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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/device/Can.cpp
+2 -1
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@@ -537,6 +537,7 @@ void CAN_transmiter::communication_check() {
target_current_union.f =
unpack_bytes_to_float(receive_message.rx_data, 3).f;
FOC.current_loop.set_limit(target_current_union.f);
FOC.vel_inMITloop.set_limit(target_current_union.f);
// 目标速度
target_velocity_union.f =
unpack_bytes_to_float(receive_message.rx_data, 7).f;
@@ -557,7 +558,6 @@ void CAN_transmiter::communication_check() {
P_config = unpack_bytes_to_u16(receive_message.rx_data, 17);
FOC.vel_loop_p = DEFAULT_vel_loop_p * P_config / voltage;
FOC.vel_MIT_p = DEFAULT_vel_MIT_p * P_config / voltage;
P_config = unpack_bytes_to_u16(receive_message.rx_data, 19);
FOC.angle_loop_p = DEFAULT_angle_loop_p * P_config / voltage;
@@ -565,6 +565,7 @@ void CAN_transmiter::communication_check() {
P_config = unpack_bytes_to_u16(receive_message.rx_data, 21);
FOC.vel_angloop_p = DEFAULT_vel_angloop_p * P_config;
FOC.vel_MIT_p = DEFAULT_vel_MIT_p * P_config;
} else if (receive_message.rx_efid == CANFD_RESET_ID) {
u8 first_byte = receive_message.rx_data[0];