635 lines
24 KiB
C#
635 lines
24 KiB
C#
// 计算8个驱动电机的目标速度和舵角PID
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using CartActivator;
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using FundamentalLib;
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using MDCSToolBox.Commons;
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using System;
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using System.Diagnostics;
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using System.Threading;
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using static MDCSToolBox.Medulla.Chassis.BasicCartDefinition;
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namespace MedullaAdapter
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{
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public class MotorRoutine : LadderLogic<DiverCartDefinition>
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{
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private const double MaximumFeedforwardIntervalSeconds = 0.2;
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private bool _wasTransmitterControlling;
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private DateTime _lastMoveTime = DateTime.Now;
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private bool _diffSteerFeedforwardInitialized;
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private long _lastDiffSteerFeedforwardTimestamp;
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private float _previousThLeftFront;
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private float _previousThLeftRear;
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private float _previousThRightFront;
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private float _previousThRightRear;
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private DiverCartDefinition.ManualControlMode?
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_pendingTransmitterControlMode;
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private DateTime _pendingTransmitterControlModeSince =
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DateTime.MinValue;
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public override void Operation(int iteration)
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{
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if (!cart.GhostMode && cart.State == -1) return;
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// SA稳定打开后，使能实体遥控器。
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TriggerOnce(
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cart.TransmitterConnected && cart.Transmitter_SA,
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300,
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() =>
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{
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cart.TransmitterControlEnable = true;
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cart.TransmitterLastTime = DateTime.Now;
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});
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// 遥控器断连或SA关闭时，立即撤销遥控使能。
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if (!cart.TransmitterConnected || !cart.Transmitter_SA)
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cart.TransmitterControlEnable = false;
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var transmitterSelected =
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cart.TransmitterConnected &&
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cart.TransmitterControlEnable &&
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cart.Transmitter_SA &&
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cart.Transmitter_SC == cart.CarNum;
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var transmitterControlling =
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transmitterSelected &&
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CartDefinition.testPriority(5, "TransmitterMode");
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if (transmitterControlling)
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{
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TransmitterChassisControl();
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cart.TransmitterLastTime = DateTime.Now;
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cart.CarStatu = "实体遥控器控制";
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}
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else
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{
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// 只在遥控器刚刚退出时发送一次停车，
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// 不能每周期停车，否则会覆盖C层轨迹控制。
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if (_wasTransmitterControlling)
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{
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cart.ManualControl(
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cart.TransmitterControlMode,
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0, 0, 0,
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cart.TransmitterSpeed,
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DateTime.Now - cart.TransmitterLastTime);
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StopClampArms();
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cart.TransmitterLastTime = DateTime.Now;
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}
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cart.CarStatu = "正常运行";
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}
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_wasTransmitterControlling = transmitterControlling;
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// 当前是否由C层控制。
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cart.ClumsyControl = CartDefinition.currentPriority == 0;
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// 计算四个舵轮PID和8个驱动电机最终速度。
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UpdateDiffSteerWheelSpeeds();
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Interlocked.Exchange(
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ref cart.DiffSteerControlTimestamp,
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Stopwatch.GetTimestamp());
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Interlocked.Increment(
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ref cart.DiffSteerControlSequence);
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// 平滑更新硬件速度限制。
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UpdateSendSpeedLimit();
