854 lines
29 KiB
C
854 lines
29 KiB
C
<<<<<<< HEAD
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/*
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* Balance Chassis Module
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "module/balance_chassis.h"
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#include "bsp/can.h"
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#include "bsp/time.h"
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#include "component/user_math.h"
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#include "device/motor_lk.h"
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#include "module/config.h"
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#include <string.h>
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#include <math.h>
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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#define CAN_CMD_ENABLE_ID 121 // 使能命令ID
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#define CAN_CMD_JOINT_ID 122 // 关节控制命令ID
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#define CAN_CMD_WHEEL_LEFT_ID 0x128 // 左轮控制命令ID
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#define CAN_CMD_WHEEL_RIGHT_ID 0x129 // 右轮控制命令ID
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#define CAN_FEEDBACK_JOINT_BASE_ID 124 // 关节反馈基础ID (124-127)
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#define CAN_FEEDBACK_WHEEL_LEFT_ID 130 // 左轮反馈ID
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#define CAN_FEEDBACK_WHEEL_RIGHT_ID 131 // 右轮反馈ID
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/* Private macro ------------------------------------------------------------ */
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#define CMD_TIMEOUT_MS 50 // 50ms超时时间，允许控制频率在10-20Hz之间
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/* Private variables -------------------------------------------------------- */
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static bool joint_command_received = false;
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static bool wheel_command_received[2] = {false, false};
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// 超时管理 - 防止控制频率不同导致的控制/relax交替
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static uint32_t joint_last_cmd_time = 0;
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static uint32_t wheel_last_cmd_time[2] = {0, 0};
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/* Private function --------------------------------------------------------- */
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/**
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* @brief 检查并处理CAN控制命令
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* @param chassis 底盘实例
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* @return 成功返回DEVICE_OK
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*/
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static int8_t Chassis_ProcessCANCommands(Chassis_t *chassis) {
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BSP_CAN_Message_t rx_msg;
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joint_command_received = false;
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wheel_command_received[0] = false;
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wheel_command_received[1] = false;
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// 检查ID 128 - 左轮控制命令 (与电机发送格式一致)
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if (BSP_CAN_GetMessage(BSP_CAN_1, CAN_CMD_WHEEL_LEFT_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
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wheel_command_received[0] = true;
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wheel_last_cmd_time[0] = BSP_TIME_Get_ms(); // 更新左轮命令时间戳
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float left_out = (float)((int16_t)(rx_msg.data[4] | (rx_msg.data[5] << 8))) / 2048.0f;
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chassis->output.wheel[0] = left_out;
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MOTOR_LK_SetOutput(&chassis->param.wheel_param[0], left_out);
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}
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// 检查ID 129 - 右轮控制命令 (与电机发送格式一致)
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if (BSP_CAN_GetMessage(BSP_CAN_1, CAN_CMD_WHEEL_RIGHT_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
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wheel_command_received[1] = true;
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wheel_last_cmd_time[1] = BSP_TIME_Get_ms(); // 更新右轮命令时间戳
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float right_out = (float)((int16_t)(rx_msg.data[4] | (rx_msg.data[5] << 8))) / 2048.0f;
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chassis->output.wheel[1] = right_out;
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MOTOR_LK_SetOutput(&chassis->param.wheel_param[1], right_out);
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}
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BSP_TIME_Delay_ms(1); // 短暂延时，避免总线冲突
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// 检查ID 121 - 使能4个关节电机
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if (BSP_CAN_GetMessage(BSP_CAN_1, CAN_CMD_ENABLE_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
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joint_command_received = true;
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for (int i = 0; i < 4; i++) {
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MOTOR_LZ_Enable(&chassis->param.joint_param[i]);
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}
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}
