSolve(&c->vmc_[0], c->feedback.joint[0].rotor_abs_angle, c->feedback.joint[1].rotor_abs_angle,
c->feedback.imu.euler.pit, c->feedback.imu.gyro.y);
VMC_ForwardSolve(&c->vmc_[1], c->feedback.joint[3].rotor_abs_angle, c->feedback.joint[2].rotor_abs_angle,
c->feedback.imu.euler.pit, c->feedback.imu.gyro.y);
// VMC_InverseSolve(&c->vmc_[1], fn, tp);
// VMC_GetJointTorques(&c->vmc_[1], &t1, &t2);
// c->output.joint[3].torque = t1;
// c->output.joint[2].torque = t2;
Chassis_LQRControl(c, c_cmd); // 即使在放松模式下也执行LQR以保持状态更新
// c->output.wheel[0] = 0.2f;
// c->output.wheel[1] = 0.2f;
Chassis_Output(c); // 统一输出
break;
case CHASSIS_MODE_WHELL_LEG_BALANCE:
// 轮腿平衡模式，使用LQR控制和PID腿长控制
// 更新VMC正解算
VMC_ForwardSolve(&c->vmc_[0], c->feedback.joint[0].rotor_abs_angle, c->feedback.joint[1].rotor_abs_angle,
c->feedback.imu.euler.pit, c->feedback.imu.gyro.y);
VMC_ForwardSolve(&c->vmc_[1], c->feedback.joint[3].rotor_abs_angle, c->feedback.joint[2].rotor_abs_angle,
c->feedback.imu.euler.pit, c->feedback.imu.gyro.y);
// 执行LQR控制（包含PID腿长控制）
if (Chassis_LQRControl(c, c_cmd) != 0) {
// LQR控制失败，切换到安全模式
return CHASSIS_ERR;
}
Chassis_Output(c); // 统一输出
break;
default:
return CHASSIS_ERR_MODE;
}
return CHASSIS_OK;
return CHASSIS_OK;
}
void Chassis_Output(Chassis_t *c) {
if (c == NULL) return;
for (int i = 0; i < 4; i++) {
MOTOR_LZ_MotionParam_t param = {0};
param.torque = c->output.joint[i].torque;
MOTOR_LZ_MotionControl(&c->param->joint_motors[i], &param);
}
BSP_TIME_Delay_us(400); // 等待CAN总线空闲，确保前面的命令发送完成
for (int i = 0; i < 2; i++) {
MOTOR_LK_SetOutput(&c->param->wheel_motors[i], c->output.wheel[i]);
// MOTOR_LK_SetOutput(&c->param->wheel_motors[i], 0.0f);
}
if (c == NULL)
return;
for (int i = 0; i < 4; i++) {
MOTOR_LZ_MotionParam_t param = {0};
param.torque = c->output.joint[i].torque;
MOTOR_LZ_MotionControl(&c->param->joint_motors[i], &param);
}
BSP_TIME_Delay_us(400); // 等待CAN总线空闲，确保前面的命令发送完成
for (int i = 0; i < 2; i++) {
MOTOR_LK_SetOutput(&c->param->wheel_motors[i], c->output.wheel[i]);
// MOTOR_LK_SetOutput(&c->param->wheel_motors[i], 0.0f);
}
}
int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
if (c == NULL || c_cmd == NULL) {
return CHASSIS_ERR_NULL;
}
if (c == NULL || c_cmd == NULL) {
return CHASSIS_ERR_NULL;
}
/* 参考C++版本实现的LQR控制 */
/* 地面接触检测（参考C++版本） */
float leg_fn[2];
bool onground_flag[2];
// 暂时关闭离地监测，强制设置为着地状态
leg_fn[0] = VMC_GroundContactDetection(&c->vmc_[0]);
leg_fn[1] = VMC_GroundContactDetection(&c->vmc_[1]);
onground_flag[0] = true; // 强制设置左腿着地
onground_flag[1] = true; // 强制设置右腿着地
/* 获取VMC状态（等效摆杆参数） */
float leg_L0[2], leg_theta[2], leg_d_theta[2];
VMC_GetVirtualLegState(&c->vmc_[0], &leg_L0[0], &leg_theta[0], NULL, &leg_d_theta[0]);
VMC_GetVirtualLegState(&c->vmc_[1], &leg_L0[1], &leg_theta[1], NULL, &leg_d_theta[1]);