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// 更新红黄绿灯状态。
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UpdateLightMode();
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}
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// M层物理遥控器：只有SB档位连续稳定指定时间后才确认模式切换。
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private bool TryGetStableTransmitterControlMode(
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out DiverCartDefinition.ManualControlMode stableMode)
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{
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stableMode = cart.TransmitterControlMode;
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DiverCartDefinition.ManualControlMode? requestedMode;
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switch (cart.Transmitter_SB)
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{
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case TransmitterState.Mode0:
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requestedMode =
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DiverCartDefinition.ManualControlMode.Normal;
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break;
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case TransmitterState.Mode1:
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requestedMode =
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DiverCartDefinition.ManualControlMode.Crab;
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break;
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case TransmitterState.Mode2:
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requestedMode =
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DiverCartDefinition.ManualControlMode.Spin;
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break;
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default:
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_pendingTransmitterControlMode = null;
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_pendingTransmitterControlModeSince =
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DateTime.MinValue;
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return false;
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}
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if (_pendingTransmitterControlMode != requestedMode)
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{
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_pendingTransmitterControlMode = requestedMode;
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_pendingTransmitterControlModeSince = DateTime.Now;
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return false;
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}
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var debounceMilliseconds = Math.Max(
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0,
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cart.TransmitterModeDebounceMilliseconds);
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if ((DateTime.Now -
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_pendingTransmitterControlModeSince)
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.TotalMilliseconds < debounceMilliseconds)
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{
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return false;
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}
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stableMode = requestedMode.Value;
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return true;
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}
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// 物理遥控器设置
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public void TransmitterChassisControl()
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{
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var interval = DateTime.Now - cart.TransmitterLastTime;
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if (!TryGetStableTransmitterControlMode(
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out var stableControlMode))
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{
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// SB处于中间档或尚未稳定时立即停车，
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// 保持当前模式，不下发新的模式目标角。
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cart.ManualControl(
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cart.TransmitterControlMode,
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0, 0, 0,
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cart.TransmitterSpeed,
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interval);
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StopClampArms();
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return;
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}
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cart.TransmitterControlMode = stableControlMode;
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// SA关闭后立即停车。
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if (!cart.Transmitter_SA)
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{
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cart.ManualControl(
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cart.TransmitterControlMode,
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0, 0, 0,
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cart.TransmitterSpeed,
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interval);
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StopClampArms();
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return;
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}
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// 限制实体遥控器的最大速度。
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cart.TransmitterSpeed = Math.Max(
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cart.TransmitterSpeedLowerLimit,
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Math.Min(
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cart.TransmitterSpeed,
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cart.TransmitterSpeedUpperLimit));
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// SD的Mode0作为底盘驾驶档。
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if (cart.Transmitter_SD == TransmitterState.Mode0)
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{
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// 底盘驾驶档不允许保留上一周期的夹臂速度。
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StopClampArms();
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cart.ManualControl(
