434 lines
16 KiB
C
434 lines
16 KiB
C
#include "module/balance_chassis.h"
|
||
#include "bsp/time.h"
|
||
#include "bsp/can.h"
|
||
#include "component/user_math.h"
|
||
#include "component/kinematics.h"
|
||
#include <math.h>
|
||
#include <string.h>
|
||
|
||
|
||
float fn=0.0f;
|
||
float tp=0.0f;
|
||
|
||
float t1=0.0f;
|
||
float t2=0.0f;
|
||
|
||
|
||
|
||
static int8_t Chassis_SetMode(Chassis_t *c, Chassis_Mode_t mode) {
|
||
if (c == NULL) return CHASSIS_ERR_NULL; /* 主结构体不能为空 */
|
||
if (mode == c->mode) return CHASSIS_OK; /* 模式未改变直接返回 */
|
||
|
||
MOTOR_LK_MotorOn(&c->param->wheel_motors[0]);
|
||
MOTOR_LK_MotorOn(&c->param->wheel_motors[1]);
|
||
for (int i = 0; i < 4; i++) {
|
||
MOTOR_LZ_Enable(&c->param->joint_motors[i]);
|
||
}
|
||
// 清空pid积分
|
||
PID_Reset(&c->pid.leglength[0]);
|
||
PID_Reset(&c->pid.leglength[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]);
|
||
}
|
||
|
||
/*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.leglength[0], KPID_MODE_CALC_D, target_freq, ¶m->leglength);
|
||
PID_Init(&c->pid.leglength[1], KPID_MODE_CALC_D, target_freq, ¶m->leglength);
|
||
|
||
/*初始化LQR控制器*/
|
||
LQR_Init(&c->lqr[0], param->lqr_param.max_wheel_torque, param->lqr_param.max_joint_torque);
|
||
LQR_SetGainMatrix(&c->lqr[0], ¶m->lqr_gains);
|
||
LQR_Init(&c->lqr[1], param->lqr_param.max_wheel_torque, param->lqr_param.max_joint_torque);
|
||
LQR_SetGainMatrix(&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;
|
||
|
||
return CHASSIS_OK;
|
||
}
|
||
|
||
int8_t Chassis_UpdateFeedback(Chassis_t *c){
|
||
if (c == NULL) {
|
||
return -1; // 参数错误
|
||
}
|
||
/*更新电机反馈*/
|
||
for (int i = 0; i < 4; i++) {
|
||
MOTOR_LZ_Update(&c->param->joint_motors[i]);
|
||
}
|
||
MOTOR_LK_Update(&c->param->wheel_motors[0]);
|
||
MOTOR_LK_Update(&c->param->wheel_motors[1]);
|
||
|
||
/*将电机反馈数据赋值到标准反馈结构体，并检查是否离线*/
|
||
// 更新关节电机反馈并检查离线状态
|
||
for (int i = 0; i < 4; i++) {
|
||
MOTOR_LZ_t *joint_motor = MOTOR_LZ_GetMotor(&c->param->joint_motors[i]);
|
||
if (joint_motor != NULL) {
|
||
c->feedback.joint[i] = joint_motor->motor.feedback;
|
||
// c->feedback.joint[i].rotor_abs_angle = joint_motor->motor.feedback.rotor_abs_angle - M_PI; // 机械零点调整
|
||
if (c->feedback.joint[i].rotor_abs_angle > M_PI ){
|
||
c->feedback.joint[i].rotor_abs_angle -= M_2PI;
|
||
}
|
||
c->feedback.joint[i].rotor_abs_angle = - c->feedback.joint[i].rotor_abs_angle; // 机械零点调整
|
||
}
|
||
}
|
||
|
||
// 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;
|
||
}
|
||
}
|
||
|
||
// 更新机体状态估计
|
||
Chassis_UpdateChassisState(c);
|
||
|
||
return 0;
|
||
}
|
||
|
||
