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feat(FOC): 添加电流卡尔曼滤波器并优化MIT控制模式

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- 优化MIT控制模式的角度和速度计算
- 调整多个PID控制器的参数配置
- 增强卡尔曼滤波器的数值稳定性
This commit is contained in:
cbb
2026-02-08 18:53:55 +08:00
parent 173fadadd2
commit 9689841148
10 changed files with 237 additions and 58 deletions
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Robot_V2/Algorithm/FOC.h
+8 -2
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@@ -64,9 +64,15 @@ class FOC_Controller {
PIDController current_loop = PIDController{current_loop_p * 100, 0, 0, 1500,
voltage_power_supply}; // 12V
PIDController vel_inVelAngloop =
PIDController{vel_angloop_p * 100, 0, 0, 1000000, v_safe};
PIDController{vel_angloop_p * 100, 0, 0, 1e6, v_safe};
PIDController ang_inVelAngloop =
PIDController{ang_angloop_p * 100, 0, 0, 20000, 100};
PIDController{ang_angloop_p * 100, 0, 0, 1e4, 100};
PIDController ang_inMITloop =
PIDController{ang_angloop_p * 100, 0, 0, 1e4, 100};
PIDController vel_inMITloop =
PIDController{vel_MIT_p * 100, 0, 0, 1e9, 6000};
void update_pid_limits() {
vel_loop.limit = voltage_power_supply;