/* 运动参数（参考C++版本的状态估计） */
static float xhat = 0.0f, x_dot_hat = 0.0f;
float target_dot_x = 0.0f;
// 简化的速度估计（后续可以改进为C++版本的复杂滤波）
x_dot_hat = c->chassis_state.velocity_x;
xhat = c->chassis_state.position_x;
// 目标设定
target_dot_x = c_cmd->move_vec.vx*2;
// target_dot_x = SpeedLimit_TargetSpeed(300.0f, c->chassis_state.velocity_x, target_dot_x, c->dt); // 速度限制器，假设最大加速度为1 m/s²
c->chassis_state.target_x += target_dot_x * c->dt;
/* 分别计算左右腿的LQR控制 */
float Tw[2] = {0.0f, 0.0f}; // 轮毂力矩
float Tp[2] = {0.0f, 0.0f}; // 髋关节力矩
for (int leg = 0; leg < 2; leg++) {
/* 构建当前状态 */
LQR_State_t current_state = {0};
current_state.theta = leg_theta[leg];
current_state.d_theta = leg_d_theta[leg];
current_state.x = xhat;
current_state.d_x = x_dot_hat;
current_state.phi = -c->feedback.imu.euler.pit;
current_state.d_phi = -c->feedback.imu.gyro.y;
/* 构建目标状态 */
LQR_State_t target_state = {0};
target_state.theta = 0.0f; // 目标摆杆角度
target_state.d_theta = 0.0f; // 目标摆杆角速度
// target_state.x = 0; // 目标位置
// target_state.d_x = 0.0f; // 目标速度
target_state.phi = -0.1f; // 目标俯仰角
target_state.d_phi = 0.0f; // 目标俯仰角速度
// target_state.theta = -0.8845f * leg_L0[leg] + 0.40663f; // 目标摆杆角度
// target_state.d_theta = 0.0f; // 目标摆杆角速度
target_state.x = c->chassis_state.target_x; // 目标位置
target_state.d_x = target_dot_x; // 目标速度
// target_state.phi = 0.16f; // 目标俯仰角
// target_state.d_phi = 0.0f; // 目标俯仰角速度
/* 根据当前腿长更新增益矩阵 */
LQR_CalculateGainMatrix(&c->lqr[leg], leg_L0[leg]);
/* 更新LQR状态 */
LQR_SetTargetState(&c->lqr[leg], &target_state);
LQR_UpdateState(&c->lqr[leg], &current_state);
if (onground_flag[leg]) {
/* 接地状态：使用LQR控制器计算输出 */
if (LQR_Control(&c->lqr[leg]) == 0) {
Tw[leg] = c->lqr[leg].control_output.T;
Tp[leg] = c->lqr[leg].control_output.Tp;
// Tw[leg] = 0.0f; // 暂时屏蔽轮毂力矩输出
// Tp[leg] = -2.5f; // 暂时屏蔽腿部力矩输出
} else {
Tw[leg] = 0.0f;
Tp[leg] = 0.0f;
}
} else {
/* 离地状态：简化控制，只控制腿部摆动 */
Tw[leg] = 0.0f;
// 只控制摆杆角度
float theta_error = current_state.theta - target_state.theta;
float d_theta_error = current_state.d_theta - target_state.d_theta;
Tp[leg] = -(c->lqr[leg].K_matrix[1][0] * theta_error + c->lqr[leg].K_matrix[1][1] * d_theta_error);
}
}
// c->yaw_control.current_yaw = c->feedback.imu.euler.yaw;
/* 运动参数（参考C++版本的状态估计） */
static float xhat = 0.0f, x_dot_hat = 0.0f;
float target_dot_x = 0.0f;
// c->yaw_control.target_yaw -= c_cmd->move_vec.vy * 0.005f; // 目标偏航角，假设遥控器输入范围为[-10, 10]，映射到[-0.02, 0.02] rad/s
// 简化的速度估计（后续可以改进为C++版本的复杂滤波）
x_dot_hat = c->chassis_state.velocity_x;
xhat = c->chassis_state.position_x;
// // 修正目标yaw角度到[-pi, pi]
// if (c->yaw_control.target_yaw > M_PI) {
// c->yaw_control.target_yaw -= M_2PI;
// } else if (c->yaw_control.target_yaw < -M_PI) {
// c->yaw_control.target_yaw += M_2PI;
// }
// 目标设定
target_dot_x = c_cmd->move_vec.vx * 2;
