2 *******************************************************************************
\r
3 **
\83t
\83@
\83C
\83\8b\96¼ : balancer_param.c
\r
5 **
\8aT
\97v :
\93|
\97§
\90U
\8eq
\90§
\8cä
\83p
\83\89\83\81\81[
\83^
\r
7 **
\92\8d\8bL :
\93|
\97§
\90U
\8eq
\90§
\8cä
\83p
\83\89\83\81\81[
\83^
\82Í
\90§
\8cä
\93Á
\90«
\82É
\91å
\82«
\82È
\89e
\8b¿
\82ð
\97^
\82¦
\82Ü
\82·
\81B
\r
9 *******************************************************************************
\r
12 /*============================================================================
\r
13 *
\83f
\81[
\83^
\92è
\8b`
\r
14 *===========================================================================*/
\r
15 float A_D = 0.8F; /*
\83\8d\81[
\83p
\83X
\83t
\83B
\83\8b\83^
\8cW
\90\94(
\8d¶
\89E
\8eÔ
\97Ö
\82Ì
\95½
\8bÏ
\89ñ
\93]
\8ap
\93x
\97p) */
\r
16 float A_R = 0.996F; /*
\83\8d\81[
\83p
\83X
\83t
\83B
\83\8b\83^
\8cW
\90\94(
\8d¶
\89E
\8eÔ
\97Ö
\82Ì
\96Ú
\95W
\95½
\8bÏ
\89ñ
\93]
\8ap
\93x
\97p) */
\r
18 /*
\8fó
\91Ô
\83t
\83B
\81[
\83h
\83o
\83b
\83N
\8cW
\90\94\r
19 * K_F[0]:
\8eÔ
\97Ö
\89ñ
\93]
\8ap
\93x
\8cW
\90\94\r
20 * K_F[1]:
\8eÔ
\91Ì
\8cX
\8eÎ
\8ap
\93x
\8cW
\90\94\r
21 * K_F[2]:
\8eÔ
\97Ö
\89ñ
\93]
\8ap
\91¬
\93x
\8cW
\90\94\r
22 * K_F[3]:
\8eÔ
\91Ì
\8cX
\8eÎ
\8ap
\91¬
\93x
\8cW
\90\94\r
24 float K_F[4] = {-0.870303F, -31.9978F, -1.1566F, -2.78873F};
\r
25 float K_I = -0.44721F; /*
\83T
\81[
\83{
\90§
\8cä
\97p
\90Ï
\95ª
\83t
\83B
\81[
\83h
\83o
\83b
\83N
\8cW
\90\94 */
\r
27 //float K_PHIDOT = 25.0F; /*
\8eÔ
\91Ì
\96Ú
\95W
\90ù
\89ñ
\8ap
\91¬
\93x
\8cW
\90\94 */
\r
28 float K_PHIDOT = 25.0F*2.5F; /*
\8eÔ
\91Ì
\96Ú
\95W
\90ù
\89ñ
\8ap
\91¬
\93x
\8cW
\90\94 */
\r
29 float K_THETADOT = 7.5F; /*
\83\82\81[
\83^
\96Ú
\95W
\89ñ
\93]
\8ap
\91¬
\93x
\8cW
\90\94 */
\r
31 const float BATTERY_GAIN = 0.001089F; /* PWM
\8fo
\97Í
\8eZ
\8fo
\97p
\83o
\83b
\83e
\83\8a\93d
\88³
\95â
\90³
\8cW
\90\94 */
\r
32 const float BATTERY_OFFSET = 0.625F; /* PWM
\8fo
\97Í
\8eZ
\8fo
\97p
\83o
\83b
\83e
\83\8a\93d
\88³
\95â
\90³
\83I
\83t
\83Z
\83b
\83g */
\r
34 /******************************** END OF FILE ********************************/
\r