561 lines
18 KiB
C
561 lines
18 KiB
C
/**
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* @file balance_chassis.c
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* @brief 平衡底盘控制模块
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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/filter.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 <stddef.h>
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#include <string.h>
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/* Private defines ---------------------------------------------------------- */
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#define LIMIT(x, min, max) ((x) < (min) ? (min) : ((x) > (max) ? (max) : (x)))
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#define WHEEL_RADIUS 0.068f /* 轮子半径 (m) */
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#define MAX_ACCELERATION 2.0f /* 最大加速度 (m/s²) */
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#define WHEEL_GEAR_RATIO 4.0f /* 轮毂电机扭矩 */
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#define BASE_LEG_LENGTH 0.12f /* 基础腿长 (m) */
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#define LEG_LENGTH_RANGE 0.22f /* 腿长调节范围 (m) */
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#define MIN_LEG_LENGTH 0.10f /* 最小腿长 (m) */
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#define MAX_LEG_LENGTH 0.42f /* 最大腿长 (m) */
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#define NON_CONTACT_THETA 0.16f /* 离地时的摆角目标 (rad) */
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#define LEFT_BASE_FORCE 60.0f /* 左腿基础支撑力 (N) */
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#define RIGHT_BASE_FORCE 65.0f /* 右腿基础支撑力 (N) */
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/* Private function prototypes ---------------------------------------------- */
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static int8_t Chassis_MotorEnable(Chassis_t *c);
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static int8_t Chassis_MotorRelax(Chassis_t *c);
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static int8_t Chassis_SetMode(Chassis_t *c, Chassis_Mode_t mode);
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static void Chassis_UpdateChassisState(Chassis_t *c);
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static void Chassis_ResetControllers(Chassis_t *c);
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static void Chassis_SelectYawZeroPoint(Chassis_t *c);
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/* Private functions -------------------------------------------------------- */
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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 操作结果
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*/
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static int8_t Chassis_MotorEnable(Chassis_t *c) {
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if (c == NULL) 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_param[i]);
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}
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for (int i = 0; i < 2; i++) {
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MOTOR_LK_MotorOn(&c->param->wheel_param[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 放松所有电机
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* @param c 底盘结构体指针
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* @return 操作结果
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*/
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static int8_t Chassis_MotorRelax(Chassis_t *c) {
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if (c == NULL) return CHASSIS_ERR_NULL;
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for (int i = 0; i < 4; i++) {
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MOTOR_LZ_Relax(&c->param->joint_param[i]);
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}
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for (int i = 0; i < 2; i++) {
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MOTOR_LK_Relax(&c->param->wheel_param[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 重置所有控制器
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* @param c 底盘结构体指针
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*/
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static void Chassis_ResetControllers(Chassis_t *c) {
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/* 重置PID控制器 */
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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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/* 重置LQR控制器 */
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LQR_Reset(&c->lqr[0]);
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LQR_Reset(&c->lqr[1]);
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/* 重置滤波器 */
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for (int i = 0; i < 4; i++) {
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LowPassFilter2p_Reset(&c->filter.joint_out[i], 0.0f);
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}
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for (int i = 0; i < 2; i++) {
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LowPassFilter2p_Reset(&c->filter.wheel_out[i], 0.0f);
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}
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/* 清空机体状态 */
