648 lines
24 KiB
C
648 lines
24 KiB
C
#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/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_lz.h"
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#include "device/virtual_chassis.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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static Virtual_Chassis_t virtual_chassis;
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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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Virtual_Chassis_Enable(&virtual_chassis);
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return CHASSIS_OK;
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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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float relax_torque[4] = {0.0f, 0.0f, 0.0f, 0.0f};
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Virtual_Chassis_SendJointTorque(&virtual_chassis, relax_torque);
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Virtual_Chassis_SendWheelCommand(&virtual_chassis, 0.0f, 0.0f);
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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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// 特殊处理：从JUMP切换到WHELL_LEG_BALANCE时不重置
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// 但从WHELL_LEG_BALANCE切换到JUMP时，需要重置以触发新的跳跃
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if (c->mode == CHASSIS_MODE_JUMP && mode == CHASSIS_MODE_WHELL_LEG_BALANCE) {
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c->mode = mode;
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return CHASSIS_OK;
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}
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if (c->mode == CHASSIS_MODE_WHELL_LEG_BALANCE && mode == CHASSIS_MODE_JUMP) {
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c->mode = mode;
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c->state = 0; // 重置状态，确保每次切换模式时都重新初始化
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c->jump_time=0; // 重置跳跃时间，切换到JUMP模式时会触发新跳跃
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return CHASSIS_OK;
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}
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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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// 双零点自动选择逻辑（使用user_math的CircleError函数）
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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; // 第二个零点，相差180度
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// 使用CircleError计算到两个零点的角度差（范围为M_2PI）
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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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// 选择误差绝对值更小的零点作为目标，并记录是否使用了第二个零点
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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; // 使用第一个零点，不反转
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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; // 使用第二个零点，需要反转前后方向
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}
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// 清空位移
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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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LQR_Reset(&c->lqr[0]);
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LQR_Reset(&c->lqr[1]);
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LowPassFilter2p_Reset(&c->filter.joint_out[0], 0.0f);
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LowPassFilter2p_Reset(&c->filter.joint_out[1], 0.0f);
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LowPassFilter2p_Reset(&c->filter.joint_out[2], 0.0f);
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LowPassFilter2p_Reset(&c->filter.joint_out[3], 0.0f);
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LowPassFilter2p_Reset(&c->filter.wheel_out[0], 0.0f);
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LowPassFilter2p_Reset(&c->filter.wheel_out[1], 0.0f);
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c->mode = mode;
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c->state = 0; // 重置状态，确保每次切换模式时都重新初始化
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c->jump_time=0; // 重置跳跃时间，切换到JUMP模式时会触发新跳跃
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c->wz_multi=0.0f;
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return CHASSIS_OK;
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}
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/* 更新机体状态估计 */
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static void Chassis_UpdateChassisState(Chassis_t *c) {
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if (c == NULL)
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return;
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// 从轮子编码器估计机体速度 (参考C++代码)
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float left_wheel_speed_dps = c->feedback.wheel[0].rotor_speed; // dps (度每秒)
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float right_wheel_speed_dps =
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c->feedback.wheel[1].rotor_speed; // dps (度每秒)
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// 将dps转换为rad/s