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cart.TransmitterControlMode,
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cart.TransmitterLeftJoystickValX,
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cart.TransmitterRightJoystickValY,
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0,
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cart.TransmitterSpeed,
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interval);
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return;
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}
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if (cart.Transmitter_SD == TransmitterState.Mode1)
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{
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// 切换到夹臂档时，先确保底盘停止。
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cart.ManualControl(
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cart.TransmitterControlMode,
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0, 0, 0,
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cart.TransmitterSpeed,
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interval);
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var armSpeed =
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cart.TransmitterRightJoystickValX *
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cart.ManualArmSpeedFac;
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cart.SpeedLeftArm = armSpeed;
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cart.SpeedRightArm = armSpeed;
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return;
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}
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// 非驾驶档必须主动停车，防止上一条运动指令残留。
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cart.ManualControl(
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cart.TransmitterControlMode,
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0, 0, 0,
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cart.TransmitterSpeed,
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interval);
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StopClampArms();
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}
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// M层单车夹臂安全：清除物理遥控器留下的左右夹臂速度命令。
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private void StopClampArms()
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{
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cart.SpeedLeftArm = 0;
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cart.SpeedRightArm = 0;
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}
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/// <summary>
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/// 根据四个舵轮的目标角速度前馈和实际角度反馈修正八个驱动电机速度。
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/// </summary>
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private void UpdateDiffSteerWheelSpeeds()
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{
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if (cart.LeftFrontPid == null ||
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cart.LeftRearPid == null ||
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cart.RightFrontPid == null ||
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cart.RightRearPid == null)
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{
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cart.SpeedLFL = 0;
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cart.SpeedLFR = 0;
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cart.SpeedRFL = 0;
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cart.SpeedRFR = 0;
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cart.SpeedLRL = 0;
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cart.SpeedLRR = 0;
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cart.SpeedRRL = 0;
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cart.SpeedRRR = 0;
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ResetDiffSteerRateFeedforward();
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return;
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}
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// 更新左前舵轮PID参数。
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cart.LeftFrontPid.ChangeParameters(
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cart.DiffSteerKp,
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cart.DiffSteerKi,
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cart.DiffSteerKd,
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cart.DiffSteerMaxI,
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cart.DiffSteerDeadZone,
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cart.DiffSteerThresh,
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cart.DiffSteerSpeedAcc);
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// 更新左后舵轮PID参数。
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cart.LeftRearPid.ChangeParameters(
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cart.DiffSteerKp,
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cart.DiffSteerKi,
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cart.DiffSteerKd,
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cart.DiffSteerMaxI,
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cart.DiffSteerDeadZone,
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cart.DiffSteerThresh,
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cart.DiffSteerSpeedAcc);
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// 更新右前舵轮PID参数。
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cart.RightFrontPid.ChangeParameters(
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cart.DiffSteerKp,
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cart.DiffSteerKi,
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cart.DiffSteerKd,
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cart.DiffSteerMaxI,
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cart.DiffSteerDeadZone,
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cart.DiffSteerThresh,
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cart.DiffSteerSpeedAcc);
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// 更新右后舵轮PID参数。
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cart.RightRearPid.ChangeParameters(
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cart.DiffSteerKp,
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cart.DiffSteerKi,
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cart.DiffSteerKd,