int8_t Chassis_UpdateIMU(Chassis_t *c, const Chassis_IMU_t imu){
|
||
if (c == NULL) {
|
||
return -1; // 参数错误
|
||
}
|
||
c->feedback.imu = imu;
|
||
// c->feedback.imu.euler.pit = - c->feedback.imu.euler.pit;
|
||
return 0;
|
||
}
|
||
|
||
int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd){
|
||
if (c == NULL || c_cmd == NULL) {
|
||
return CHASSIS_ERR_NULL; // 参数错误
|
||
}
|
||
c->dt = (BSP_TIME_Get_us() - c->lask_wakeup) / 1000000.0f; /* 计算两次调用的时间间隔，单位秒 */
|
||
c->lask_wakeup = BSP_TIME_Get_us();
|
||
|
||
/*设置底盘模式*/
|
||
if (Chassis_SetMode(c, c_cmd->mode) != CHASSIS_OK) {
|
||
return CHASSIS_ERR_MODE; // 设置模式失败
|
||
}
|
||
|
||
/*根据底盘模式执行不同的控制逻辑*/
|
||
switch (c->mode) {
|
||
case CHASSIS_MODE_RELAX:
|
||
// 放松模式，电机不输出
|
||
MOTOR_LZ_Relax(&c->param->joint_motors[0]);
|
||
MOTOR_LZ_Relax(&c->param->joint_motors[1]);
|
||
MOTOR_LZ_Relax(&c->param->joint_motors[2]);
|
||
MOTOR_LZ_Relax(&c->param->joint_motors[3]);
|
||
MOTOR_LK_Relax(&c->param->wheel_motors[0]);
|
||
MOTOR_LK_Relax(&c->param->wheel_motors[1]);
|
||
|
||
// 更新VMC正解算用于状态估计
|
||
VMC_ForwardSolve(&c->vmc_[0], c->feedback.joint[0].rotor_abs_angle, c->feedback.joint[1].rotor_abs_angle,
|
||
c->feedback.imu.euler.pit, c->feedback.imu.gyro.y);
|
||
VMC_ForwardSolve(&c->vmc_[1], c->feedback.joint[3].rotor_abs_angle, c->feedback.joint[2].rotor_abs_angle,
|
||
c->feedback.imu.euler.pit, c->feedback.imu.gyro.y);
|
||
|
||
// VMC_InverseSolve(&c->vmc_[0], fn, tp);
|
||
|
||
// VMC_GetJointTorques(&c->vmc_[0], &t1, &t2);
|
||
|
||
// MOTOR_LZ_MotionControl(&c->param->joint_motors[0], &(MOTOR_LZ_MotionParam_t){.torque = t1});
|
||
if (Chassis_LQRControl(c, c_cmd) != 0) {
|
||
// LQR控制失败，切换到安全模式
|
||
return CHASSIS_ERR;
|
||
}
|
||
|
||
break;
|
||
|
||
case CHASSIS_MODE_RECOVER:
|
||
// 恢复模式，使用简单的关节位置控制回到初始姿态
|
||
// TODO: 实现恢复逻辑
|
||
break;
|
||
|
||
case CHASSIS_MODE_WHELL_BALANCE:
|
||
// 更新VMC正解算用于状态估计
|
||
// MOTOR_LZ_Relax(&c->param->joint_motors[0]);
|
||
// MOTOR_LZ_Relax(&c->param->joint_motors[1]);
|
||
// MOTOR_LZ_Relax(&c->param->joint_motors[2]);
|
||
// MOTOR_LZ_Relax(&c->param->joint_motors[3]);
|
||
// MOTOR_LK_Relax(&c->param->wheel_motors[0]);
|
||
// MOTOR_LK_Relax(&c->param->wheel_motors[1]);
|
||
for (int i = 0; i < 4; i++) {
|
||
c->output.joint[i].torque = 0.0f;
|
||
}
|
||
for (int i = 0; i < 2; i++) {
|
||
c->output.wheel[i] = 0.0f;
|
||
}
|
||
|
||
// 更新VMC正解算用于状态估计
|
||
VMC_ForwardSolve(&c->vmc_[0], c->feedback.joint[0].rotor_abs_angle, c->feedback.joint[1].rotor_abs_angle,
|
||
c->feedback.imu.euler.pit, c->feedback.imu.gyro.y);
|
||