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// 检查ID 122 - 运控模式控制4个关节电机
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if (BSP_CAN_GetMessage(BSP_CAN_1, CAN_CMD_JOINT_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
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joint_command_received = true;
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joint_last_cmd_time = BSP_TIME_Get_ms(); // 更新关节命令时间戳
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// 8字节数据分别是4个电机的力矩 (每个电机2字节，有符号整数，精度0.01 Nm)
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for (int i = 0; i < 4; i++) {
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int16_t torque_raw;
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memcpy(&torque_raw, &rx_msg.data[i * 2], sizeof(int16_t));
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float torque = (float)torque_raw / 100.0f; // 转换为浮点数力矩值
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chassis->output.joint[i] = torque;
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// 使用运控模式控制电机，只设置力矩，其他参数为0
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MOTOR_LZ_MotionParam_t motion_param = {
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.target_angle = 0.0f,
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.target_velocity = 0.0f,
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.kp = 0.0f,
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.kd = 0.0f,
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.torque = torque
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};
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MOTOR_LZ_MotionControl(&chassis->param.joint_param[i], &motion_param);
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}
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}
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return DEVICE_OK;
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}
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/**
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* @brief 发送关节电机反馈数据
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* @param chassis 底盘实例
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* @return 成功返回DEVICE_OK
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*/
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static int8_t Chassis_SendJointFeedback(Chassis_t *chassis) {
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// 发送4个关节电机的反馈数据，ID分别为124、125、126、127
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for (int i = 0; i < 4; i++) {
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MOTOR_LZ_t* motor = MOTOR_LZ_GetMotor(&chassis->param.joint_param[i]);
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if (motor != NULL) {
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BSP_CAN_StdDataFrame_t motor_frame = {
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.id = CAN_FEEDBACK_JOINT_BASE_ID + i, // ID: 124, 125, 126, 127
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.dlc = 8,
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.data = {0}
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};
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// 数据重构：转矩电流(2字节) + 位置(3字节) + 速度(3字节) = 8字节
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// 转矩电流 - 转换为16位整数 (精度0.01 Nm)
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int16_t torque_int = (int16_t)(motor->lz_feedback.current_torque * 100);
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memcpy(&motor_frame.data[0], &torque_int, sizeof(int16_t));
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// 位置 - 转换为24位整数，使用3字节 (精度0.0001 rad)
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int32_t angle_int = (int32_t)(motor->lz_feedback.current_angle * 10000) & 0xFFFFFF;
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motor_frame.data[2] = (angle_int >> 16) & 0xFF;
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motor_frame.data[3] = (angle_int >> 8) & 0xFF;
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motor_frame.data[4] = angle_int & 0xFF;
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// 速度 - 转换为24位整数，使用3字节 (精度0.001 rad/s)
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int32_t velocity_int = (int32_t)(motor->lz_feedback.current_velocity * 1000) & 0xFFFFFF;
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motor_frame.data[5] = (velocity_int >> 16) & 0xFF;
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motor_frame.data[6] = (velocity_int >> 8) & 0xFF;
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motor_frame.data[7] = velocity_int & 0xFF;
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BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &motor_frame);
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}
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}
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return DEVICE_OK;
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}
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/**
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* @brief 发送轮子电机反馈数据
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* @param chassis 底盘实例
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* @return 成功返回DEVICE_OK
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*/
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static int8_t Chassis_SendWheelFeedback(Chassis_t *chassis) {
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// 发送2个轮子电机的反馈数据，ID分别为130、131
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for (int i = 0; i < 2; i++) {
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MOTOR_LK_t* motor = MOTOR_LK_GetMotor(&chassis->param.wheel_param[i]);
