412 lines
14 KiB
C
412 lines
14 KiB
C
// app
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#include "balance.h"
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#include "gain_table.h"
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#include "robot_def.h"
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#include "general_def.h"
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// module
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#include "HT04.h"
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#include "LK9025.h"
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#include "bmi088.h"
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#include "referee.h"
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#include "super_cap.h"
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#include "controller.h"
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#include "can_comm.h"
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#include "user_lib.h"
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// standard
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#include "stdint.h"
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#include "arm_math.h" // 需要用到较多三角函数
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#include "bsp_dwt.h"
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static uint32_t balance_dwt_cnt;
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static float balance_dt;
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/* 底盘拥有的模块实例 */
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static attitude_t *imu_data;
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// static BMI088Instance *imu;
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static SuperCapInstance *super_cap;
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static referee_info_t *referee_data; // 裁判系统的数据会被不断更新
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// 电机
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static HTMotorInstance *lf, *rf, *lb, *rb;
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static LKMotorInstance *l_driven, *r_driven;
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// 底盘板和云台板通信
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static CANCommInstance *chassis_comm; // 由于采用多板架构,即使使用C板也有空余串口,可以使用串口通信以获得更高的通信速率并降低阻塞
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static Chassis_Ctrl_Cmd_s chassis_cmd_recv;
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static Chassis_Upload_Data_s chassis_feed_send;
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// 两个腿的参数,0为左腿,1为右腿
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static LinkNPodParam left_side, right_side;
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static PIDInstance swerving_pid; // 转向PID,有转向指令时使用IMU的加速度反馈积分以获取速度和位置状态量
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static PIDInstance anti_crash_pid; // 抗劈叉,将输出以相反的方向叠加到左右腿的上
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static PIDInstance leg_length_pid; // 用PD模拟弹簧,不要积分(弹簧是无积分二阶系统),增益不可过大否则抗外界冲击响应时太"硬"
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static PIDInstance roll_compensate_pid; // roll轴补偿,用于保持机体水平
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/* ↓↓↓分割出这些函数是为了提高可读性,使得阅读者的逻辑更加顺畅;但实际上这些函数都不长,可以以注释的形式直接加到BalanceTask里↓↓↓*/
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/**
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* @brief 将电机和imu的数据组装为LinkNPodParam结构体
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* @note 由于两个连杆和轮子连接时,只有一个使用了轴承,另外一个直接和电机的定子连接,
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* 所以轮子的转速和电机的转速不一致,因此和地面的速度应为电机转速减去杆的转速,得到的才是轮子的转速
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*
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* @todo angle direction to be verified
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*/
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static void ParamAssemble()
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{ // 电机的角度是逆时针为正,左侧全部取反
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left_side.phi1 = PI2 - LIMIT_LINK_RAD - lb->measure.total_angle;
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left_side.phi4 = -lf->measure.total_angle + LIMIT_LINK_RAD;
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left_side.phi1_w = -lb->measure.speed_rads;
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left_side.phi4_w = -lf->measure.speed_rads;
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left_side.wheel_dist = -l_driven->measure.total_angle / 360 * WHEEL_RADIUS * PI;
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left_side.wheel_w = -l_driven->measure.speed_rads;
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right_side.phi1 = PI2 - LIMIT_LINK_RAD + rb->measure.total_angle;
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right_side.phi4 = rf->measure.total_angle + LIMIT_LINK_RAD;
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right_side.phi1_w = rb->measure.speed_rads;
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right_side.phi4_w = rf->measure.speed_rads;
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right_side.wheel_dist = r_driven->measure.total_angle / 360 * WHEEL_RADIUS * PI;
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right_side.wheel_w = r_driven->measure.speed_rads;
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if(chassis_cmd_recv.wz != 0) // 若有转向指令,则使用IMU积分得到的位置,否则左右轮位置相反会产生阻碍转向的力矩
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{
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// left_side.wheel_dist = 0.5*imu_data->Accel[3];
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// right_side.wheel_dist = 0.5*imu_data->Accel[3];
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}
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}
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/**
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* @brief 根据关节角度和角速度,计算单杆长度和角度以及变化率
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* @todo 测试两种的效果,留下其中一种;
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* 若差分的效果好则不需要VELOCITY_DIFF_VMC内的代码
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*
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* @param p 5连杆和腿的参数
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*/
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static void Link2Pod(LinkNPodParam *p)
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{ // 拟将功能封装到vmc_project.h中
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float xD, yD, xB, yB, BD, A0, B0, xC, yC, phi2t, phi5t;
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xD = JOINT_DISTANCE + THIGH_LEN * arm_cos_f32(p->phi4);