VMC_ForwardSolve(&c->vmc_[1], c->feedback.joint[3].rotor_abs_angle, c->feedback.joint[2].rotor_abs_angle,
|
||
c->feedback.imu.euler.pit, c->feedback.imu.gyro.y);
|
||
|
||
// VMC_InverseSolve(&c->vmc_[1], fn, tp);
|
||
// VMC_GetJointTorques(&c->vmc_[1], &t1, &t2);
|
||
|
||
// c->output.joint[3].torque = t1;
|
||
// c->output.joint[2].torque = t2;
|
||
|
||
Chassis_LQRControl(c, c_cmd); // 即使在放松模式下也执行LQR以保持状态更新
|
||
// c->output.wheel[0] = 0.2f;
|
||
// c->output.wheel[1] = 0.2f;
|
||
Chassis_Output(c); // 统一输出
|
||
break;
|
||
|
||
case CHASSIS_MODE_WHELL_LEG_BALANCE:
|
||
// 轮腿平衡模式，使用LQR控制和PID腿长控制
|
||
|
||
// 更新VMC正解算
|
||
VMC_ForwardSolve(&c->vmc_[0], c->feedback.joint[0].rotor_abs_angle, c->feedback.joint[1].rotor_abs_angle,
|
||
c->feedback.imu.euler.pit, c->feedback.imu.gyro.y);
|
||
VMC_ForwardSolve(&c->vmc_[1], c->feedback.joint[3].rotor_abs_angle, c->feedback.joint[2].rotor_abs_angle,
|
||
c->feedback.imu.euler.pit, c->feedback.imu.gyro.y);
|
||
|
||
// 执行LQR控制（包含PID腿长控制）
|
||
if (Chassis_LQRControl(c, c_cmd) != 0) {
|
||
// LQR控制失败，切换到安全模式
|
||
return CHASSIS_ERR;
|
||
}
|
||
|
||
Chassis_Output(c); // 统一输出
|
||
break;
|
||
|
||
default:
|
||
return CHASSIS_ERR_MODE;
|
||
}
|
||
|
||
return CHASSIS_OK;
|
||
}
|
||
|
||
void Chassis_Output(Chassis_t *c) {
|
||
if (c == NULL) return;
|
||
for (int i = 0; i < 4; i++) {
|
||
MOTOR_LZ_MotionParam_t param = {0};
|
||
param.torque = c->output.joint[i].torque;
|
||
|
||
MOTOR_LZ_MotionControl(&c->param->joint_motors[i], ¶m);
|
||
}
|
||
for (int i = 0; i < 2; i++) {
|
||
MOTOR_LK_SetOutput(&c->param->wheel_motors[i], c->output.wheel[i]);
|
||
}
|
||
// 这个函数已经在各个模式中直接调用了电机输出函数
|
||
// 如果需要统一输出，可以在这里实现
|
||
// 现在的设计是在控制逻辑中直接输出，所以这里留空
|
||
}
|
||
|
||
int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
|
||
if (c == NULL || c_cmd == NULL) {
|
||
return CHASSIS_ERR_NULL;
|
||
}
|
||
|
||
/* 参考C++版本实现的LQR控制 */
|
||
|
||
/* 地面接触检测（参考C++版本） */
|
||
float leg_fn[2];
|
||
bool onground_flag[2];
|
||
|
||
// 暂时关闭离地监测，强制设置为着地状态
|
||
leg_fn[0] = VMC_GroundContactDetection(&c->vmc_[0]);
|
||
leg_fn[1] = VMC_GroundContactDetection(&c->vmc_[1]);
|
||
onground_flag[0] = true; // 强制设置左腿着地
|
||
onground_flag[1] = true; // 强制设置右腿着地
|
||
|
||
/* 获取VMC状态（等效摆杆参数） */
|
||
float leg_L0[2], leg_theta[2], leg_d_theta[2];
|
||
VMC_GetVirtualLegState(&c->vmc_[0], &leg_L0[0], &leg_theta[0], NULL, &leg_d_theta[0]);
|
||
VMC_GetVirtualLegState(&c->vmc_[1], &leg_L0[1], &leg_theta[1], NULL, &leg_d_theta[1]);
|
||
|
||
/* 运动参数（参考C++版本的状态估计） */
|
||
static float xhat = 0.0f, x_dot_hat = 0.0f;
|
||
static float target_x = 0.0f, 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;