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float left_wheel_speed = left_wheel_speed_dps * M_PI / 180.0f; // rad/s
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float right_wheel_speed = right_wheel_speed_dps * M_PI / 180.0f; // rad/s
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float wheel_radius = 0.072f;
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float left_wheel_linear_vel = left_wheel_speed * wheel_radius;
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float right_wheel_linear_vel = right_wheel_speed * wheel_radius;
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// 机体x方向速度 (轮子中心速度)
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c->chassis_state.last_velocity_x = c->chassis_state.velocity_x;
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c->chassis_state.velocity_x =
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(left_wheel_linear_vel + right_wheel_linear_vel) / 2.0f;
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// 积分得到位置
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c->chassis_state.position_x += c->chassis_state.velocity_x * c->dt;
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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 -1; // 参数错误
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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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/*初始化和注册所有电机*/
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MOTOR_LZ_Init();
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Virtual_Chassis_Init(&virtual_chassis, &c->param->virtual_chassis_param);
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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*/
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PID_Init(&c->pid.leg_length[0], KPID_MODE_CALC_D, target_freq,
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¶m->leg_length);
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PID_Init(&c->pid.leg_length[1], KPID_MODE_CALC_D, target_freq,
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¶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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LowPassFilter2p_Init(&c->filter.joint_out[0], target_freq,
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param->low_pass_cutoff_freq.out);
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LowPassFilter2p_Init(&c->filter.joint_out[1], target_freq,
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param->low_pass_cutoff_freq.out);
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LowPassFilter2p_Init(&c->filter.joint_out[2], target_freq,
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param->low_pass_cutoff_freq.out);
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LowPassFilter2p_Init(&c->filter.joint_out[3], target_freq,
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param->low_pass_cutoff_freq.out);
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LowPassFilter2p_Init(&c->filter.wheel_out[0], target_freq,
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param->low_pass_cutoff_freq.out);
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LowPassFilter2p_Init(&c->filter.wheel_out[1], target_freq,
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param->low_pass_cutoff_freq.out);
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/*初始化机体状态*/
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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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/*初始化yaw控制状态*/
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c->yaw_control.target_yaw = 0.0f;
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c->yaw_control.current_yaw = 0.0f;
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c->yaw_control.yaw_force = 0.0f;
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c->yaw_control.is_reversed = false;
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return CHASSIS_OK;
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}
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int8_t Chassis_UpdateFeedback(Chassis_t *c) {
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if (c == NULL) {
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return -1; // 参数错误
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}
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Virtual_Chassis_Update(&virtual_chassis);
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for (int i = 0; i < 4; i++) {
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c->feedback.joint[i] = virtual_chassis.data.joint[i];
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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 =
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-c->feedback.joint[i].rotor_abs_angle; // 机械零点调整
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}
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for (int i = 0; i < 2; i++) {
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c->feedback.wheel[i] = virtual_chassis.data.wheel[i];
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}
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c->feedback.imu.accl = virtual_chassis.data.imu.accl;