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c->chassis_state.position_x = 0.0f;
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c->chassis_state.velocity_x = 0.0f;
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c->chassis_state.last_velocity_x = 0.0f;
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c->chassis_state.target_x = 0.0f;
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c->chassis_state.target_velocity_x = 0.0f;
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c->chassis_state.last_target_velocity_x = 0.0f;
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}
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/**
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* @brief 选择yaw轴零点（双零点自动选择）
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* @param c 底盘结构体指针
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*/
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static void Chassis_SelectYawZeroPoint(Chassis_t *c) {
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float current_yaw = c->feedback.yaw.rotor_abs_angle;
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float zero_point_1 = c->param->mech_zero_yaw;
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float zero_point_2 = zero_point_1 + M_PI;
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float error_to_zero1 = CircleError(zero_point_1, current_yaw, M_2PI);
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float error_to_zero2 = CircleError(zero_point_2, current_yaw, M_2PI);
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if (fabsf(error_to_zero1) <= fabsf(error_to_zero2)) {
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c->yaw_control.target_yaw = zero_point_1;
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c->yaw_control.is_reversed = false;
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} else {
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c->yaw_control.target_yaw = zero_point_2;
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c->yaw_control.is_reversed = true;
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}
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}
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/**
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* @brief 设置底盘模式
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* @param c 底盘结构体指针
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* @param mode 目标模式
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* @return 操作结果
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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) return CHASSIS_ERR_NULL;
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if (mode == c->mode) return CHASSIS_OK;
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Chassis_MotorEnable(c);
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Chassis_ResetControllers(c);
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Chassis_SelectYawZeroPoint(c);
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c->mode = mode;
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return CHASSIS_OK;
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}
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/**
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* @brief 更新机体状态估计
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* @param c 底盘结构体指针
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*/
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static void Chassis_UpdateChassisState(Chassis_t *c) {
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if (c == NULL) return;
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/* 从轮子编码器估计机体速度 */
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float left_speed_dps = c->feedback.wheel[0].rotor_speed;
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float right_speed_dps = c->feedback.wheel[1].rotor_speed;
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/* 将dps转换为rad/s，再转为线速度 */
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float left_linear_vel = left_speed_dps * (M_PI / 180.0f) * WHEEL_RADIUS;
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float right_linear_vel = right_speed_dps * (M_PI / 180.0f) * WHEEL_RADIUS;
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/* 更新机体速度和位置 */
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c->chassis_state.last_velocity_x = c->chassis_state.velocity_x;
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c->chassis_state.velocity_x = (left_linear_vel + right_linear_vel) / 2.0f;
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c->chassis_state.position_x += c->chassis_state.velocity_x * c->dt;
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}
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/* Public functions --------------------------------------------------------- */
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/**
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* @brief 初始化底盘
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* @param c 底盘结构体指针
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* @param param 底盘参数指针
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* @param target_freq 目标控制频率
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* @return 操作结果
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*/
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int8_t Chassis_Init(Chassis_t *c, Chassis_Params_t *param, float target_freq) {