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yD = THIGH_LEN * arm_sin_f32(p->phi4);
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xB = 0 + THIGH_LEN * arm_cos_f32(p->phi1);
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yB = THIGH_LEN * arm_sin_f32(p->phi1);
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BD = powf(xD - xB, 2) + powf(yD - yB, 2);
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A0 = 2 * CALF_LEN * (xD - xB);
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B0 = 2 * CALF_LEN * (yD - yB);
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phi2t = 2 * atan2f(B0 + Sqrt(powf(A0, 2) + powf(B0, 2) - powf(BD, 2)), A0 + BD);
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xC = xB + CALF_LEN * arm_cos_f32(phi2t);
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yC = yB + CALF_LEN * arm_sin_f32(phi2t);
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p->phi2 = phi2t;
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p->phi5 = atan2f(yC, xC - JOINT_DISTANCE / 2);
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p->pod_len = Sqrt(powf(xC - JOINT_DISTANCE / 2, 2) + powf(yC, 2));
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p->phi3 = atan2(yC - yD, xC - xD); // 稍后用于计算VMC
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p->theta = p->phi5 - 0.5 * PI - imu_data->Pitch;
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p->height = p->pod_len * arm_cos_f32(p->theta);
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#ifdef VELOCITY_DIFF_VMC
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float phi1_pred = p->phi1 + p->phi1_w * balance_dt; // 预测下一时刻的关节角度(利用关节角速度)
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float phi4_pred = p->phi4 + p->phi4_w * balance_dt;
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// 重新计算腿长和腿角度
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xD = JOINT_DISTANCE + THIGH_LEN * arm_cos_f32(phi4_pred);
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yD = THIGH_LEN * arm_sin_f32(phi4_pred);
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xB = 0 + THIGH_LEN * arm_cos_f32(phi1_pred);
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yB = THIGH_LEN * arm_sin_f32(phi1_pred);
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BD = powf(xD - xB, 2) + powf(yD - yB, 2);
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A0 = 2 * CALF_LEN * (xD - xB);
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B0 = 2 * CALF_LEN * (yD - yB);
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phi2t = 2 * atan2f(B0 + Sqrt(powf(A0, 2) + powf(B0, 2) - powf(BD, 2)), A0 + BD); // 不要用link->phi2,因为这里是预测的
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xC = xB + CALF_LEN * arm_cos_f32(phi2t);
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yC = yB + CALF_LEN * arm_sin_f32(phi2t);
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phi5t = atan2f(yC, xC - JOINT_DISTANCE / 2);
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// 差分计算腿长变化率和腿角速度
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p->phi2_w = (phi2t - p->phi2) / balance_dt; // 稍后用于修正轮速
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p->pod_w = (phi5t - p->phi5) / balance_dt;
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p->pod_v = (Sqrt(powf(xC - JOINT_DISTANCE / 2, 2) + powf(yC, 2)) - p->pod_len) / balance_dt;
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p->theta_w = (phi5t - 0.5 * PI - imu_data->Pitch - p->theta) / balance_dt;
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p->height_v = p->pod_v * arm_cos_f32(p->theta) - p->pod_len * arm_sin_f32(p->theta) * p->theta_w; // 这很酷!PDE!
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#endif
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p->wheel_w = (p->wheel_w - p->phi2_w + imu_data->Gyro[3]) * WHEEL_RADIUS; // 修正轮速
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}
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/**
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* @brief 根据状态反馈计算当前腿长,查表获得LQR的反馈增益,并列式计算LQR的输出
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* 由于反馈矩阵和控制矩阵都比较稀疏,故不使用矩阵库,避免非零项计算
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*
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* @note 计算得到的腿部力矩输出还要再综合运动控制系统补偿后映射为两个关节电机
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* 而轮子的输出则只经过转向PID的反馈增益计算
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*
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* @todo 确定使用查表还是多项式拟合
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*
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*/
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static void CalcLQR(LinkNPodParam *p, float target_x)
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{
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float *gain_list = LookUpKgain(p->pod_len); // K11,K12... K21,K22... K26
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float T[2]; // 0 T_wheel, 1 T_pod;
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for (uint8_t i = 0; i < 2; i++)
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{
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T[i] = gain_list[i * 6 + 0] * -p->theta +
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gain_list[i * 6 + 1] * -p->theta_w +
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gain_list[i * 6 + 2] * (target_x - p->wheel_dist) +
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gain_list[i * 6 + 3] * -p->wheel_w +
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gain_list[i * 6 + 4] * -imu_data->Pitch +
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gain_list[i * 6 + 5] * -imu_data->Gyro[3];
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}
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p->T_wheel = T[0];
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p->T_pod = T[1];
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}
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/**
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* @brief 腿部控制:抗劈叉; 轮子控制:转向
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* @todo 确定方向
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*/
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static void SynthesizeMotion()
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{
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PIDCalculate(&anti_crash_pid, left_side.phi5 - right_side.phi5, 0);
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left_side.T_pod += anti_crash_pid.Output;
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right_side.T_pod -= anti_crash_pid.Output;
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PIDCalculate(&swerving_pid, imu_data->Yaw, chassis_cmd_recv.wz); // 对速度闭环还是使用角度增量闭环?