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if (motor != NULL) {
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BSP_CAN_StdDataFrame_t wheel_frame = {
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.id = CAN_FEEDBACK_WHEEL_LEFT_ID + i, // ID: 130, 131
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.dlc = 8,
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.data = {0}
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};
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// 使用LK电机的标准反馈格式
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// 角度(2字节) + 速度(2字节) + 力矩电流(2字节) + 编码器(2字节)
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// 角度 - 转换为16位整数 (精度0.01度)
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int16_t angle_int = (int16_t)(motor->motor.feedback.rotor_abs_angle * 180.0f / M_PI * 100);
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wheel_frame.data[0] = (angle_int >> 8) & 0xFF;
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wheel_frame.data[1] = angle_int & 0xFF;
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// 速度 - 转换为16位整数 (精度1dps)
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int16_t speed_int = (int16_t)(motor->motor.feedback.rotor_speed);
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wheel_frame.data[2] = (speed_int >> 8) & 0xFF;
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wheel_frame.data[3] = speed_int & 0xFF;
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// 力矩电流 - 转换为16位整数
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int16_t current_int = (int16_t)(motor->motor.feedback.torque_current);
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wheel_frame.data[4] = (current_int >> 8) & 0xFF;
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wheel_frame.data[5] = current_int & 0xFF;
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// 编码器值 - 直接使用角度值作为编码器
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uint16_t encoder = (uint16_t)(motor->motor.feedback.rotor_abs_angle / (2 * M_PI) * 65535);
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wheel_frame.data[6] = (encoder >> 8) & 0xFF;
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wheel_frame.data[7] = encoder & 0xFF;
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BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &wheel_frame);
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}
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}
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return DEVICE_OK;
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}
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/* Exported functions ------------------------------------------------------- */
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/**
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* @brief 底盘初始化
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* @param chassis 底盘实例
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* @param param 底盘参数
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* @return 成功返回DEVICE_OK
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*/
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int8_t Chassis_Init(Chassis_t *chassis, Chassis_Param_t *param) {
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if (chassis == NULL || param == NULL) {
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return DEVICE_ERR_NULL;
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}
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// 复制参数
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memcpy(&chassis->param, param, sizeof(Chassis_Param_t));
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// 初始化CAN
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BSP_CAN_Init();
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// 初始化电机驱动
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MOTOR_LZ_Init();
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// 注册关节电机
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for (int i = 0; i < 4; i++) {
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if (MOTOR_LZ_Register(&chassis->param.joint_param[i]) != DEVICE_OK) {
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return DEVICE_ERR;
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}
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}
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// 注册轮子电机
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for (int i = 0; i < 2; i++) {
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if (MOTOR_LK_Register(&chassis->param.wheel_param[i]) != DEVICE_OK) {
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return DEVICE_ERR;
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}
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}
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// 注册CAN接收ID
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BSP_CAN_RegisterId(BSP_CAN_1, CAN_CMD_ENABLE_ID, 0); // 使能命令
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BSP_CAN_RegisterId(BSP_CAN_1, CAN_CMD_JOINT_ID, 0); // 关节控制命令
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BSP_CAN_RegisterId(BSP_CAN_1, CAN_CMD_WHEEL_LEFT_ID, 0); // 左轮控制命令
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BSP_CAN_RegisterId(BSP_CAN_1, CAN_CMD_WHEEL_RIGHT_ID, 0); // 右轮控制命令
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return DEVICE_OK;
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}
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/**
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* @brief 更新底盘数据
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* @param chassis 底盘实例