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if (c == NULL || param == NULL || target_freq <= 0.0f) {
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return CHASSIS_ERR;
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}
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c->param = param;
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c->mode = CHASSIS_MODE_RELAX;
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/* 初始化CAN */
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BSP_CAN_Init();
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/* 初始化和注册电机 */
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MOTOR_LZ_Init();
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for (int i = 0; i < 4; i++) {
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if (MOTOR_LZ_Register(&c->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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for (int i = 0; i < 2; i++) {
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if (MOTOR_LK_Register(&c->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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MOTOR_DM_Register(&c->param->yaw_motor);
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/* 初始化VMC控制器 */
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VMC_Init(&c->vmc_[0], ¶m->vmc_param[0], target_freq);
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VMC_Init(&c->vmc_[1], ¶m->vmc_param[1], target_freq);
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/* 初始化PID控制器 */
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PID_Init(&c->pid.leg_length[0], KPID_MODE_CALC_D, target_freq, ¶m->leg_length);
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PID_Init(&c->pid.leg_length[1], KPID_MODE_CALC_D, target_freq, ¶m->leg_length);
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PID_Init(&c->pid.yaw, KPID_MODE_CALC_D, target_freq, ¶m->yaw);
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PID_Init(&c->pid.roll, KPID_MODE_CALC_D, target_freq, ¶m->roll);
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PID_Init(&c->pid.tp[0], KPID_MODE_CALC_D, target_freq, ¶m->tp);
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PID_Init(&c->pid.tp[1], KPID_MODE_CALC_D, target_freq, ¶m->tp);
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/* 初始化LQR控制器 */
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LQR_Init(&c->lqr[0], ¶m->lqr_gains);
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LQR_Init(&c->lqr[1], ¶m->lqr_gains);
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/* 初始化滤波器 */
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for (int i = 0; i < 4; i++) {
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LowPassFilter2p_Init(&c->filter.joint_out[i], target_freq, param->low_pass_cutoff_freq.out);
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}
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for (int i = 0; i < 2; i++) {
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LowPassFilter2p_Init(&c->filter.wheel_out[i], target_freq, param->low_pass_cutoff_freq.out);
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}
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Chassis_MotorEnable(c);
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/* 初始化状态变量 */
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memset(&c->chassis_state, 0, sizeof(c->chassis_state));
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memset(&c->yaw_control, 0, sizeof(c->yaw_control));
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return CHASSIS_OK;
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}
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/**
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* @brief 更新底盘反馈数据
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* @param c 底盘结构体指针
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* @return 操作结果
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*/
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int8_t Chassis_UpdateFeedback(Chassis_t *c) {
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if (c == NULL) return CHASSIS_ERR_NULL;
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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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/* 更新关节电机反馈 */
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for (int i = 0; i < 4; i++) {
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MOTOR_LZ_t *joint_motor = MOTOR_LZ_GetMotor(&c->param->joint_param[i]);
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if (joint_motor != NULL) {
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c->feedback.joint[i] = joint_motor->motor.feedback;
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}
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/* 机械零点调整 */
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if (c->feedback.joint[i].rotor_abs_angle > M_PI) {
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c->feedback.joint[i].rotor_abs_angle -= M_2PI;
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}
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c->feedback.joint[i].rotor_abs_angle = -c->feedback.joint[i].rotor_abs_angle;
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}
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/* 更新轮子电机反馈 */
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for (int i = 0; i < 2; i++) {
