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params

Vehicle parameter definitions for LAV2.

Classes:

Name Description
VehicleParams

LAV2 vehicle parameters.

VehicleParams dataclass 

VehicleParams(rho: float = 1.184, g: float = 9.81, sim_dt: float = 0.01, step_dt: float = 0.01, randomization: dict[str, dict[str, tuple[float, float]]] = dict(), mass: float = 2.1, inertia: list = (lambda: np.diag([0.015, 0.0348, 0.042503]).tolist())(), diameter: float = 0.476, Cdx: float = 0.5, x: float = 0.0952, y: float = 0.114423, h: float = -0.0125, alpha: float = math.radians(8.0), r_p: float = 0.0775, Ct: float = 0.666, Cq: float = 0.0716, theta0: float = math.radians(14.6), thetaTip: float = math.radians(6.8), lock: float = 0.6051, max_rpm: float = 10000.0, init_rpm: float = math.nan, rotor_rpm_rate_limit: float = 50000.0, tau_f: float = 0.01, tau_m: float = 0.05, tau_up: float = math.nan, tau_down: float = math.nan, r_w: float = 0.0285, n_w: int = 4, B: float = 0.136, L: float = 0.23, h_cg: float = 0.078, f: float = 0.01, mu0: float = 0.8, K: float = 20, track_cmd_rate_limit: float = 100, mpc_xy_vel_max: float = 12.0, mpc_z_vel_max_up: float = 3.0, mpc_z_vel_max_dn: float = 1.5, mpc_man_tilt_max: float = math.radians(35.0), mc_rollrate_max: float = math.radians(220.0), mc_pitchrate_max: float = math.radians(220.0), mc_yawrate_max: float = math.radians(200.0))

LAV2 vehicle parameters.

Methods:

Name Description
__post_init__

Calculate derived parameters.

Attributes:

Name Type Description
rho float

空气密度 (kg/m^3)
g float

重力加速度 (m/s^2)
sim_dt float

仿真步长 (s)
step_dt float

控制步长 (s)
randomization dict[str, dict[str, tuple[float, float]]]

运行时参数随机化配置，按组件 (e.g. rotor/mixer) 划分为多个 scale 相对范围子表
mass float

质量 (kg)
inertia list

惯性矩阵 (kg*m^2)
diameter float

直径 (m)
Cdx float

空气阻力系数
x float

x方向臂长 (m)
y float

y方向臂长 (m)
h float

重心高度 (m)
alpha float

y方向涵道外倾角度 (rad)
r_p float

螺旋桨半径 (m)
Ct float

推力系数
Cq float

扭矩系数
theta0 float

桨根角 (rad)
thetaTip float

桨尖角 (rad)
theta1 float

桨叶扭转角 (rad)
lock float

Lock number
max_rpm float

最大转速
init_rpm float

初始转速
rotor_rpm_rate_limit float

旋翼转速变化率限制 (rpm/s)
cT float

转速平方到推力增益 (N/(rpm^2))
cM float

转速平方到扭矩增益 (N*m/(rpm^2))
tau_f float

电机滤波时间常数 (s)
tau_m float

兼容保留的电机时间常数 (s)
tau_up float

电机升速时间常数 (s)
tau_down float

电机降速时间常数 (s)
r_w float

主动轮半径 (m)
n_w int

负重轮个数
B float

两侧履带中心距 (m)
L float

履带节点接地部分长度 (m)
h_cg float

车体质心高度 (m)
f float

滚动阻力系数(以干燥混凝土路面或沥青路面为例)
mu0 float

滑转率为1时的摩擦系数
K float

依赖于土壤黏聚系数和摩擦特性的常数
track_cmd_rate_limit float

履带主动轮指令变化率限制 (rad/s^2)
mpc_xy_vel_max float

Maximum horizontal velocity setpoint magnitude in m/s (0 - 20).
mpc_z_vel_max_up float

Maximum upward velocity setpoint in m/s (0.5 - 8).
mpc_z_vel_max_dn float

Maximum downward velocity setpoint magnitude in m/s (0.5 - 4).
mpc_man_tilt_max float

Maximum manual tilt angle in radians (deg: 0 - 90).
mc_rollrate_max float

Maximum roll-rate setpoint in rad/s (deg/s: 0 - 1800).
mc_pitchrate_max float

Maximum pitch-rate setpoint in rad/s (deg/s: 0 - 1800).
mc_yawrate_max float

Maximum yaw-rate setpoint in rad/s (deg/s: 0 - 1800).

rho class-attribute instance-attribute 

rho: float = 1.184

空气密度 (kg/m^3)

g class-attribute instance-attribute 

g: float = 9.81

重力加速度 (m/s^2)

sim_dt class-attribute instance-attribute 

sim_dt: float = 0.01

仿真步长 (s)

step_dt class-attribute instance-attribute 

step_dt: float = 0.01

控制步长 (s)

randomization class-attribute instance-attribute 

randomization: dict[str, dict[str, tuple[float, float]]] = field(default_factory=dict)