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c->feedback.imu.gyro = virtual_chassis.data.imu.gyro;
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c->feedback.imu.euler = virtual_chassis.data.imu.euler;
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// 更新机体状态估计
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Chassis_UpdateChassisState(c);
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return 0;
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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) {
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return -1; // 参数错误
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}
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c->feedback.imu = imu;
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return 0;
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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) {
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return CHASSIS_ERR_NULL; // 参数错误
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}
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c->dt = (BSP_TIME_Get_us() - c->lask_wakeup) /
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1000000.0f; /* 计算两次调用的时间间隔，单位秒 */
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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; // 设置模式失败
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}
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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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/*根据底盘模式执行不同的控制逻辑*/
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switch (c->mode) {
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case CHASSIS_MODE_RELAX:
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// 放松模式，电机不输出
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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, tp;
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fn = -20.0f;
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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); // 统一输出
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} break;
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case CHASSIS_MODE_JUMP:
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// 跳跃模式状态机
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// 状态转换: 0(准备)->1(0.3s)->2(0.2s)->3(0.3s)->0(完成)
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// jump_time == 0: 未开始跳跃
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// jump_time == 1: 已完成跳跃（不再触发）
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// jump_time > 1: 跳跃进行中
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// 检测是否需要开始新的跳跃（state为0且jump_time为0）
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if (c->state == 0 && c->jump_time == 0) {
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// 开始跳跃，进入state 1
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c->state = 1;
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c->jump_time = BSP_TIME_Get_us();
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}
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// 只有在跳跃进行中时才处理状态转换（jump_time > 1）
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if (c->jump_time > 1) {
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// 计算已经过的时间（微秒）
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uint64_t elapsed_us = BSP_TIME_Get_us() - c->jump_time;
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// 状态转换逻辑
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if (c->state == 1 && elapsed_us >= 300000) {
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// state 1 保持0.3s后转到state 2
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c->state = 2;
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c->jump_time = BSP_TIME_Get_us(); // 重置计时
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} else if (c->state == 2 && elapsed_us >= 160000) {
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// state 2 保持0.2s后转到state 3
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c->state = 3;
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c->jump_time = BSP_TIME_Get_us(); // 重置计时
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} else if (c->state == 3 && elapsed_us >= 160000) {
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// state 3 保持0.3s后转到state 0
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c->state = 0;
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c->jump_time = 1; // 设置为1，表示已完成跳跃，不再触发
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}
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}
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// 执行LQR控制（包含PID腿长控制）
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Chassis_LQRControl(c, c_cmd);
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Chassis_Output(c); // 统一输出
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break;
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case CHASSIS_MODE_WHELL_LEG_BALANCE:
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case CHASSIS_MODE_ROTOR:
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// 执行LQR控制（包含PID腿长控制）
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Chassis_LQRControl(c, c_cmd);