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MOTOR_LK_t *wheel_motor = MOTOR_LK_GetMotor(&c->param->wheel_param[i]);
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if (wheel_motor != NULL) {
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c->feedback.wheel[i] = wheel_motor->motor.feedback;
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}
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}
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/* 更新机体状态估计 */
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Chassis_UpdateChassisState(c);
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return CHASSIS_OK;
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}
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/**
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* @brief 更新IMU数据
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* @param c 底盘结构体指针
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* @param imu IMU数据
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* @return 操作结果
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*/
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int8_t Chassis_UpdateIMU(Chassis_t *c, const Chassis_IMU_t imu) {
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if (c == NULL) return CHASSIS_ERR_NULL;
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c->feedback.imu = imu;
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return CHASSIS_OK;
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}
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/**
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* @brief 底盘控制主函数
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* @param c 底盘结构体指针
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* @param c_cmd 控制指令
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* @return 操作结果
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*/
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int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
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if (c == NULL || c_cmd == NULL) return CHASSIS_ERR_NULL;
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/* 计算时间间隔 */
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c->dt = (BSP_TIME_Get_us() - c->lask_wakeup) / 1000000.0f;
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c->lask_wakeup = BSP_TIME_Get_us();
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/* 设置底盘模式 */
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if (Chassis_SetMode(c, c_cmd->mode) != CHASSIS_OK) {
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return CHASSIS_ERR_MODE;
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}
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/* VMC正解算 */
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VMC_ForwardSolve(&c->vmc_[0], c->feedback.joint[0].rotor_abs_angle,
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c->feedback.joint[1].rotor_abs_angle,
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c->feedback.imu.euler.pit, c->feedback.imu.gyro.y);
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VMC_ForwardSolve(&c->vmc_[1], c->feedback.joint[3].rotor_abs_angle,
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c->feedback.joint[2].rotor_abs_angle,
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c->feedback.imu.euler.pit, c->feedback.imu.gyro.y);
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/* 根据模式执行控制 */
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switch (c->mode) {
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case CHASSIS_MODE_RELAX:
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Chassis_MotorRelax(c);
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Chassis_LQRControl(c, c_cmd);
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break;
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case CHASSIS_MODE_RECOVER: {
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float fn = -20.0f, tp = 0.0f;
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Chassis_LQRControl(c, c_cmd);
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VMC_InverseSolve(&c->vmc_[0], fn, tp);
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VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0], &c->output.joint[1]);
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VMC_InverseSolve(&c->vmc_[1], fn, tp);
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VMC_GetJointTorques(&c->vmc_[1], &c->output.joint[3], &c->output.joint[2]);
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c->output.wheel[0] = c_cmd->move_vec.vx * 0.2f;
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c->output.wheel[1] = c_cmd->move_vec.vx * 0.2f;
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Chassis_Output(c);
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} break;
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case CHASSIS_MODE_WHELL_LEG_BALANCE:
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Chassis_LQRControl(c, c_cmd);
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Chassis_Output(c);
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break;
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default:
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return CHASSIS_ERR_MODE;
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}
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return CHASSIS_OK;
