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优化v3参数

master
zrg 2023-06-06 20:58:30 +08:00
parent 393aadde7a
commit 1ebe58dcf4
20 changed files with 15031 additions and 14727 deletions
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3
v1/.idea/.gitignore vendored Normal file
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# Default ignored files
/shelf/
/workspace.xml

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v1/.idea/inspectionProfiles/Project_Default.xml Normal file
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<component name="InspectionProjectProfileManager">
<profile version="1.0">
<option name="myName" value="Project Default" />
<inspection_tool class="PyPackageRequirementsInspection" enabled="true" level="WARNING" enabled_by_default="true">
<option name="ignoredPackages">
<value>
<list size="2">
<item index="0" class="java.lang.String" itemvalue="pyqtgraph" />
<item index="1" class="java.lang.String" itemvalue="PyQt5" />
</list>
</value>
</option>
</inspection_tool>
</profile>
</component>

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v1/.idea/inspectionProfiles/profiles_settings.xml Normal file
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<component name="InspectionProjectProfileManager">
<settings>
<option name="USE_PROJECT_PROFILE" value="false" />
<version value="1.0" />
</settings>
</component>

4
v1/.idea/misc.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ProjectRootManager" version="2" project-jdk-name="Python 3.7" project-jdk-type="Python SDK" />
</project>

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v1/.idea/modules.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ProjectModuleManager">
<modules>
<module fileurl="file://$PROJECT_DIR$/.idea/v1.iml" filepath="$PROJECT_DIR$/.idea/v1.iml" />
</modules>
</component>
</project>

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v1/.idea/v1.iml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<module type="PYTHON_MODULE" version="4">
<component name="NewModuleRootManager">
<content url="file://$MODULE_DIR$" />
<orderEntry type="inheritedJdk" />
<orderEntry type="sourceFolder" forTests="false" />
</component>
</module>

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v1/.idea/vcs.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="$PROJECT_DIR$/.." vcs="Git" />
</component>
</project>

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v3/bin/bin/main.ino.bin
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4
v3/bin/configure/esp32/spi_download.conf
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@ -84,8 +84,8 @@ flash_write_size = 1024
[DOWNLOAD] [DOWNLOAD]
autostart1 = 0 autostart1 = 0
com_port1 = COM6 com_port1 = COM61
baudrate1 = 4 baudrate1 = 5
checkmac1 = 1 checkmac1 = 1
erase_flash_en = True erase_flash_en = True
new_status = 0 new_status = 0

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v3/bin/dl_temp/_temp_by_dltool/downloadPanel1/target.bin_rep
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v3/bin/logs/C8F09EBC5E38.txt Normal file
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*************************** START ****************************
START TIME: 202306061633
CONNECT BAUD: 115200
set state: ESP_DL_SYNC
serial port opened
-----------
baud:115200
root baud:115200
-------------
===============BAUD : 115200===============CALL DEVICE SYNC
connecting...
chip sync ok
mac l: 0x9ebc5e38
mac h: 0xbcc8f0
crc_cal: 188
crc_read: 188
crc_test: 0
ESP32 MAC CRC OK
get mac res: 1
get flash id : 0x0016405e
manufacturer_id: 0x5e
device_id: 0x4016
Wrote 886032 bytes (547253 compressed) at 0x00000000 in 8.1 seconds (effective 872.4 kbit/s)...
Hash of data verified.
Leaving...
com closed
Use time: 16 s
Download result: PASS
*************************** END ****************************

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*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061623
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061624
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061624
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061624
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061624
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061624
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061624
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061624
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061624
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061624
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061624
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061624
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061624
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061624
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061624
CONNECT BAUD: 115200
*************************** START ****************************
START TIME: 202306061624
CONNECT BAUD: 115200
set state: ESP_DL_SYNC
serial port opened
-----------
baud:115200
root baud:115200
-------------
===============BAUD : 115200===============CALL DEVICE SYNC
connecting...
chip sync ok
mac l: 0x9ebc5e4c
mac h: 0x25c8f0
crc_cal: 37
crc_read: 37
crc_test: 0
ESP32 MAC CRC OK
get mac res: 1
get flash id : 0x0016405e
manufacturer_id: 0x5e
device_id: 0x4016
Wrote 886032 bytes (547253 compressed) at 0x00000000 in 8.5 seconds (effective 837.4 kbit/s)...
Hash of data verified.
Leaving...
com closed
Use time: 10 s
Download result: PASS
*************************** END ****************************