运行时参数随机化配置，按组件 (e.g. rotor/mixer) 划分为多个 scale 相对范围子表

mass class-attribute instance-attribute 

mass: float = 2.1

质量 (kg)

inertia class-attribute instance-attribute 

inertia: list = field(default_factory=lambda: tolist())

惯性矩阵 (kg*m^2)

diameter class-attribute instance-attribute 

diameter: float = 0.476

直径 (m)

Cdx class-attribute instance-attribute 

Cdx: float = 0.5

空气阻力系数

x class-attribute instance-attribute 

x: float = 0.0952

x方向臂长 (m)

y class-attribute instance-attribute 

y: float = 0.114423

y方向臂长 (m)

h class-attribute instance-attribute 

h: float = -0.0125

重心高度 (m)

alpha class-attribute instance-attribute 

alpha: float = radians(8.0)

y方向涵道外倾角度 (rad)

r_p class-attribute instance-attribute 

r_p: float = 0.0775

螺旋桨半径 (m)

Ct class-attribute instance-attribute 

Ct: float = 0.666

推力系数

Cq class-attribute instance-attribute 

Cq: float = 0.0716

扭矩系数

theta0 class-attribute instance-attribute 

theta0: float = radians(14.6)

桨根角 (rad)

thetaTip class-attribute instance-attribute 

thetaTip: float = radians(6.8)

桨尖角 (rad)

theta1 class-attribute instance-attribute 

theta1: float = field(init=False)

桨叶扭转角 (rad)

lock class-attribute instance-attribute 

lock: float = 0.6051

Lock number

max_rpm class-attribute instance-attribute 

max_rpm: float = 10000.0

最大转速

init_rpm class-attribute instance-attribute 

init_rpm: float = nan

初始转速

rotor_rpm_rate_limit class-attribute instance-attribute 

rotor_rpm_rate_limit: float = 50000.0

旋翼转速变化率限制 (rpm/s)

cT class-attribute instance-attribute 

cT: float = field(init=False)

转速平方到推力增益 (N/(rpm^2))

cM class-attribute instance-attribute 

cM: float = field(init=False)

转速平方到扭矩增益 (N*m/(rpm^2))

tau_f class-attribute instance-attribute 

tau_f: float = 0.01

电机滤波时间常数 (s)

tau_m class-attribute instance-attribute 

tau_m: float = 0.05

兼容保留的电机时间常数 (s)

tau_up class-attribute instance-attribute 

tau_up: float = nan

电机升速时间常数 (s)

tau_down class-attribute instance-attribute 

tau_down: float = nan

电机降速时间常数 (s)

r_w class-attribute instance-attribute 

r_w: float = 0.0285

主动轮半径 (m)

n_w class-attribute instance-attribute 

n_w: int = 4

负重轮个数

B class-attribute instance-attribute 

B: float = 0.136

两侧履带中心距 (m)

L class-attribute instance-attribute 

L: float = 0.23

履带节点接地部分长度 (m)

h_cg class-attribute instance-attribute 

h_cg: float = 0.078

车体质心高度 (m)

f class-attribute instance-attribute 

f: float = 0.01

滚动阻力系数(以干燥混凝土路面或沥青路面为例)

mu0 class-attribute instance-attribute 

mu0: float = 0.8

滑转率为1时的摩擦系数

K class-attribute instance-attribute 

K: float = 20

依赖于土壤黏聚系数和摩擦特性的常数

track_cmd_rate_limit class-attribute instance-attribute 

track_cmd_rate_limit: float = 100

履带主动轮指令变化率限制 (rad/s^2)

mpc_xy_vel_max class-attribute instance-attribute 

mpc_xy_vel_max: float = 12.0

Maximum horizontal velocity setpoint magnitude in m/s (0 - 20).

mpc_z_vel_max_up class-attribute instance-attribute 

mpc_z_vel_max_up: float = 3.0

Maximum upward velocity setpoint in m/s (0.5 - 8).

mpc_z_vel_max_dn class-attribute instance-attribute 

mpc_z_vel_max_dn: float = 1.5

Maximum downward velocity setpoint magnitude in m/s (0.5 - 4).

mpc_man_tilt_max class-attribute instance-attribute 

mpc_man_tilt_max: float = radians(35.0)

Maximum manual tilt angle in radians (deg: 0 - 90).

mc_rollrate_max class-attribute instance-attribute 

mc_rollrate_max: float = radians(220.0)

Maximum roll-rate setpoint in rad/s (deg/s: 0 - 1800).

mc_pitchrate_max class-attribute instance-attribute 

mc_pitchrate_max: float = radians(220.0)

Maximum pitch-rate setpoint in rad/s (deg/s: 0 - 1800).

mc_yawrate_max class-attribute instance-attribute 

mc_yawrate_max: float = radians(200.0)

Maximum yaw-rate setpoint in rad/s (deg/s: 0 - 1800).

__post_init__ 

__post_init__()

Calculate derived parameters.