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left_side.T_wheel -= swerving_pid.Output;
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right_side.T_wheel += swerving_pid.Output;
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}
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/**
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* @brief 腿部控制:长度.用PD模拟弹簧的传递函数
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*
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*/
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static void LegControl(LinkNPodParam *p, float target_length)
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{
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p->F_pod += PIDCalculate(&leg_length_pid, p->height, target_length);
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}
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/**
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* @brief roll轴补偿(保持机体水平)
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*
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*/
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static void RollCompensate()
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{
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PIDCalculate(&roll_compensate_pid, imu_data->Roll, 0);
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left_side.F_pod += roll_compensate_pid.Output;
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right_side.F_pod -= roll_compensate_pid.Output;
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}
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/**
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* @brief 将前面计算的T和F映射为关节电机输出
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*
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*/
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static void VMCProject(LinkNPodParam *p)
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{
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float s23 = arm_sin_f32(p->phi2 - p->phi3);
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float phi25 = p->phi2 - p->phi5;
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float phi35 = p->phi3 - p->phi5;
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float F_m_L = p->F_pod * p->pod_len;
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p->T_back = -(THIGH_LEN * arm_sin_f32(p->phi1 - p->phi2) * (p->T_pod * arm_cos_f32(phi35) - F_m_L * arm_sin_f32(phi35))) / (p->pod_len * s23);
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p->T_front = -(THIGH_LEN * arm_sin_f32(p->phi3 - p->phi4) * (p->T_pod * arm_cos_f32(phi25) - F_m_L * arm_sin_f32(phi25))) / (p->pod_len * s23);
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}
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/**
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* @brief 离地监测和?跳跃控制?
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* 通过模型解算地面的支持力完成离地检测
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*
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*/
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static uint8_t air_flag;
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static void FlyDetect()
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{
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}
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/**
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* @brief 功率限制,一般不需要
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*
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*/
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static void WattLimit()
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{
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HTMotorSetRef(&lf, left_side.T_front);
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HTMotorSetRef(&lb, left_side.T_back);
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HTMotorSetRef(&rf, right_side.T_front);
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HTMotorSetRef(&rb, right_side.T_back);
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LKMotorSetRef(&l_driven, left_side.T_wheel);
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LKMotorSetRef(&r_driven, right_side.T_wheel);
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}
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void BalanceInit()
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{ // IMU初始化
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BMI088_Init_Config_s imu_config = {
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.spi_acc_config = {
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.GPIOx = GPIOC,
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.cs_pin = GPIO_PIN_4,
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.spi_handle = &hspi1,
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},
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.spi_gyro_config = {
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.GPIOx = GPIOC,
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.cs_pin = GPIO_PIN_4,
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.spi_handle = &hspi1,
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},
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.heat_pid_config = {
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.Kp = 0.0f,
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.Kd = 0.0f,
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.Ki = 0.0f,
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.MaxOut = 0.0f,
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.DeadBand = 0.0f,
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},
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.heat_pwm_config = {
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.channel = TIM_CHANNEL_1,
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.htim = &htim1,
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},
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.cali_mode = BMI088_CALIBRATE_ONLINE_MODE,
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.work_mode = BMI088_BLOCK_PERIODIC_MODE,
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};
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// imu = BMI088Register(&imu_config);
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imu_data = INS_Init();
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SuperCap_Init_Config_s cap_conf = {
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// 超级电容初始化
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.can_config.can_handle = &hcan1,
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.can_config.rx_id = 0x311,
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.can_config.tx_id = 0x312,
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};
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super_cap = SuperCapInit(&cap_conf);
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// ↓↓↓---------------关节电机初始化----------------↓↓↓
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Motor_Init_Config_s joint_conf = {
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// 写一个,剩下的修改方向和id即可
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};
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lf = HTMotorInit(&joint_conf);
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rf = HTMotorInit(&joint_conf);
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lb = HTMotorInit(&joint_conf);
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rb = HTMotorInit(&joint_conf);
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// ↓↓↓---------------驱动电机初始化----------------↓↓↓
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Motor_Init_Config_s driven_conf = {
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// 写一个,剩下的修改方向和id即可
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.can_init_config.can_handle = &hcan1,
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.controller_param_init_config = {
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.current_PID = {
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.Kp = 1,
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.Ki = 0,
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.Kd = 0,