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}
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/**
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* @brief 底盘输出
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* @param c 底盘结构体指针
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*/
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void Chassis_Output(Chassis_t *c) {
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if (c == NULL) return;
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/* 关节输出滤波 */
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for (int i = 0; i < 4; i++) {
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c->output.joint[i] = LowPassFilter2p_Apply(&c->filter.joint_out[i], c->output.joint[i]);
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}
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/* 发送关节控制指令 */
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MOTOR_LZ_MotionParam_t motion_param = {
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.torque = 0.0f,
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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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};
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for (int i = 0; i < 4; i++) {
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motion_param.torque = c->output.joint[i];
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MOTOR_LZ_MotionControl(&c->param->joint_param[i], &motion_param);
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}
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/* 轮子输出滤波并发送 */
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for (int i = 0; i < 2; i++) {
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c->output.wheel[i] = LowPassFilter2p_Apply(&c->filter.wheel_out[i], c->output.wheel[i]);
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}
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MOTOR_LK_SetOutput(&c->param->wheel_param[0], c->output.wheel[0]);
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MOTOR_LK_SetOutput(&c->param->wheel_param[1], c->output.wheel[1]);
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}
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/**
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* @brief LQR控制
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* @param c 底盘结构体指针
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* @param c_cmd 控制指令
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* @return 操作结果
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*/
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int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
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if (c == NULL || c_cmd == NULL) return CHASSIS_ERR_NULL;
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/* ==================== 速度控制 ==================== */
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float raw_vx = c_cmd->move_vec.vx * 2.0f;
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float desired_velocity = c->yaw_control.is_reversed ? -raw_vx : raw_vx;
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/* 加速度限制 */
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float velocity_change = desired_velocity - c->chassis_state.last_target_velocity_x;
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float max_velocity_change = MAX_ACCELERATION * c->dt;
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velocity_change = LIMIT(velocity_change, -max_velocity_change, max_velocity_change);
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float target_dot_x = c->chassis_state.last_target_velocity_x + velocity_change;
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c->chassis_state.target_velocity_x = target_dot_x;
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c->chassis_state.last_target_velocity_x = target_dot_x;
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c->chassis_state.target_x += target_dot_x * c->dt;
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/* ==================== 状态更新 ==================== */
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LQR_State_t current_state = {
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.theta = c->vmc_[0].leg.theta,
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.d_theta = c->vmc_[0].leg.d_theta,
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.x = c->chassis_state.position_x,
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.d_x = c->chassis_state.velocity_x,
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.phi = c->feedback.imu.euler.pit,
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.d_phi = -c->feedback.imu.gyro.x,
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};
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LQR_UpdateState(&c->lqr[0], ¤t_state);
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current_state.theta = c->vmc_[1].leg.theta;
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current_state.d_theta = c->vmc_[1].leg.d_theta;
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LQR_UpdateState(&c->lqr[1], ¤t_state);
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/* 根据腿长更新增益矩阵 */
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LQR_CalculateGainMatrix(&c->lqr[0], c->vmc_[0].leg.L0);
|
||
LQR_CalculateGainMatrix(&c->lqr[1], c->vmc_[1].leg.L0);