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* @return 成功返回DEVICE_OK
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*/
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int8_t Chassis_Update(Chassis_t *chassis) {
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if (chassis == NULL) {
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return DEVICE_ERR_NULL;
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}
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// 更新所有电机数据
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MOTOR_LZ_UpdateAll();
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MOTOR_LK_UpdateAll();
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// 更新反馈数据
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for (int i = 0; i < 4; i++) {
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MOTOR_LZ_t* joint_motor = MOTOR_LZ_GetMotor(&chassis->param.joint_param[i]);
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if (joint_motor != NULL) {
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chassis->data.joint[i] = joint_motor->motor.feedback;
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}
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}
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for (int i = 0; i < 2; i++) {
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MOTOR_LK_t* wheel_motor = MOTOR_LK_GetMotor(&chassis->param.wheel_param[i]);
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if (wheel_motor != NULL) {
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chassis->data.wheel[i] = wheel_motor->motor.feedback;
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}
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}
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return DEVICE_OK;
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}
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/**
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* @brief 使能底盘
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* @param chassis 底盘实例
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* @return 成功返回DEVICE_OK
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*/
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int8_t Chassis_Enable(Chassis_t *chassis) {
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if (chassis == NULL) {
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return DEVICE_ERR_NULL;
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}
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// 使能关节电机
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for (int i = 0; i < 4; i++) {
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MOTOR_LZ_Enable(&chassis->param.joint_param[i]);
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}
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// 开启轮子电机
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for (int i = 0; i < 2; i++) {
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MOTOR_LK_MotorOn(&chassis->param.wheel_param[i]);
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}
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return DEVICE_OK;
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}
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/**
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* @brief 底盘松弛
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* @param chassis 底盘实例
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* @return 成功返回DEVICE_OK
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*/
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int8_t Chassis_Relax(Chassis_t *chassis) {
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if (chassis == NULL) {
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return DEVICE_ERR_NULL;
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}
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// 关节电机松弛
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for (int i = 0; i < 4; i++) {
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MOTOR_LZ_Relax(&chassis->param.joint_param[i]);
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}
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// 轮子电机松弛
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for (int i = 0; i < 2; i++) {
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MOTOR_LK_Relax(&chassis->param.wheel_param[i]);
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}
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return DEVICE_OK;
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}
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/**
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* @brief 底盘控制处理
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* @param chassis 底盘实例
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* @return 成功返回DEVICE_OK
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*/
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int8_t Chassis_Ctrl(Chassis_t *chassis) {
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if (chassis == NULL) {
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return DEVICE_ERR_NULL;
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}
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// 处理CAN控制命令
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Chassis_ProcessCANCommands(chassis);
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uint32_t current_time = BSP_TIME_Get_ms();
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// 关节电机超时检查 - 只有在超时时才执行relax
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if (!joint_command_received &&
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(current_time - joint_last_cmd_time) > CMD_TIMEOUT_MS) {