// target_dot_x = SpeedLimit_TargetSpeed(300.0f, c->chassis_state.velocity_x,
// target_dot_x, c->dt); // 速度限制器，假设最大加速度为1 m/s²
c->chassis_state.target_x += target_dot_x * c->dt;
// c->yaw_control.yaw_force = PID_Calc(&c->pid.yaw, c->yaw_control.target_yaw, c->feedback.imu.euler.yaw, c->feedback.imu.gyro.z, c->dt);
c->yaw_control.current_yaw = c->feedback.yaw.rotor_abs_angle;
c->yaw_control.target_yaw = c->param->mech_zero_yaw;
c->yaw_control.yaw_force = PID_Calc(&c->pid.yaw, c->yaw_control.target_yaw, c->feedback.yaw.rotor_abs_angle, 0.0f, c->dt);
/* 分别计算左右腿的LQR控制 */
/* 构建当前状态 */
LQR_State_t current_state = {0};
current_state.theta = c->vmc_[0].leg.theta;
current_state.d_theta = c->vmc_[0].leg.d_theta;
current_state.x = xhat;
current_state.d_x = x_dot_hat;
current_state.phi = -c->feedback.imu.euler.pit;
current_state.d_phi = -c->feedback.imu.gyro.y;
LQR_UpdateState(&c->lqr[0], &current_state);
current_state.theta = c->vmc_[1].leg.theta;
current_state.d_theta = c->vmc_[1].leg.d_theta;
LQR_UpdateState(&c->lqr[1], &current_state);
/* 根据当前腿长更新增益矩阵 */
LQR_CalculateGainMatrix(&c->lqr[0], c->vmc_[0].leg.L0);
LQR_CalculateGainMatrix(&c->lqr[1], c->vmc_[1].leg.L0);
/* 构建目标状态 */
LQR_State_t target_state = {0};
target_state.theta = 0.0f; // 目标摆杆角度
target_state.d_theta = 0.0f; // 目标摆杆角速度
target_state.phi = -0.1f; // 目标俯仰角
target_state.d_phi = 0.0f; // 目标俯仰角速度
target_state.x = c->chassis_state.target_x; // 目标位置
target_state.d_x = target_dot_x; // 目标速度
/* 轮毂力矩输出（参考C++版本的减速比） */
c->output.wheel[0] = Tw[0] / 4.5f + c->yaw_control.yaw_force;
c->output.wheel[1] = Tw[1] / 4.5f - c->yaw_control.yaw_force;
/* 腿长控制和VMC逆解算（使用PID控制） */
float virtual_force[2];
float target_L0[2];
float leg_d_length[2]; // 腿长变化率
/* 横滚角PID补偿计算 */
float roll_compensation = PID_Calc(&c->pid.roll, 0.0f, c->feedback.imu.euler.rol, c->feedback.imu.gyro.x, c->dt);
// 目标腿长设定
target_L0[0] = 0.15f + c_cmd->height * 0.2f + roll_compensation; // 左腿：基础腿长 + 高度调节 + 横滚角补偿
target_L0[1] = 0.15f + c_cmd->height * 0.2f - roll_compensation; // 右腿：基础腿长 + 高度调节 - 横滚角补偿
// 获取腿长变化率
VMC_GetVirtualLegState(&c->vmc_[0], NULL, NULL, &leg_d_length[0], NULL);
VMC_GetVirtualLegState(&c->vmc_[1], NULL, NULL, &leg_d_length[1], NULL);
/* 左右腿摆角相互补偿（参考C++版本的Delta_Tp机制） */
float Delta_Tp[2];
// 使用tp_pid进行左右腿摆角同步控制
// 左腿补偿力矩：使左腿theta向右腿theta靠拢
Delta_Tp[0] = leg_L0[0] * 10.0f * PID_Calc(&c->pid.tp[0], leg_theta[1], leg_theta[0], leg_d_theta[0], c->dt);
// 右腿补偿力矩：使右腿theta向左腿theta靠拢（符号相反）
Delta_Tp[1] = leg_L0[1] * 10.0f * PID_Calc(&c->pid.tp[1], leg_theta[0], leg_theta[1], leg_d_theta[1], c->dt);
for (int leg = 0; leg < 2; leg++) {
// 使用PID进行腿长控制
float pid_output = PID_Calc(&c->pid.leg_length[leg], target_L0[leg], leg_L0[leg], leg_d_length[leg], 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