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Chassis_Output(c); // 统一输出
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break;
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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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void Chassis_Output(Chassis_t *c) {
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if (c == NULL)
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return;
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c->output.joint[0] =
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LowPassFilter2p_Apply(&c->filter.joint_out[0], c->output.joint[0]);
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c->output.joint[1] =
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LowPassFilter2p_Apply(&c->filter.joint_out[1], c->output.joint[1]);
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c->output.joint[2] =
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LowPassFilter2p_Apply(&c->filter.joint_out[2], c->output.joint[2]);
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c->output.joint[3] =
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LowPassFilter2p_Apply(&c->filter.joint_out[3], c->output.joint[3]);
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float out[4] = {c->output.joint[0], c->output.joint[1], c->output.joint[2],
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c->output.joint[3]};
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Virtual_Chassis_SendJointTorque(&virtual_chassis, out);
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c->output.wheel[0] =
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LowPassFilter2p_Apply(&c->filter.wheel_out[0], c->output.wheel[0]);
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c->output.wheel[1] =
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LowPassFilter2p_Apply(&c->filter.wheel_out[1], c->output.wheel[1]);
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Virtual_Chassis_SendWheelCommand(&virtual_chassis, c->output.wheel[0],
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c->output.wheel[1]);
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// Virtual_Chassis_SendWheelCommand(&virtual_chassis, 0.0f,
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// 0.0f); // 暂时不让轮子动
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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) {
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return CHASSIS_ERR_NULL;
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}
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/* 运动参数（参考C++版本的状态估计） */
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static float xhat = 0.0f, x_dot_hat = 0.0f;
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float target_dot_x = 0.0f;
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float max_acceleration = 2.0f; // 最大加速度限制: 3 m/s²
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// 简化的速度估计（后续可以改进为C++版本的复杂滤波）
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x_dot_hat = c->chassis_state.velocity_x;
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xhat = c->chassis_state.position_x;
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// 目标速度设定（原始期望速度）
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float raw_vx = c_cmd->move_vec.vx * 2;
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// 根据零点选择情况决定是否反转前后方向
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float desired_velocity = c->yaw_control.is_reversed ? -raw_vx : raw_vx;
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// 加速度限制处理
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float velocity_change =
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desired_velocity - c->chassis_state.last_target_velocity_x;
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float max_velocity_change = max_acceleration * c->dt; // 最大允许的速度变化
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// 限制速度变化率（加速度限制）
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if (velocity_change > max_velocity_change) {
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velocity_change = max_velocity_change;
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} else if (velocity_change < -max_velocity_change) {
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||
velocity_change = -max_velocity_change;
|
||
}
|
||
|
||
// 应用加速度限制后的目标速度
|
||
target_dot_x = c->chassis_state.last_target_velocity_x + velocity_change;
|
||
c->chassis_state.target_velocity_x = target_dot_x;
|
||
c->chassis_state.last_target_velocity_x = target_dot_x;
|
||
|
||
// 更新目标位置
|
||
c->chassis_state.target_x += target_dot_x * 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], ¤t_state);
|
||
|
||
current_state.theta = c->vmc_[1].leg.theta;
|
||
current_state.d_theta = c->vmc_[1].leg.d_theta;
|
||
LQR_UpdateState(&c->lqr[1], ¤t_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 = 0.00; // 目标摆杆角度
|
||
target_state.d_theta = 0.0f; // 目标摆杆角速度
|
||
target_state.phi = 11.9601*pow((0.16f + c_cmd->height * 0.25f),3) + -11.8715*pow((0.16f + c_cmd->height * 0.25f),2) + 3.87083*(0.16f + c_cmd->height * 0.25f) + -0.4154; // 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 -2.07411f*(0.16f + c_cmd->height * 0.25f) + 0.41182f;
|
||
