Control: update the control_conf MRAC param to fit for Mkz7 road test

2afebabe · kevin-y-wang · Xiangquan Xiao · ead6e5eb · 2afebabe
隐藏空白更改
内联并排

Showing with 6 addition and 5 deletion

modules/control/conf/control_conf.pb.txt modules/control/conf/control_conf.pb.txt +6 -5

未找到文件。
--- a/modules/control/conf/control_conf.pb.txt
+++ b/modules/control/conf/control_conf.pb.txt
@@ -107,15 +107,16 @@ lat_controller_conf {
  }
  steer_mrac_conf {
    mrac_model_order: 1
-    reference_time_constant: 0.07
+    reference_time_constant: 0.09
    reference_natural_frequency: 10
    reference_damping_ratio: 0.9
-    adaption_state_gain: 0.003
-    adaption_desired_gain: 0.003
-    adaption_nonlinear_gain: 0.003
+    adaption_state_gain: 0.0001
+    adaption_desired_gain: 0.0001
+    adaption_nonlinear_gain: 0.0001
    adaption_matrix_p: 1.0
    mrac_saturation_level: 1.0
-    anti_windup_compensation_gain: 0.003
+    anti_windup_compensation_gain: 0.0001
+    clamping_time_constant: 0.08
  }
 }
 lon_controller_conf {