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关于e_y为什么为负数的个人理解 #4

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JosenJiang opened this issue Apr 20, 2024 · 0 comments

JosenJiang commented Apr 20, 2024 •

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chhRobotics/Controllers/PID/PID_demo.py

Line 85 in 50ef939

 e_y = -l_d*math.sin(theta_e) # 与博客中公式相比多了个负号，我目前还不是太理解，暂时先放着 

关于e_y为什么为负数的个人理解：
当theta_e为正时，前轮需要左转（正方向旋转），因为PID控制器的target设为了0，所以在PID控制器看来，当前的前轮转角状态相对而言应该是负数，即 —theta_e；右转同理。

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