virtual_force[leg] = (Tp[leg]) * sinf(leg_theta[leg]) +
pid_output + 30.0f;
// + // PID腿长控制输出
// 45.0f; // 基础支撑力
// VMC逆解算（包含摆角补偿）
// virtual_force[leg] = 0.0f; // 暂时屏蔽虚拟力输出，避免VMC逆解算失败
// Tp[leg] = 0.0f; // 暂时屏蔽腿部力矩输出，避免VMC逆解算失败
// Delta_Tp[leg] = 0.0f; // 暂时屏蔽腿部力矩输出，避免VMC逆解算失败
if (VMC_InverseSolve(&c->vmc_[leg], virtual_force[leg], Tp[leg] + Delta_Tp[leg]) == 0) {
// if (VMC_InverseSolve(&c->vmc_[leg], 0.0, Tp[leg] + Delta_Tp[leg]) == 0) {
if (leg == 0) {
VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0].torque, &c->output.joint[1].torque);
} else {
VMC_GetJointTorques(&c->vmc_[1], &c->output.joint[3].torque, &c->output.joint[2].torque);
}
} else {
// VMC失败，设为0力矩
if (leg == 0) {
c->output.joint[0].torque = 0.0f;
c->output.joint[1].torque = 0.0f;
} else {
c->output.joint[2].torque = 0.0f;
c->output.joint[3].torque = 0.0f;
}
}
/* 更新LQR状态 */
LQR_SetTargetState(&c->lqr[0], &target_state);
LQR_SetTargetState(&c->lqr[1], &target_state);
LQR_Control(&c->lqr[0]);
LQR_Control(&c->lqr[1]);
c->yaw_control.current_yaw = c->feedback.yaw.rotor_abs_angle;
c->yaw_control.target_yaw = c->param->mech_zero_yaw;
c->yaw_control.yaw_force = PID_Calc(&c->pid.yaw, c->yaw_control.target_yaw,
c->feedback.yaw.rotor_abs_angle, 0.0f, c->dt);
/* 轮毂力矩输出（参考C++版本的减速比） */
c->output.wheel[0] = c->lqr[0].control_output.T / 4.5f + c->yaw_control.yaw_force;
c->output.wheel[1] = c->lqr[1].control_output.T / 4.5f - c->yaw_control.yaw_force;
/* 腿长控制和VMC逆解算（使用PID控制） */
float virtual_force[2];
float target_L0[2];
float leg_d_length[2]; // 腿长变化率
/* 横滚角PID补偿计算 */
// 使用PID控制器计算横滚角补偿力，目标横滚角为0
float roll_compensation_force = PID_Calc(&c->pid.roll, 0.0f,
c->feedback.imu.euler.rol,
c->feedback.imu.gyro.x,
c->dt);
// 限制补偿力范围，防止过度补偿
if (roll_compensation_force > 20.0f) roll_compensation_force = 20.0f;
if (roll_compensation_force < -20.0f) roll_compensation_force = -20.0f;
// 目标腿长设定（移除横滚角补偿）
target_L0[0] = 0.15f + c_cmd->height * 0.2f; // 左腿：基础腿长 + 高度调节
target_L0[1] = 0.15f + c_cmd->height * 0.2f; // 右腿：基础腿长 + 高度调节
// 获取腿长变化率
VMC_GetVirtualLegState(&c->vmc_[0], NULL, NULL, &leg_d_length[0], NULL);
VMC_GetVirtualLegState(&c->vmc_[1], NULL, NULL, &leg_d_length[1], NULL);
/* 左右腿摆角相互补偿（参考C++版本的Delta_Tp机制） */
float Delta_Tp[2];
// 使用tp_pid进行左右腿摆角同步控制
// 左腿补偿力矩：使左腿theta向右腿theta靠拢
Delta_Tp[0] = c->vmc_[0].leg.L0 * 10.0f *
PID_Calc(&c->pid.tp[0], c->vmc_[1].leg.theta, c->vmc_[0].leg.theta,
c->vmc_[0].leg.d_theta, c->dt);
// 右腿补偿力矩：使右腿theta向左腿theta靠拢（符号相反）
Delta_Tp[1] = -Delta_Tp[0];
// 左腿控制
{
// 使用PID进行腿长控制
float pid_output = PID_Calc(&c->pid.leg_length[0], target_L0[0],
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 + 50.0f - roll_compensation_force;
// VMC逆解算（包含摆角补偿）
if (VMC_InverseSolve(&c->vmc_[0], virtual_force[0],
c->lqr[0].control_output.Tp + Delta_Tp[0]) == 0) {
VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0].torque,
&c->output.joint[1].torque);
} else {
// VMC失败，设为0力矩
c->output.joint[0].torque = 0.0f;
c->output.joint[1].torque = 0.0f;
}
/* 安全限制 */
for (int i = 0; i < 2; i++) {
if (fabsf(c->output.wheel[i]) > 0.8f) {
c->output.wheel[i] = (c->output.wheel[i] > 0) ? 0.8f : -0.8f;
}
}
// 右腿控制
{
// 使用PID进行腿长控制
float pid_output = PID_Calc(&c->pid.leg_length[1], target_L0[1],
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;
// VMC逆解算（包含摆角补偿）
if (VMC_InverseSolve(&c->vmc_[1], virtual_force[1],
c->lqr[1].control_output.Tp + Delta_Tp[1]) == 0) {
VMC_GetJointTorques(&c->vmc_[1], &c->output.joint[3].torque,
&c->output.joint[2].torque);
} else {
// VMC失败，设为0力矩
c->output.joint[2].torque = 0.0f;
c->output.joint[3].torque = 0.0f;
}
for (int i = 0; i < 4; i++) {
if (fabsf(c->output.joint[i].torque) > 20.0f) {
c->output.joint[i].torque = (c->output.joint[i].torque > 0) ? 20.0f : -20.0f;
}
}
/* 安全限制 */
for (int i = 0; i < 2; i++) {
if (fabsf(c->output.wheel[i]) > 0.8f) {
c->output.wheel[i] = (c->output.wheel[i] > 0) ? 0.8f : -0.8f;
}
return CHASSIS_OK;
}
for (int i = 0; i < 4; i++) {
if (fabsf(c->output.joint[i].torque) > 20.0f) {
c->output.joint[i].torque =
(c->output.joint[i].torque > 0) ? 20.0f : -20.0f;
}
}
return CHASSIS_OK;
}

1
User/module/balance_chassis.h
View File

@ -38,7 +38,6 @@ extern "C" {
typedef enum {
CHASSIS_MODE_RELAX, /* 放松模式，电机不输出。一般情况底盘初始化之后的模式 */
CHASSIS_MODE_RECOVER, /* 复位模式 */
CHASSIS_MODE_WHELL_BALANCE, /* 平衡模式，底盘自我平衡 */
CHASSIS_MODE_WHELL_LEG_BALANCE, /* 轮子+腿平衡模式，底盘自我平衡 */
} Chassis_Mode_t;

34
User/module/config.c
View File

@ -38,21 +38,21 @@ Config_RobotParam_t robot_config = {
},
.roll={
.k=1.0f,
.k=10.0f,
.p=5.0f, /* 横滚角比例系数 */
.i=0.0f, /* 横滚角积分系数 */
.d=0.2f, /* 横滚角微分系数 */
.i_limit=0.0f, /* 积分限幅 */
.out_limit=0.05f, /* 输出限幅，腿长差值限制 */
.out_limit=50.0f, /* 输出限幅，腿长差值限制 */
.d_cutoff_freq=30.0f, /* 微分截止频率 */
.range=-1.0f, /* 不使用循环误差处理 */
},
.leg_length={
.k = 20.0f,
.p = 10.0f,
.k = 40.0f,
.p = 5.0f,
.i = 0.0f,
.d = 0.0f,
.d = 1.0f,
.i_limit = 0.0f,
.out_limit = 100.0f,
.d_cutoff_freq = -1.0f,
@ -160,18 +160,18 @@ Config_RobotParam_t robot_config = {
}
},
.lqr_gains = {
.k11_coeff = { -1.508572585852218e+02f, 1.764949368139731e+02f, -9.850368126414553e+01f, -1.786139736968997e+00f }, // theta
.k12_coeff = { 6.466280284100411e+00f, -6.582699834130516e+00f, -7.131858380770703e+00f, -2.414590752579311e-01f }, // d_theta
.k13_coeff = { -7.182568574598301e+01f, 7.405968297046749e+01f, -2.690651220502175e+01f, -1.029850390463813e-01f }, // x
.k14_coeff = { -7.645548919162933e+01f, 7.988837668034076e+01f, -3.105733981791483e+01f, -4.296847184537235e-01f }, // d_x
.k15_coeff = { -9.403058188674812e+00f, 2.314767704216332e+01f, -1.651965553704901e+01f, 3.907902082528794e+00f }, // phi