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cart.DiffSteerMaxI,
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cart.DiffSteerDeadZone,
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cart.DiffSteerThresh,
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cart.DiffSteerSpeedAcc);
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// 根据实际舵角计算四条腿的PID反馈修正量。
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var feedbackLf = cart.LeftFrontPid.GetResponse(
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cart.ThLeftFront, false, false, "LF");
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var feedbackLr = cart.LeftRearPid.GetResponse(
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cart.ThLeftRear, false, false, "LR");
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var feedbackRf = cart.RightFrontPid.GetResponse(
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cart.ThRightFront, false, false, "RF");
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var feedbackRr = cart.RightRearPid.GetResponse(
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cart.ThRightRear, false, false, "RR");
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CalculateDiffSteerRateFeedforward(
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out var feedforwardLf,
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out var feedforwardLr,
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out var feedforwardRf,
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out var feedforwardRr);
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var diffLf = feedbackLf + feedforwardLf;
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var diffLr = feedbackLr + feedforwardLr;
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var diffRf = feedbackRf + feedforwardRf;
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var diffRr = feedbackRr + feedforwardRr;
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// 分别保留PID、前馈和合成差速，便于独立标定与诊断。
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cart.DiffSteerOutputLeftFront = feedbackLf;
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cart.DiffSteerOutputLeftRear = feedbackLr;
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cart.DiffSteerOutputRightFront = feedbackRf;
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cart.DiffSteerOutputRightRear = feedbackRr;
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cart.DiffSteerRateFeedforwardLeftFront = feedforwardLf;
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cart.DiffSteerRateFeedforwardLeftRear = feedforwardLr;
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cart.DiffSteerRateFeedforwardRightFront = feedforwardRf;
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cart.DiffSteerRateFeedforwardRightRear = feedforwardRr;
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cart.DiffSteerTotalOutputLeftFront = diffLf;
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cart.DiffSteerTotalOutputLeftRear = diffLr;
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cart.DiffSteerTotalOutputRightFront = diffRf;
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cart.DiffSteerTotalOutputRightRear = diffRr;
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// 左前腿：左右电机施加方向相反的合成差速修正量。
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cart.SpeedLFL = cart.SpeedLeftFrontLeft - diffLf;
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cart.SpeedLFR = cart.SpeedLeftFrontRight + diffLf;
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// 左后腿。
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cart.SpeedLRL = cart.SpeedLeftRearLeft - diffLr;
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cart.SpeedLRR = cart.SpeedLeftRearRight + diffLr;
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// 右前腿。
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cart.SpeedRFL = cart.SpeedRightFrontLeft - diffRf;
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cart.SpeedRFR = cart.SpeedRightFrontRight + diffRf;
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// 右后腿。
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cart.SpeedRRL = cart.SpeedRightRearLeft - diffRr;
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cart.SpeedRRR = cart.SpeedRightRearRight + diffRr;
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}
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/// <summary>
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/// 根据四个机械目标舵角的实际变化率计算本周期差速轮线速度前馈。
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/// </summary>
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private void CalculateDiffSteerRateFeedforward(
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out float leftFront,
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out float leftRear,
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out float rightFront,
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out float rightRear)
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{
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leftFront = 0f;
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leftRear = 0f;
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rightFront = 0f;
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rightRear = 0f;
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cart.DiffSteerTargetRateLeftFrontDegreesPerSecond = 0f;
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cart.DiffSteerTargetRateLeftRearDegreesPerSecond = 0f;
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cart.DiffSteerTargetRateRightFrontDegreesPerSecond = 0f;
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cart.DiffSteerTargetRateRightRearDegreesPerSecond = 0f;
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cart.DiffSteerFeedforwardDeltaTimeMilliseconds = 0f;
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cart.DiffSteerFeedforwardLimitedLeftFront = false;
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cart.DiffSteerFeedforwardLimitedLeftRear = false;
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cart.DiffSteerFeedforwardLimitedRightFront = false;
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cart.DiffSteerFeedforwardLimitedRightRear = false;
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var currentTimestamp = Stopwatch.GetTimestamp();
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if (_diffSteerFeedforwardInitialized)
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{
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var deltaTimeSeconds =