|
||
target_x += target_dot_x * c->dt;
|
||
|
||
/* 分别计算左右腿的LQR控制 */
|
||
float Tw[2] = {0.0f, 0.0f}; // 轮毂力矩
|
||
float Tp[2] = {0.0f, 0.0f}; // 髋关节力矩
|
||
|
||
for (int leg = 0; leg < 2; leg++) {
|
||
/* 构建当前状态 */
|
||
LQR_State_t current_state = {0};
|
||
current_state.theta = leg_theta[leg];
|
||
current_state.d_theta = leg_d_theta[leg];
|
||
current_state.x = xhat;
|
||
current_state.d_x = x_dot_hat;
|
||
current_state.phi = -c->feedback.imu.euler.pit;
|
||
current_state.d_phi = -c->feedback.imu.gyro.y;
|
||
|
||
/* 构建目标状态 */
|
||
LQR_State_t target_state = {0};
|
||
target_state.theta = 0.0f; // 目标摆杆角度
|
||
target_state.d_theta = 0.0f; // 目标摆杆角速度
|
||
target_state.x = 0; // 目标位置
|
||
target_state.d_x = 0.0f; // 目标速度
|
||
target_state.phi = 0.0f; // 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 = target_x - 0.56f; // 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;
|
||
} 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);
|
||
}
|
||
}
|
||
|
||
/* 转向控制（参考C++版本） */
|
||
float yaw_force = 0.0f;
|
||
if (onground_flag[0] && onground_flag[1]) {
|
||
// 简化的转向控制，后续可以改进为PID
|
||
yaw_force = -c_cmd->move_vec.wz * 0.1f;
|
||
}
|
||
|
||
/* 轮毂力矩输出（参考C++版本的减速比） */
|
||
c->output.wheel[0] = Tw[0] / 4.9256f - yaw_force; // 左轮
|
||
c->output.wheel[1] = Tw[1] / 4.9256f + yaw_force; // 右轮
|
||
|
||
/* 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
|
||
|
||
// 目标腿长设定
|
||
target_L0[0] = 0.12f + c_cmd->height * 0.1f; // 基础腿长 + 高度调节
|
||
target_L0[1] = 0.12f + c_cmd->height * 0.1f;
|
||
|
||
// 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);
|
||
|
||
for (int leg = 0; leg < 2; leg++) {
|
||
// 使用PID进行腿长控制
|
||
float pid_output = PID_Calc(&c->pid.leglength[leg], target_L0[leg], leg_L0[leg], leg_d_length[leg], c->dt);
|
||
|
||
// 腿长控制力 = LQR摆杆力矩的径向分量 + PID腿长控制输出 + 基础支撑力
|
||
virtual_force[leg] = Tp[leg] * sinf(leg_theta[leg]) +
|
||
pid_output + // PID腿长控制输出
|
||
35.0f; // 基础支撑力
|
||
|
||
// VMC逆解算
|
||
if (VMC_InverseSolve(&c->vmc_[leg], virtual_force[leg], Tp[leg]) == 0) {
|
||
if (leg == 0) {
|
||
VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0].torque, &c->output.joint[1].torque);
|
||
} else {
|
||
VMC_GetJointTorques(&c->vmc_[1], &c->output.joint[3].torque, &c->output.joint[2].torque);
|
||
}
|
||
} else {
|
||
// VMC失败，设为0力矩
|
||
if (leg == 0) {
|
||
c->output.joint[0].torque = 0.0f;
|
||
c->output.joint[1].torque = 0.0f;
|
||
} else {
|
||
c->output.joint[2].torque = 0.0f;
|
||
c->output.joint[3].torque = 0.0f;
|
||
}
|
||
}
|
||
}
|
||
|
||
/* 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;
|
||
}
|