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for (int i = 0; i < 4; i++) {
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MOTOR_LZ_Relax(&chassis->param.joint_param[i]);
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chassis->output.joint[i] = 0.0f; // 松弛时输出力矩设为0
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}
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}
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// 轮子电机超时检查 - 只有在超时时才执行relax
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for (int i = 0; i < 2; i++) {
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if (!wheel_command_received[i] &&
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(current_time - wheel_last_cmd_time[i]) > CMD_TIMEOUT_MS) {
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MOTOR_LK_Relax(&chassis->param.wheel_param[i]);
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chassis->output.wheel[i] = 0.0f; // 松弛时输出设为0
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}
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}
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// 发送反馈数据
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Chassis_SendJointFeedback(chassis);
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Chassis_SendWheelFeedback(chassis);
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return DEVICE_OK;
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=======
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#include "module/balance_chassis.h"
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#include "bsp/can.h"
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#include "bsp/time.h"
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#include "component/kinematics.h"
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#include "component/limiter.h"
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#include "component/user_math.h"
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#include "device/motor_lk.h"
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#include "device/motor_lz.h"
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#include <math.h>
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#include <stdint.h>
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#include <string.h>
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/**
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* @brief 使能所有电机
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* @param c 底盘结构体指针
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* @return
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*/
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static int8_t Chassis_MotorEnable(Chassis_t *c) {
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if (c == NULL)
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return CHASSIS_ERR_NULL;
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for (int i = 0; i < 4; i++) {
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MOTOR_LZ_Enable(&c->param->joint_motors[i]);
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}
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BSP_TIME_Delay_us(200);
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for (int i = 0; i < 2; i++) {
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MOTOR_LK_MotorOn(&c->param->wheel_motors[i]);
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}
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return CHASSIS_OK;
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}
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/**
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* @brief 关闭所有电机
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* @param c 底盘结构体指针
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* @return
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*/
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static int8_t Chassis_MotorRelax(Chassis_t *c) {
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if (c == NULL)
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return CHASSIS_ERR_NULL;
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for (int i = 0; i < 2; i++) {
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MOTOR_LK_Relax(&c->param->wheel_motors[i]);
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}
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BSP_TIME_Delay_us(200);
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for (int i = 0; i < 4; i++) {
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MOTOR_LZ_Relax(&c->param->joint_motors[i]);
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}
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return CHASSIS_OK;
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}
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static int8_t Chassis_SetMode(Chassis_t *c, Chassis_Mode_t mode) {
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if (c == NULL)
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return CHASSIS_ERR_NULL; /* 主结构体不能为空 */
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if (mode == c->mode)
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return CHASSIS_OK; /* 模式未改变直接返回 */
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Chassis_MotorEnable(c);
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PID_Reset(&c->pid.leg_length[0]);
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PID_Reset(&c->pid.leg_length[1]);
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PID_Reset(&c->pid.yaw);
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PID_Reset(&c->pid.roll);
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PID_Reset(&c->pid.tp[0]);