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(currentTimestamp -
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_lastDiffSteerFeedforwardTimestamp) /
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(double)Stopwatch.Frequency;
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if (deltaTimeSeconds > 0.0 &&
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deltaTimeSeconds <=
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MaximumFeedforwardIntervalSeconds)
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{
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cart.DiffSteerFeedforwardDeltaTimeMilliseconds =
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(float)(deltaTimeSeconds * 1000.0);
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leftFront = CalculateDiffSteerRateFeedforward(
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cart.ThLeftFront,
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_previousThLeftFront,
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deltaTimeSeconds,
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out var targetRateLf,
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out var limitedLf);
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leftRear = CalculateDiffSteerRateFeedforward(
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cart.ThLeftRear,
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_previousThLeftRear,
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deltaTimeSeconds,
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out var targetRateLr,
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out var limitedLr);
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rightFront = CalculateDiffSteerRateFeedforward(
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cart.ThRightFront,
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_previousThRightFront,
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deltaTimeSeconds,
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out var targetRateRf,
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out var limitedRf);
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rightRear = CalculateDiffSteerRateFeedforward(
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cart.ThRightRear,
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_previousThRightRear,
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deltaTimeSeconds,
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out var targetRateRr,
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out var limitedRr);
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cart.DiffSteerTargetRateLeftFrontDegreesPerSecond =
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targetRateLf;
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cart.DiffSteerTargetRateLeftRearDegreesPerSecond =
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targetRateLr;
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cart.DiffSteerTargetRateRightFrontDegreesPerSecond =
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targetRateRf;
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cart.DiffSteerTargetRateRightRearDegreesPerSecond =
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targetRateRr;
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cart.DiffSteerFeedforwardLimitedLeftFront = limitedLf;
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cart.DiffSteerFeedforwardLimitedLeftRear = limitedLr;
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cart.DiffSteerFeedforwardLimitedRightFront = limitedRf;
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cart.DiffSteerFeedforwardLimitedRightRear = limitedRr;
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}
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}
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_previousThLeftFront = cart.ThLeftFront;
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_previousThLeftRear = cart.ThLeftRear;
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_previousThRightFront = cart.ThRightFront;
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_previousThRightRear = cart.ThRightRear;
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_lastDiffSteerFeedforwardTimestamp = currentTimestamp;
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_diffSteerFeedforwardInitialized = true;
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}
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/// <summary>
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/// 将单个机械目标舵角变化率转换为带限幅的左右轮差速线速度前馈。
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/// </summary>
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private float CalculateDiffSteerRateFeedforward(
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float targetAngleDegrees,
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float previousTargetAngleDegrees,
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double deltaTimeSeconds,
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out float targetRateDegreesPerSecond,
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out bool limited)
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{
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targetRateDegreesPerSecond = 0f;
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limited = false;
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var gain = cart.DiffSteerRateFeedforwardGain;
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var wheelDistanceMillimeters =
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cart.DiffSteerWheelDistanceMillimeters;
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var maximumSpeed =
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cart.DiffSteerRateFeedforwardMaximumSpeed;
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if (!IsFinite(targetAngleDegrees) ||
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!IsFinite(previousTargetAngleDegrees) ||
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!double.IsFinite(deltaTimeSeconds) ||
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deltaTimeSeconds <= 0.0)
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{
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return 0f;
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}
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// 机械舵角受限，必须使用直接差值而不是圆周最短角差。
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targetRateDegreesPerSecond =
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(float)((targetAngleDegrees -
