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update #20

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Merged
llLeo306 merged 1 commit into from
May 10, 2026
Merged

update #20

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26 changes: 13 additions & 13 deletions PowerControl.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -28,9 +28,10 @@ depends: []

#define ERROR_POWERDISTRIBUTION_SET 20
#define POP_POWERDISTRIBUTION 15
#define CHASSIS_POWER_LIMIT_MARGIN_W 4.0f /* 底盘限功率余量 */

/**
* @brief 计算单个电机模型预测功率 (不含静态损耗)
/**
* @brief 计算单个电机模型预测功率 (不含静态损耗)
*/
inline float calculate_motor_model_power(float current, float rpm, float kt,
float k1, float k2) {
Expand All @@ -48,16 +49,17 @@ inline float solve_current_for_power(float target_power, float rpm, float kt,
float c = k2 * rpm * rpm - target_power;
float delta = b * b - 4.0f * a * c;

float sqrt_delta = sqrtf(delta);
float x1 = (-b + sqrt_delta) / (2.0f * a);
float x2 = (-b - sqrt_delta) / (2.0f * a);
float x3 = -b / (2.0f * a);

float final_current = 0;

if (delta < 1e-9f) {
original_current = x3;
final_current = x3;
} else {
float sqrt_delta = sqrtf(delta);
float x1 = (-b + sqrt_delta) / (2.0f * a);
float x2 = (-b - sqrt_delta) / (2.0f * a);

if (original_current >= 0) {
final_current = x1;
} else {
Expand Down Expand Up @@ -188,7 +190,8 @@ class PowerControl : public LibXR::Application {
private:
void OutputLimitOmni(float max_power) {
float required_power_3508_sum = 0.0f;
float available_power = max_power - k3_chassis_ - 3.0f;
float available_power =
max_power - k3_chassis_ - CHASSIS_POWER_LIMIT_MARGIN_W;

/* 计算每个电机功率, 并累计正功电机的误差之和 */
sum_error_ = 0.0f;
Expand Down Expand Up @@ -257,8 +260,9 @@ class PowerControl : public LibXR::Application {
float sum_error_3508 = 0.0f;
float sum_error_6020 = 0.0f;

/*初始可用功率 = 最大功率 - 静态功耗*/
float available_power = max_power - k3_chassis_;
/* 舵轮需要给模型误差和控制延迟留余量 */
float available_power =
std::max(0.0f, max_power - k3_chassis_ - CHASSIS_POWER_LIMIT_MARGIN_W);

for (int i = 0; i < motor_count_3508_; i++) {
motor_power_3508_[i] = calculate_motor_model_power(
Expand All @@ -268,8 +272,6 @@ class PowerControl : public LibXR::Application {
if (motor_power_3508_[i] > 0) {
required_power_3508_sum += motor_power_3508_[i];
sum_error_3508 += speed_error_3508_[i];
} else {
available_power -= motor_power_3508_[i];
}
}

Expand All @@ -281,8 +283,6 @@ class PowerControl : public LibXR::Application {
if (motor_power_6020_[i] > 0) {
required_power_6020_sum += motor_power_6020_[i];
sum_error_6020 += speed_error_6020_[i];
} else {
available_power -= motor_power_6020_[i];
}
}

Expand Down
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