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.MaxOut = 500,
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},
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},
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.controller_setting_init_config = {
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.angle_feedback_source = MOTOR_FEED,
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.speed_feedback_source = MOTOR_FEED,
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.outer_loop_type = CURRENT_LOOP,
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.close_loop_type = CURRENT_LOOP,
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},
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.motor_type = LK9025,
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};
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driven_conf.can_init_config.tx_id = 1;
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l_driven = LKMotorInit(&driven_conf);
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driven_conf.can_init_config.tx_id = 2;
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r_driven = LKMotorInit(&driven_conf);
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CANComm_Init_Config_s chassis_comm_conf = {
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// 底盘板和云台板通信
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.can_config = {
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.can_handle = &hcan1,
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.rx_id = 0x201,
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.tx_id = 0x200,
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},
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.send_data_len = sizeof(Chassis_Upload_Data_s),
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.recv_data_len = sizeof(Chassis_Ctrl_Cmd_s),
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};
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chassis_comm = CANCommInit(&chassis_comm_conf);
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// referee_data = RefereeInit(&huart6); // 裁判系统串口
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// ↓↓↓---------------综合运动控制----------------↓↓↓
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PID_Init_Config_s swerving_pid_conf = {
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.Kp = 0.0f,
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.Kd = 0.0f,
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.Ki = 0.0f,
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.MaxOut = 0.0f,
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.DeadBand = 0.0f,
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.Improve = PID_IMPROVE_NONE,
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};
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PIDInit(&swerving_pid, &swerving_pid_conf);
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PID_Init_Config_s anti_crash_pid_conf = {
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.Kp = 0.0f,
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.Kd = 0.0f,
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.Ki = 0.0f,
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.MaxOut = 0.0f,
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.DeadBand = 0.0f,
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.Improve = PID_IMPROVE_NONE,
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};
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PIDInit(&swerving_pid, &swerving_pid_conf);
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PID_Init_Config_s leg_length_pid_conf = {
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.Kp = 0.0f,
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.Kd = 0.0f,
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.Ki = 0.0f,
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.MaxOut = 0.0f,
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.DeadBand = 0.0f,
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.Improve = PID_IMPROVE_NONE,
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};
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PIDInit(&leg_length_pid, &leg_length_pid_conf);
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PID_Init_Config_s roll_compensate_pid_conf = {
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.Kp = 0.0f,
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.Kd = 0.0f,
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.Ki = 0.0f,
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.MaxOut = 0.0f,
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.DeadBand = 0.0f,
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.Improve = PID_IMPROVE_NONE,
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};
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PIDInit(&roll_compensate_pid, &roll_compensate_pid_conf);
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}
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/* balanceTask可能需要以更高频率运行,以提高线性化的精确程度 */
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void BalanceTask()
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{
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chassis_cmd_recv = *(Chassis_Ctrl_Cmd_s *)CANCommGet(chassis_comm);
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if (chassis_cmd_recv.chassis_mode == CHASSIS_ZERO_FORCE)
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{
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HTMotorStop(lf);
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HTMotorStop(rf);
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HTMotorStop(lb);
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HTMotorStop(rb);
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LKMotorStop(l_driven);
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LKMotorStop(r_driven);
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}
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else
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{
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HTMotorEnable(lf);
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HTMotorEnable(rf);
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HTMotorEnable(lb);
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HTMotorEnable(rb);
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LKMotorEnable(l_driven);
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LKMotorEnable(r_driven);
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}
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ParamAssemble(); // 参数组装,将电机和IMU的参数组装到一起
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// 将五连杆映射成单杆
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Link2Pod(&left_side);
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Link2Pod(&right_side);
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// 根据单杆计算处的角度和杆长,计算反馈增益
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CalcLQR(&left_side, chassis_cmd_recv.vx); // @todo,需要确定速度or位置闭环
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CalcLQR(&right_side, chassis_cmd_recv.vx);
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// 腿长控制
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LegControl(&left_side, 0);
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LegControl(&right_side, 0);
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|
|
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SynthesizeMotion(); // 综合运动控制,转向+抗劈叉
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|
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RollCompensate(); // 俯仰角补偿,保持机体水平
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// VMC映射成关节输出
|
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VMCProject(&left_side);
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VMCProject(&right_side);
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|
|
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FlyDetect(); // 滞空检测
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|
|
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WattLimit(); // 电机输出限幅
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|
|
|
// code to go here... 裁判系统,UI,多机通信
|
|
|
|
CANCommSend(chassis_comm, (uint8_t *)&chassis_feed_send);
|
|
}
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