.k16_coeff = { -4.023111056381187e+00f, 6.154951770170482e+00f, -3.705537084098432e+00f, 8.264904615264155e-01f }, // d_phi
.k21_coeff = { 1.254775776629822e+02f, -8.971732439896309e+01f, 4.744038360386896e+00f, 1.088353622361175e+01f }, // theta
.k22_coeff = { 1.061139172689013e+01f, -1.011235824540459e+01f, 3.034478775177782e+00f, 1.254920921163464e+00f }, // d_theta
.k23_coeff = { -2.675556963667067e+01f, 4.511381902505539e+01f, -2.800741296230217e+01f, 7.647205920058282e+00f }, // x
.k24_coeff = { -4.067721095665326e+01f, 6.068996620706580e+01f, -3.488384556019462e+01f, 9.374136714284193e+00f }, // d_x
.k25_coeff = { 7.359316334738203e+01f, -7.896223244854855e+01f, 2.961892943386949e+01f, 4.406632136721399e+00f }, // phi
.k26_coeff = { 1.624843000878248e+01f, -1.680831323767654e+01f, 6.018754311678180e+00f, 2.337719500754984e-01f }, // d_phi
.k11_coeff = { -1.916376919295156e+02f, 2.009487240966917e+02f, -9.481460086781939e+01f, -4.748704486775178e+00f }, // theta
.k12_coeff = { -1.794538872095484e+00f, -1.557720009681701e-02f, -7.253705624763870e+00f, -9.066344876912042e-01f }, // d_theta
.k13_coeff = { -5.530128764310525e+01f, 5.441066051951745e+01f, -1.855725101721958e+01f, -1.532320658646968e+00f }, // x
.k14_coeff = { -5.226956984912729e+01f, 5.134367619659140e+01f, -1.878250555345751e+01f, -2.194040977657715e+00f }, // d_x
.k15_coeff = { -8.041587662748894e+00f, 1.194985309170939e+01f, -6.358536570979702e+00f, 8.475914154881636e-01f }, // phi
.k16_coeff = { -1.171602430557222e+01f, 1.424681188601595e+01f, -6.769563511869035e+00f, 1.358696951640962e+00f }, // d_phi
.k21_coeff = { -1.589916277171124e+01f, 3.688717311486668e+01f, -2.693106123880470e+01f, 8.468880380216705e+00f }, // theta
.k22_coeff = { -4.056650578339882e+00f, 5.627051302682392e+00f, -2.802037254431724e+00f, 1.258712322539219e+00f }, // d_theta
.k23_coeff = { -4.615940205649521e+01f, 5.298830026615487e+01f, -2.321905486010759e+01f, 4.733000143959848e+00f }, // x
.k24_coeff = { -6.198443605956307e+01f, 6.867018097135634e+01f, -2.873375258895661e+01f, 5.632056979434964e+00f }, // d_x
.k25_coeff = { -1.149934231218892e+01f, 9.960303123832579e+00f, -2.826210920406189e+00f, 4.384038656352771e+00f }, // phi
.k26_coeff = { 1.452344963148120e+01f, -1.451377402367933e+01f, 5.020766559053281e+00f, 1.099371055071753e+00f }, // d_phi
},
},

4
utils/Simulation-master/balance/series_legs/get_k_length.m
View File

@ -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([700 100 2000 1500 5000 1]);%theta d_theta x d_x phi d_phi%700 1 600 200 1000 1
R=[140 0;0 50]; %T Tp
Q=diag([500 200 1500 800 2500 200]);%theta d_theta x d_x phi d_phi%700 1 600 200 1000 1
R=[100 0;0 80]; %T Tp
K=lqr(A,B,Q,R);