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PID_Reset(&c->pid.tp[1]);
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c->yaw_control.target_yaw = c->feedback.imu.euler.yaw;
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// 清空位移
|
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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
|
||
|
||
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;
|
||
}
|
||
|
||
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;
|
||
|
||
/*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);
|
||
|
||
// Chassis_MotorEnable(c);
|
||
|
||
/*初始化VMC控制器*/
|
||
VMC_Init(&c->vmc_[0], ¶m->vmc_param[0], target_freq);
|
||
VMC_Init(&c->vmc_[1], ¶m->vmc_param[1], target_freq);
|
||
|
||
/*初始化pid*/
|
||
PID_Init(&c->pid.leg_length[0], KPID_MODE_CALC_D, target_freq,
|
||
¶m->leg_length);
|
||
PID_Init(&c->pid.leg_length[1], KPID_MODE_CALC_D, target_freq,
|
||
¶m->leg_length);
|
||
PID_Init(&c->pid.yaw, KPID_MODE_CALC_D, target_freq, ¶m->yaw);
|
||
PID_Init(&c->pid.roll, KPID_MODE_CALC_D, target_freq, ¶m->roll);
|
||
PID_Init(&c->pid.tp[0], KPID_MODE_CALC_D, target_freq, ¶m->tp);
|
||
PID_Init(&c->pid.tp[1], KPID_MODE_CALC_D, target_freq, ¶m->tp);
|
||
|
||
/*初始化LQR控制器*/
|
||
LQR_Init(&c->lqr[0], ¶m->lqr_gains);
|
||
LQR_Init(&c->lqr[1], ¶m->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]);
|
||
|
||
// 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;
|
||
}
|
||
}
|
||
|
||
// 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;
|
||
}
|
||
}
|
||
|
||
/* 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
|
||
}
|
||
|
||
// 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);
|
||
|
||
/*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);
|
||
c->output.wheel[0] = 0.0f;
|
||
c->output.wheel[1] = 0.0f;
|
||
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
|
||
// 执行LQR控制（包含PID腿长控制）
|
||
// Chassis_MotorRelax(c);
|
||
Chassis_LQRControl(c, c_cmd);
|
||
Chassis_Output(c); // 统一输出
|
||
break;
|
||
|
||
default:
|
||
return CHASSIS_ERR_MODE;
|
||
}
|
||
|
||
return CHASSIS_OK;
|
||
}
|
||
|
||
int8_t Chassis_Output(Chassis_t *c) {
|
||
if (c == NULL)
|
||
return CHASSIS_ERR_NULL;
|
||
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], ¶m);
|
||
}
|
||
BSP_TIME_Delay_us(200); // 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);
|
||
}
|
||
return CHASSIS_OK;
|
||
}
|
||
|
||
int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
|
||
if (c == NULL || c_cmd == NULL) {
|
||
return CHASSIS_ERR_NULL;
|
||
}
|
||
|
||
/* 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;
|
||
c->chassis_state.target_x += target_dot_x * c->dt;
|
||
|
||
/*更新当前状态*/
|
||
LQR_State_t current_state = {0};
|
||
current_state.theta = c->vmc_[0].leg.theta; // 左腿摆杆角度
|
||
current_state.d_theta = c->vmc_[0].leg.d_theta; // 左腿摆杆角速度
|
||
current_state.x = xhat; // 机体位置
|
||
current_state.d_x = x_dot_hat; // 机体速度
|
||
current_state.phi = -c->feedback.imu.euler.pit; // 机体俯仰角
|
||
current_state.d_phi = -c->feedback.imu.gyro.y; // 机体俯仰角速度
|
||
LQR_UpdateState(&c->lqr[0], ¤t_state);
|
||
LQR_CalculateGainMatrix(&c->lqr[0], c->vmc_[0].leg.L0);
|
||
|
||
current_state.theta = c->vmc_[1].leg.theta; // 右腿摆杆角度
|
||
current_state.d_theta = c->vmc_[1].leg.d_theta; // 右腿摆杆角速度
|
||
LQR_UpdateState(&c->lqr[1], ¤t_state);
|
||
LQR_CalculateGainMatrix(&c->lqr[1], c->vmc_[1].leg.L0);
|
||
|
||
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 = -0.2f; // 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
|
||
LQR_SetTargetState(&c->lqr[0], &target_state);
|
||
LQR_SetTargetState(&c->lqr[1], &target_state);
|
||
|
||
LQR_Control(&c->lqr[0]);
|
||
LQR_Control(&c->lqr[1]);
|
||
|
||
// /* 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 = -0.2f; // 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], ¤t_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) {
|
||
// LQR_Input_t lqr_output = {0};
|
||
// if (LQR_GetOutput(&c->lqr[leg], &lqr_output) == 0) {
|
||
// Tw[leg] = lqr_output.T;
|
||
// Tp[leg] = lqr_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 {
|
||
// 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;
|
||
|
||
// 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
|
||
|
||
// // 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;
|
||
// }
|
||
|
||
// 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_cmd->move_vec.vy;
|
||
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 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] = c->vmc_[0].leg.L0 * 10.0f *
|
||
PID_Calc(&c->pid.tp[0], c->vmc_[1].leg.theta,
|
||
c->vmc_[0].leg.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] = -Delta_Tp[0];
|
||
|
||
float out = PID_Calc(&c->pid.leg_length[0], target_L0[0], c->vmc_[0].leg.L0,
|
||
leg_d_length[0], c->dt);
|
||
c->vmc_[0].leg.F_virtual = out;
|
||
out = PID_Calc(&c->pid.leg_length[1], target_L0[1], c->vmc_[1].leg.L0,
|
||
leg_d_length[1], c->dt);
|
||
c->vmc_[1].leg.F_virtual = out;
|
||
|
||
c->vmc_[0].leg.T_virtual = c->lqr[0].control_output.Tp + Delta_Tp[0];
|
||
c->vmc_[1].leg.T_virtual = c->lqr[1].control_output.Tp + Delta_Tp[1];
|
||
|
||
VMC_InverseSolve(&c->vmc_[0], c->vmc_[0].leg.F_virtual,
|
||
c->vmc_[0].leg.T_virtual);
|
||
VMC_InverseSolve(&c->vmc_[1], c->vmc_[1].leg.F_virtual,
|
||
c->vmc_[1].leg.T_virtual);
|
||
|
||
VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0].torque,
|
||
&c->output.joint[1].torque);
|
||
VMC_GetJointTorques(&c->vmc_[1], &c->output.joint[3].torque,
|
||
&c->output.joint[2].torque);
|
||
|
||
/* 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;
|
||
}
|
||
}
|
||
|
||
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;
|
||
>>>>>>> main
|
||
}
|