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发表于 2012-7-7 11:27:31
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zlstone你好,我现在也在设计自平衡电动车,想参考你的源码,但其中有些参数不知你是怎么定的,如如下程序中的0.007,0.15,0.85,768参数,能否告知,谢谢!
K_angle_AD=ADport(4)*0.007;
K_angle_dot_AD=ADport(5)*0.007;
K_position_AD=ADport(6)*0.007;
K_position_dot_AD=ADport(7)*0.007;
position_dot=(speed_real_LH+speed_real_RH)*0.5;
position_dot_filter*=0.85; //车轮速度滤波
position_dot_filter+=position_dot*0.15;
position+=position_dot_filter;
//position+=position_dot;
position+=Speed_Need;
if (position<-768) //防止位置误差过大导致的不稳定
{
position=-768;
}
else if (position>768)
{
position=768;
} |
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