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v3/bin/logs/C8F09EBC5E54.txt Normal file
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*************************** START ****************************
START TIME: 202306061632
CONNECT BAUD: 115200
set state: ESP_DL_SYNC
serial port opened
-----------
baud:115200
root baud:115200
-------------
===============BAUD : 115200===============CALL DEVICE SYNC
connecting...
chip sync ok
mac l: 0x9ebc5e54
mac h: 0x7ac8f0
crc_cal: 122
crc_read: 122
crc_test: 0
ESP32 MAC CRC OK
get mac res: 1
get flash id : 0x0016405e
manufacturer_id: 0x5e
device_id: 0x4016
Wrote 886032 bytes (547253 compressed) at 0x00000000 in 8.2 seconds (effective 860.6 kbit/s)...
Hash of data verified.
Leaving...
com closed
Use time: 10 s
Download result: PASS
*************************** END ****************************
*************************** START ****************************
START TIME: 202306061633
CONNECT BAUD: 115200
set state: ESP_DL_SYNC
serial port opened
-----------
baud:115200
root baud:115200
-------------
===============BAUD : 115200===============CALL DEVICE SYNC
connecting...
chip sync ok
com closed
Use time: 9 s
Download result: FAIL
*************************** END ****************************

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v3/bin/logs/C8F09EBC5E8C.txt Normal file
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@ -0,0 +1,30 @@
*************************** START ****************************
START TIME: 202306061453
CONNECT BAUD: 115200
set state: ESP_DL_SYNC
serial port opened
-----------
baud:115200
root baud:115200
-------------
===============BAUD : 115200===============CALL DEVICE SYNC
connecting...
chip sync ok
mac l: 0x9ebc5e8c
mac h: 0xefc8f0
crc_cal: 239
crc_read: 239
crc_test: 0
ESP32 MAC CRC OK
get mac res: 1
get flash id : 0x0016405e
manufacturer_id: 0x5e
device_id: 0x4016
Wrote 886032 bytes (547249 compressed) at 0x00000000 in 8.6 seconds (effective 826.2 kbit/s)...
Hash of data verified.
Leaving...
com closed
Use time: 15 s
Download result: PASS
*************************** END ****************************

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v3/main/build/esp32.esp32.esp32/main.ino.bin
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v3/main/build/esp32.esp32.esp32/main.ino.elf
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v3/main/build/esp32.esp32.esp32/main.ino.map
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8
v3/main/main.ino
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@ -71,9 +71,9 @@ LowPassFilter lpf_throttle{0.00};
// float LQR_K4_3 = 0.12; // // float LQR_K4_3 = 0.12; //
//倒立摆参数 //倒立摆参数
float LQR_K3_1 = 20; //摇摆到平衡 float LQR_K3_1 = 12; //摇摆到平衡
float LQR_K3_2 = 2.1; // float LQR_K3_2 = 1.9; //
float LQR_K3_3 = 2.1; // float LQR_K3_3 = 1.8; //
float LQR_K4_1 = 4.4; //平衡到稳定 float LQR_K4_1 = 4.4; //平衡到稳定
float LQR_K4_2 = 1.5; // float LQR_K4_2 = 1.5; //
@ -606,7 +606,7 @@ float controllerLQR(float p_angle, float p_vel, float m_vel)
if ((millis() - last_unstable_time) > 1000 && !stable) //非稳态进入稳态超过500ms检测，更新目标角为目标角+摆角，假设进入稳态 if ((millis() - last_unstable_time) > 1000 && !stable) //非稳态进入稳态超过500ms检测，更新目标角为目标角+摆角，假设进入稳态
{ {
//target_angle -= _sign(target_velocity) * 0.4; //target_angle -= _sign(target_velocity) * 0.4;
target_angle = target_angle+p_angle; target_angle = target_angle+p_angle*0.2;
stable = 1; stable = 1;
} }