From 69203aa697984b8e61aa9b4ee965a3b8cc02aed0 Mon Sep 17 00:00:00 2001
From: zrg <674148718@qq.com>
Date: Thu, 30 Dec 2021 17:02:18 +0800
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 |K4**1**|LQR的参数1：稳定后的角度差值|
 |K4**2**|LQR的参数2：稳定后的左右倾倒加速度|
 |K4**3**|LQR的参数3：稳定后的当前速度|
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 LQR算法解释：当三角形向←倾斜时，需要产生向→的力回正。
 
 在电压控制下：回正力F直接和输出电压值挂钩，向←倾斜，电机提供正电压V动量轮向**左加速转动**，产生向右的力F。