|
||
|
||
/* ==================== 目标状态 ==================== */
|
||
LQR_State_t target_state = {
|
||
.theta = 0.0f,
|
||
.d_theta = 0.0f,
|
||
.phi = -0.2f,
|
||
.d_phi = 0.0f,
|
||
.x = c->chassis_state.target_x,
|
||
.d_x = c->chassis_state.target_velocity_x,
|
||
};
|
||
|
||
/* ==================== Yaw轴控制 ==================== */
|
||
c->yaw_control.current_yaw = c->feedback.yaw.rotor_abs_angle;
|
||
|
||
float manual_offset = c_cmd->move_vec.vy * M_PI_2;
|
||
float base_target_1 = c->param->mech_zero_yaw + manual_offset;
|
||
float base_target_2 = c->param->mech_zero_yaw + M_PI + manual_offset;
|
||
|
||
float error_to_target1 = CircleError(base_target_1, c->yaw_control.current_yaw, M_2PI);
|
||
float error_to_target2 = CircleError(base_target_2, c->yaw_control.current_yaw, M_2PI);
|
||
|
||
if (fabsf(error_to_target1) <= fabsf(error_to_target2)) {
|
||
c->yaw_control.target_yaw = base_target_1;
|
||
c->yaw_control.is_reversed = false;
|
||
} else {
|
||
c->yaw_control.target_yaw = base_target_2;
|
||
c->yaw_control.is_reversed = true;
|
||
}
|
||
|
||
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);
|
||
|
||
/* ==================== 左腿LQR控制 ==================== */
|
||
if (c->vmc_[0].leg.is_ground_contact) {
|
||
LQR_SetTargetState(&c->lqr[0], &target_state);
|
||
LQR_Control(&c->lqr[0]);
|
||
} else {
|
||
target_state.theta = NON_CONTACT_THETA;
|
||
LQR_SetTargetState(&c->lqr[0], &target_state);
|
||
c->lqr[0].control_output.T = 0.0f;
|
||
c->lqr[0].control_output.Tp =
|
||
c->lqr[0].K_matrix[1][0] * (-c->vmc_[0].leg.theta + NON_CONTACT_THETA) +
|
||
c->lqr[0].K_matrix[1][1] * (-c->vmc_[0].leg.d_theta);
|
||
c->yaw_control.yaw_force = 0.0f;
|
||
}
|
||
|
||
/* ==================== 右腿LQR控制 ==================== */
|
||
if (c->vmc_[1].leg.is_ground_contact) {
|
||
LQR_SetTargetState(&c->lqr[1], &target_state);
|
||
LQR_Control(&c->lqr[1]);
|
||
} else {
|
||
target_state.theta = NON_CONTACT_THETA;
|
||
LQR_SetTargetState(&c->lqr[1], &target_state);
|
||
c->lqr[1].control_output.T = 0.0f;
|
||
c->lqr[1].control_output.Tp =
|
||
c->lqr[1].K_matrix[1][0] * (-c->vmc_[1].leg.theta + NON_CONTACT_THETA) +
|
||
c->lqr[1].K_matrix[1][1] * (-c->vmc_[1].leg.d_theta);
|
||
c->yaw_control.yaw_force = 0.0f;
|
||
}
|
||
|
||
/* ==================== 轮毂输出 ==================== */
|
||
c->output.wheel[0] = c->lqr[0].control_output.T / WHEEL_GEAR_RATIO + c->yaw_control.yaw_force;
|
||
c->output.wheel[1] = c->lqr[1].control_output.T / WHEEL_GEAR_RATIO - c->yaw_control.yaw_force;
|
||
|
||
/* ==================== 横滚角补偿 ==================== */
|
||
float roll_compensation = PID_Calc(&c->pid.roll, 0.0f, c->feedback.imu.euler.rol,
|
||
c->feedback.imu.gyro.x, c->dt);
|
||
|
||
/* 限制补偿范围 */
|
||
float max_compensation = (c->vmc_[0].leg.is_ground_contact && c->vmc_[1].leg.is_ground_contact)
|
||
? 0.05f : 0.02f;
|
||
roll_compensation = LIMIT(roll_compensation, -max_compensation, max_compensation);
|
||
|
||
/* ==================== 腿长控制 ==================== */
|
||
float target_L0[2];
|
||
target_L0[0] = BASE_LEG_LENGTH + c_cmd->height * LEG_LENGTH_RANGE + roll_compensation;
|
||
target_L0[1] = BASE_LEG_LENGTH + c_cmd->height * LEG_LENGTH_RANGE - roll_compensation;
|
||
|
||
/* 腿长限幅 */
|
||
target_L0[0] = LIMIT(target_L0[0], MIN_LEG_LENGTH, MAX_LEG_LENGTH);
|
||
target_L0[1] = LIMIT(target_L0[1], MIN_LEG_LENGTH, MAX_LEG_LENGTH);
|
||
|
||
/* 获取腿长变化率 */
|
||
float leg_d_length[2];
|
||
VMC_GetVirtualLegState(&c->vmc_[0], NULL, NULL, &leg_d_length[0], NULL);
|
||
VMC_GetVirtualLegState(&c->vmc_[1], NULL, NULL, &leg_d_length[1], NULL);
|
||
|
||
/* ==================== 左右腿摆角同步补偿 ==================== */
|
||
float Delta_Tp[2];
|
||
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);
|
||
Delta_Tp[1] = c->vmc_[1].leg.L0 * 10.0f *
|
||
PID_Calc(&c->pid.tp[1], c->vmc_[0].leg.theta,
|
||
c->vmc_[1].leg.theta, c->vmc_[1].leg.d_theta, c->dt);
|
||
|
||
/* ==================== 左腿VMC控制 ==================== */
|
||
float pid_output_left = PID_Calc(&c->pid.leg_length[0], target_L0[0],
|
||
c->vmc_[0].leg.L0, leg_d_length[0], c->dt);
|
||
float virtual_force_left = c->lqr[0].control_output.Tp * sinf(c->vmc_[0].leg.theta) +
|
||
pid_output_left + LEFT_BASE_FORCE;
|
||
|
||
if (VMC_InverseSolve(&c->vmc_[0], virtual_force_left,
|
||
c->lqr[0].control_output.Tp + Delta_Tp[0]) == 0) {
|
||
VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0], &c->output.joint[1]);
|
||
} else {
|
||
c->output.joint[0] = 0.0f;
|
||
c->output.joint[1] = 0.0f;
|
||
}
|
||
|
||
/* ==================== 右腿VMC控制 ==================== */
|
||
float pid_output_right = PID_Calc(&c->pid.leg_length[1], target_L0[1],
|
||
c->vmc_[1].leg.L0, leg_d_length[1], c->dt);
|
||
float virtual_force_right = c->lqr[1].control_output.Tp * sinf(c->vmc_[1].leg.theta) +
|
||
pid_output_right + RIGHT_BASE_FORCE;
|
||
|
||
if (VMC_InverseSolve(&c->vmc_[1], virtual_force_right,
|
||
c->lqr[1].control_output.Tp + Delta_Tp[1]) == 0) {
|
||
VMC_GetJointTorques(&c->vmc_[1], &c->output.joint[3], &c->output.joint[2]);
|
||
} else {
|
||
c->output.joint[2] = 0.0f;
|
||
c->output.joint[3] = 0.0f;
|
||
}
|
||
|
||
/* ==================== 安全限制 ==================== */
|
||
for (int i = 0; i < 2; i++) {
|
||
c->output.wheel[i] = LIMIT(c->output.wheel[i], -1.0f, 1.0f);
|
||
}
|
||
for (int i = 0; i < 4; i++) {
|
||
c->output.joint[i] = LIMIT(c->output.joint[i], -15.0f, 15.0f);
|
||
}
|
||
|
||
return CHASSIS_OK;
|
||
}
|