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previousTargetAngleDegrees) /
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deltaTimeSeconds);
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if (!IsFinite(gain) || gain <= 0f ||
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!IsFinite(wheelDistanceMillimeters) ||
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wheelDistanceMillimeters <= 0f ||
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!IsFinite(maximumSpeed) || maximumSpeed <= 0f)
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{
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return 0f;
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}
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var targetRateRadiansPerSecond =
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targetRateDegreesPerSecond *
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Math.PI / 180.0;
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var wheelDistanceMeters =
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wheelDistanceMillimeters / 1000.0;
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var feedforwardSpeed =
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0.5 *
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wheelDistanceMeters *
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targetRateRadiansPerSecond *
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gain;
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var limitedSpeed = (float)Math.Clamp(
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feedforwardSpeed,
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-maximumSpeed,
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maximumSpeed);
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limited = Math.Abs(
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feedforwardSpeed - limitedSpeed) > 1e-9;
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return limitedSpeed;
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}
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/// <summary>
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/// 清除差速转舵前馈历史和监控输出，避免恢复控制时使用过期目标角。
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/// </summary>
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private void ResetDiffSteerRateFeedforward()
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{
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_diffSteerFeedforwardInitialized = false;
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_lastDiffSteerFeedforwardTimestamp = 0;
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cart.DiffSteerRateFeedforwardLeftFront = 0f;
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cart.DiffSteerRateFeedforwardLeftRear = 0f;
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cart.DiffSteerRateFeedforwardRightFront = 0f;
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cart.DiffSteerRateFeedforwardRightRear = 0f;
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cart.DiffSteerTargetRateLeftFrontDegreesPerSecond = 0f;
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cart.DiffSteerTargetRateLeftRearDegreesPerSecond = 0f;
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cart.DiffSteerTargetRateRightFrontDegreesPerSecond = 0f;
|
|
cart.DiffSteerTargetRateRightRearDegreesPerSecond = 0f;
|
|
cart.DiffSteerFeedforwardDeltaTimeMilliseconds = 0f;
|
|
cart.DiffSteerFeedforwardLimitedLeftFront = false;
|
|
cart.DiffSteerFeedforwardLimitedLeftRear = false;
|
|
cart.DiffSteerFeedforwardLimitedRightFront = false;
|
|
cart.DiffSteerFeedforwardLimitedRightRear = false;
|
|
cart.DiffSteerTotalOutputLeftFront = 0f;
|
|
cart.DiffSteerTotalOutputLeftRear = 0f;
|
|
cart.DiffSteerTotalOutputRightFront = 0f;
|
|
cart.DiffSteerTotalOutputRightRear = 0f;
|
|
}
|
|
|
|
/// <summary>
|
|
/// 判断单精度参数是否可安全参与底盘控制计算。
|
|
/// </summary>
|
|
private static bool IsFinite(float value)
|
|
{
|
|
return !float.IsNaN(value) &&
|
|
!float.IsInfinity(value);
|
|
}
|
|
|
|
// M层单车限速：按照加速度和减速度平滑更新实际下发速度上限。
|
|
private void UpdateSendSpeedLimit()
|
|
{
|
|
if (cart.Chassis == null)
|
|
{
|
|
cart.SendThresSpeed = 0;
|
|
return;
|
|
}
|
|
|
|
var now = DateTime.Now;
|
|
var elapsedSeconds = (float)(now - _lastMoveTime).TotalSeconds;
|
|
_lastMoveTime = now;
|
|
|
|
// 防止调试暂停或线程卡顿后，一次产生过大的速度跳变。
|
|
elapsedSeconds = Math.Clamp(elapsedSeconds, 0f, 0.2f);
|
|
|
|
// 限速值不允许小于零。
|
|
var targetLimit = Math.Max(0f, cart.ThresSpeed);
|
|
var currentLimit = Math.Max(0f, cart.SendThresSpeed);
|
|
|
|
// 增大速度上限时用加速度，减小时用减速度。
|
|
var speedChangingRate =
|
|
targetLimit > currentLimit
|
|
? cart.Chassis.AccPerSecond
|
|
: cart.Chassis.DeAccPerSecond;
|
|
|
|
speedChangingRate = Math.Max(0f, speedChangingRate);
|
|
|
|
var maxChange = speedChangingRate * elapsedSeconds;
|
|
var speedDifference = targetLimit - currentLimit;
|
|
|
|
if (Math.Abs(speedDifference) <= maxChange)
|
|
{
|
|
currentLimit = targetLimit;
|
|
}
|
|
else
|
|
{
|
|
currentLimit += Math.Sign(speedDifference) * maxChange;
|
|
}
|
|
|
|
// 计算当前8个电机目标速度中的最大绝对值。
|
|
var wheelMaxSpeed = 0f;
|
|
|
|
wheelMaxSpeed = Math.Max(wheelMaxSpeed, Math.Abs(cart.SpeedLFL));
|
|
wheelMaxSpeed = Math.Max(wheelMaxSpeed, Math.Abs(cart.SpeedLFR));
|
|
wheelMaxSpeed = Math.Max(wheelMaxSpeed, Math.Abs(cart.SpeedRFL));
|
|
wheelMaxSpeed = Math.Max(wheelMaxSpeed, Math.Abs(cart.SpeedRFR));
|
|
wheelMaxSpeed = Math.Max(wheelMaxSpeed, Math.Abs(cart.SpeedLRL));
|
|
wheelMaxSpeed = Math.Max(wheelMaxSpeed, Math.Abs(cart.SpeedLRR));
|
|
wheelMaxSpeed = Math.Max(wheelMaxSpeed, Math.Abs(cart.SpeedRRL));
|
|
wheelMaxSpeed = Math.Max(wheelMaxSpeed, Math.Abs(cart.SpeedRRR));
|
|
|
|
// 没有必要让平滑限速值高于当前所有车轮需要的速度。
|
|
if (targetLimit < wheelMaxSpeed &&
|
|
currentLimit > wheelMaxSpeed)
|
|
{
|
|
currentLimit = wheelMaxSpeed;
|
|
}
|
|
|
|
cart.SendThresSpeed = currentLimit;
|
|
}
|
|
|
|
// M层单车灯光：根据报警、驱动器、限速和电量状态生成红黄绿灯模式。
|
|
private void UpdateLightMode()
|
|
{
|
|
// 二级报警：红灯常亮。
|
|
if (cart.AlarmLevel == 2)
|
|
{
|
|
cart.LightMode = 2;
|
|
return;
|
|
}
|
|
|
|
// 一级报警：黄灯常亮。
|
|
if (cart.AlarmLevel == 1)
|
|
{
|
|
cart.LightMode = 3;
|
|
return;
|
|
}
|
|
|
|
// 驱动轮未使能：黄灯闪烁。
|
|
if (!cart.WheelAbleState)
|
|
{
|
|
FlipFlop(ref cart.LightMode, 500, 0, 3);
|
|
return;
|
|
}
|
|
|
|
// C层正在进行限速：黄灯常亮。
|
|
if (Math.Abs(cart.ThresSpeed - 1f) > 0.001f)
|
|
{
|
|
cart.LightMode = 3;
|
|
return;
|
|
}
|
|
|
|
// 电量低于预警值：黄灯常亮。
|
|
if (cart.Soc <= cart.LowBatteryAlarmThreshold)
|
|
{
|
|
cart.LightMode = 3;
|
|
return;
|
|
}
|
|
|
|
// 正常运行：绿灯闪烁。
|
|
FlipFlop(ref cart.LightMode, 500, 0, 1);
|
|
}
|
|
|
|
}
|
|
}
|