target_state.d_x = target_dot_x; // 目标速度
|
||
|
||
if (c->mode != CHASSIS_MODE_ROTOR){
|
||
c->yaw_control.current_yaw = c->feedback.yaw.rotor_abs_angle;
|
||
|
||
// 双零点自动选择逻辑（考虑手动控制偏移，使用CircleError函数）
|
||
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;
|
||
|
||
// 使用CircleError计算到两个目标的角度误差
|
||
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);
|
||
|
||
// 选择误差绝对值更小的目标，并更新反转状态
|
||
if (fabsf(error_to_target1) <= fabsf(error_to_target2)) {
|
||
c->yaw_control.target_yaw = base_target_1;
|
||
c->yaw_control.is_reversed = false; // 使用第一个零点，不反转
|
||
} else {
|
||
c->yaw_control.target_yaw = base_target_2;
|
||
c->yaw_control.is_reversed = true; // 使用第二个零点，需要反转前后方向
|
||
}
|
||
|
||
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);
|
||
}else{
|
||
// 小陀螺模式：使用速度环控制
|
||
c->yaw_control.current_yaw = c->feedback.imu.euler.yaw;
|
||
|
||
// 渐增旋转速度，最大角速度约6.9 rad/s（约400度/秒）
|
||
c->wz_multi += 0.005f;
|
||
if (c->wz_multi > 1.2f)
|
||
c->wz_multi = 1.2f;
|
||
|
||
// 目标角速度（rad/s），可根据需要调整最大速度
|
||
float target_yaw_velocity = c->wz_multi * 1.0f; // 最大约7.2 rad/s
|
||
|
||
// 当前角速度反馈来自IMU陀螺仪
|
||
float current_yaw_velocity = c->feedback.imu.gyro.z;
|
||
|
||
// 使用PID控制角速度，输出力矩
|
||
c->yaw_control.yaw_force =
|
||
PID_Calc(&c->pid.yaw, target_yaw_velocity,
|
||
current_yaw_velocity, 0.0f, c->dt);
|
||
}
|
||
|
||
if (c->vmc_[0].leg.is_ground_contact) {
|
||
/* 更新LQR状态 */
|
||
LQR_SetTargetState(&c->lqr[0], &target_state);
|
||
LQR_Control(&c->lqr[0]);
|
||
} else {
|
||
target_state.theta = 0.16f; // 非接触时，腿摆角目标为0.1rad，防止腿完全悬空
|
||
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 + 0.0f) +
|
||
c->lqr[0].K_matrix[1][1] * (-c->vmc_[0].leg.d_theta + 0.0f);
|
||
c->yaw_control.yaw_force = 0.0f; // 单腿离地时关闭偏航控制
|
||
}
|
||
if (c->vmc_[1].leg.is_ground_contact){
|
||
LQR_SetTargetState(&c->lqr[1], &target_state);
|
||
LQR_Control(&c->lqr[1]);
|
||
}else {
|
||
target_state.theta = 0.16f; // 非接触时，腿摆角目标为0.1rad，防止腿完全悬空
|
||
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 + 0.0f) +
|
||
c->lqr[1].K_matrix[1][1] * (-c->vmc_[1].leg.d_theta + 0.0f);
|
||
c->yaw_control.yaw_force = 0.0f; // 单腿离地时关闭偏航控制
|
||
}
|
||
|
||
/* 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长度，目标横滚角为0
|
||
float roll_compensation_length =
|
||
PID_Calc(&c->pid.roll, 0.0f, c->feedback.imu.euler.rol,
|
||
c->feedback.imu.gyro.x, c->dt);
|
||
|
||
// 限制补偿长度范围，防止过度补偿
|
||
// 如果任一腿离地，限制补偿长度
|
||
if (!c->vmc_[0].leg.is_ground_contact || !c->vmc_[1].leg.is_ground_contact) {
|
||
if (roll_compensation_length > 0.02f)
|
||
roll_compensation_length = 0.02f;
|
||
if (roll_compensation_length < -0.02f)
|
||
roll_compensation_length = -0.02f;
|
||
} else {
|
||
if (roll_compensation_length > 0.05f)
|
||
roll_compensation_length = 0.05f;
|
||
if (roll_compensation_length < -0.05f)
|
||
roll_compensation_length = -0.05f;
|
||
}
|
||
|
||
// 目标腿长设定（包含横滚角补偿）
|
||
switch (c->state) {
|
||
case 0: // 正常状态，根据高度指令调节腿长
|
||
target_L0[0] = 0.16f + c_cmd->height * 0.22f + roll_compensation_length; // 左腿：基础腿长 + 高度调节 + 横滚补偿
|
||
target_L0[1] = 0.16f + c_cmd->height * 0.22f - roll_compensation_length; // 右腿：基础腿长 + 高度调节 - 横滚补偿
|
||
break;
|
||
case 1: // 准备阶段，腿长收缩
|
||
target_L0[0] = 0.16f + roll_compensation_length; // 左腿：收缩到基础腿长 + 横滚补偿
|
||
target_L0[1] = 0.16f - roll_compensation_length; // 右腿：收缩到基础腿长 - 横滚补偿
|
||
break;
|
||
case 2: // 起跳阶段，腿长快速伸展
|
||
target_L0[0] = 0.55f; // 左腿：伸展到最大腿长（跳跃时不进行横滚补偿）
|
||
target_L0[1] = 0.55f; // 右腿：伸展到最大腿长（跳跃时不进行横滚补偿）
|
||
break;
|
||
case 3: // 着地阶段，腿长缓冲
|
||
target_L0[0] = 0.1f; // 左腿：缓冲腿长（着地时不进行横滚补偿）
|
||
target_L0[1] = 0.1f; // 右腿：缓冲腿长（着地时不进行横滚补偿）
|
||
break;
|
||
default:
|
||
target_L0[0] = 0.16f + c_cmd->height * 0.22f + roll_compensation_length;
|
||
target_L0[1] = 0.16f + c_cmd->height * 0.22f - roll_compensation_length;
|
||
break;
|
||
}
|
||
|
||
// 腿长限幅：最短0.10，最长0.42m
|
||
if (target_L0[0] < 0.10f) target_L0[0] = 0.10f;
|
||
if (target_L0[0] > 0.42f) target_L0[0] = 0.42f;
|
||
if (target_L0[1] < 0.10f) target_L0[1] = 0.10f;
|
||
if (target_L0[1] > 0.42f) target_L0[1] = 0.42f;
|
||
|
||
// 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] = 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
|
||
virtual_force[0] =
|
||
(c->lqr[0].control_output.Tp) * sinf(c->vmc_[0].leg.theta) +
|
||
pid_output + 60.0f;
|
||
|
||
// 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],
|
||
&c->output.joint[1]);
|
||
|
||
} else {
|
||
// VMC失败，设为0力矩
|
||
c->output.joint[0] = 0.0f;
|
||
c->output.joint[1] = 0.0f;
|
||
}
|
||
}
|
||
|
||
// 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
|
||
virtual_force[1] =
|
||
(c->lqr[1].control_output.Tp) * sinf(c->vmc_[1].leg.theta) +
|
||
pid_output + 65.0f;
|
||
|
||
// 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],
|
||
&c->output.joint[2]);
|
||
} else {
|
||
// VMC失败，设为0力矩
|
||
c->output.joint[2] = 0.0f;
|
||
c->output.joint[3] = 0.0f;
|
||
}
|
||
}
|
||
|
||
/* 安全限制 */
|
||
for (int i = 0; i < 2; i++) {
|
||
if (fabsf(c->output.wheel[i]) > 1.0f) {
|
||
c->output.wheel[i] = (c->output.wheel[i] > 0) ? 1.0f : -1.0f;
|
||
}
|
||
}
|
||
|
||
for (int i = 0; i < 4; i++) {
|
||
if (fabsf(c->output.joint[i]) > 20.0f) {
|
||
c->output.joint[i] = (c->output.joint[i] > 0) ? 25.0f : -25.0f;
|
||
}
|
||
}
|
||
|
||
return CHASSIS_OK;
|
||
}
|
||
|
||
|