├── CMakeLists.txt ├── LICENSE ├── README.md ├── example.c ├── fuzzyPID.c └── fuzzyPID.h /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.17) 2 | project(fuzzy-pid C) 3 | 4 | set(CMAKE_C_STANDARD 99) 5 | 6 | add_executable(fuzzy-pid fuzzyPID.c fuzzyPID.h example.c) -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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Of course, your program's commands 662 | might be different; for a GUI interface, you would use an "about box". 663 | 664 | You should also get your employer (if you work as a programmer) or school, 665 | if any, to sign a "copyright disclaimer" for the program, if necessary. 666 | For more information on this, and how to apply and follow the GNU GPL, see 667 | . 668 | 669 | The GNU General Public License does not permit incorporating your program 670 | into proprietary programs. If your program is a subroutine library, you 671 | may consider it more useful to permit linking proprietary applications with 672 | the library. If this is what you want to do, use the GNU Lesser General 673 | Public License instead of this License. But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | ## fuzzy-pid 2 | 3 | ### 介绍 4 | 鉴于控制算法常于嵌入式平台使用，所以使用C语言实现模糊PID控制算法。实现的功能包括但不限于： 5 | 6 | - 隶属度函数 Membership function 7 | - 高斯隶属度函数 Gaussian membership function 8 | - 广义钟形隶属度函数 Generalized bell-shaped membership function 9 | - S形隶属度函数 Sigmoidal membership function 10 | - 梯形隶属度函数 Trapezoidal membership function 11 | - 三角形隶属度函数 Triangular membership function 12 | - Z形隶属度函数 Z-shaped membership function 13 | - 模糊算子 Fuzzy operator 14 | - 并算子 Union operator 15 | - 交算子 Intersection operator 16 | - 平衡算子 Equilibrium operator 17 | - 中心平均解模糊器 Mean of centers defuzzifier 18 | 19 | API使用的示例代码如下： 20 | 21 | ```c 22 | #include "fuzzyPID.h" 23 | 24 | #define DOF 6 25 | 26 | int main() { 27 | // Default fuzzy rule base of delta kp/ki/kd 28 | int rule_base[][qf_default] = { 29 | //delta kp rule base 30 | {PB, PB, PM, PM, PS, ZO, ZO}, 31 | {PB, PB, PM, PS, PS, ZO, NS}, 32 | {PM, PM, PM, PS, ZO, NS, NS}, 33 | {PM, PM, PS, ZO, NS, NM, NM}, 34 | {PS, PS, ZO, NS, NS, NM, NM}, 35 | {PS, ZO, NS, NM, NM, NM, NB}, 36 | {ZO, ZO, NM, NM, NM, NB, NB}, 37 | //delta ki rule base 38 | {NB, NB, NM, NM, NS, ZO, ZO}, 39 | {NB, NB, NM, NS, NS, ZO, ZO}, 40 | {NB, NM, NS, NS, ZO, PS, PS}, 41 | {NM, NM, NS, ZO, PS, PM, PM}, 42 | {NM, NS, ZO, PS, PS, PM, PB}, 43 | {ZO, ZO, PS, PS, PM, PB, PB}, 44 | {ZO, ZO, PS, PM, PM, PB, PB}, 45 | //delta kd rule base 46 | {PS, NS, NB, NB, NB, NM, PS}, 47 | {PS, NS, NB, NM, NM, NS, ZO}, 48 | {ZO, NS, NM, NM, NS, NS, ZO}, 49 | {ZO, NS, NS, NS, NS, NS, ZO}, 50 | {ZO, ZO, ZO, ZO, ZO, ZO, ZO}, 51 | {PB, PS, PS, PS, PS, PS, PB}, 52 | {PB, PM, PM, PM, PS, PS, PB}}; 53 | 54 | // Default parameters of membership function 55 | int mf_params[4 * qf_default] = {-3, -3, -2, 0, 56 | -3, -2, -1, 0, 57 | -2, -1, 0, 0, 58 | -1, 0, 1, 0, 59 | 0, 1, 2, 0, 60 | 1, 2, 3, 0, 61 | 2, 3, 3, 0}; 62 | 63 | // Default parameters of pid controller 64 | float fuzzy_pid_params[DOF][pid_params_count] = {{0.65f, 0, 0, 0, 0, 0, 1}, 65 | {-0.34f, 0, 0, 0, 0, 0, 1}, 66 | {-1.1f, 0, 0, 0, 0, 0, 1}, 67 | {-2.4f, 0, 0, 0, 0, 0, 1}, 68 | {1.2f, 0, 0, 0, 0, 0, 1}, 69 | {1.2f, 0.05f, 0.1f, 0, 0, 0, 1}}; 70 | 71 | // Obtain the PID controller vector according to the parameters 72 | struct PID **pid_vector = fuzzy_pid_vector_init(fuzzy_pid_params, 2.0f, 4, 1, 0, mf_params, rule_base, DOF); 73 | 74 | printf("output:\n"); 75 | int control_id = 5; 76 | float real = 0; 77 | float idea = max_error * 0.9f; 78 | printf("idea value: %f\n", idea); 79 | bool direct[DOF] = {true, false, false, false, true, true}; 80 | for (int j = 0; j < 1000; ++j) { 81 | int out = fuzzy_pid_motor_pwd_output(real, idea, direct[control_id], pid_vector[control_id]); 82 | real += (float) (out - middle_pwm_output) / (float) middle_pwm_output * (float) max_error * 0.1f; 83 | printf("%d,%f\n", out, real); 84 | } 85 | 86 | delete_pid_vector(pid_vector, DOF); 87 | return 0; 88 | } 89 | ``` -------------------------------------------------------------------------------- /example.c: -------------------------------------------------------------------------------- 1 | #include "fuzzyPID.h" 2 | 3 | #define DOF 6 4 | 5 | int main() { 6 | // Default fuzzy rule base of delta kp/ki/kd 7 | int rule_base[][qf_default] = { 8 | //delta kp rule base 9 | {PB, PB, PM, PM, PS, ZO, ZO}, 10 | {PB, PB, PM, PS, PS, ZO, NS}, 11 | {PM, PM, PM, PS, ZO, NS, NS}, 12 | {PM, PM, PS, ZO, NS, NM, NM}, 13 | {PS, PS, ZO, NS, NS, NM, NM}, 14 | {PS, ZO, NS, NM, NM, NM, NB}, 15 | {ZO, ZO, NM, NM, NM, NB, NB}, 16 | //delta ki rule base 17 | {NB, NB, NM, NM, NS, ZO, ZO}, 18 | {NB, NB, NM, NS, NS, ZO, ZO}, 19 | {NB, NM, NS, NS, ZO, PS, PS}, 20 | {NM, NM, NS, ZO, PS, PM, PM}, 21 | {NM, NS, ZO, PS, PS, PM, PB}, 22 | {ZO, ZO, PS, PS, PM, PB, PB}, 23 | {ZO, ZO, PS, PM, PM, PB, PB}, 24 | //delta kd rule base 25 | {PS, NS, NB, NB, NB, NM, PS}, 26 | {PS, NS, NB, NM, NM, NS, ZO}, 27 | {ZO, NS, NM, NM, NS, NS, ZO}, 28 | {ZO, NS, NS, NS, NS, NS, ZO}, 29 | {ZO, ZO, ZO, ZO, ZO, ZO, ZO}, 30 | {PB, PS, PS, PS, PS, PS, PB}, 31 | {PB, PM, PM, PM, PS, PS, PB}}; 32 | 33 | // Default parameters of membership function 34 | int mf_params[4 * qf_default] = {-3, -3, -2, 0, 35 | -3, -2, -1, 0, 36 | -2, -1, 0, 0, 37 | -1, 0, 1, 0, 38 | 0, 1, 2, 0, 39 | 1, 2, 3, 0, 40 | 2, 3, 3, 0}; 41 | 42 | // Default parameters of pid controller 43 | float fuzzy_pid_params[DOF][pid_params_count] = {{0.65f, 0, 0, 0, 0, 0, 1}, 44 | {-0.34f, 0, 0, 0, 0, 0, 1}, 45 | {-1.1f, 0, 0, 0, 0, 0, 1}, 46 | {-2.4f, 0, 0, 0, 0, 0, 1}, 47 | {1.2f, 0, 0, 0, 0, 0, 1}, 48 | {1.2f, 0.05f, 0.1f, 0, 0, 0, 1}}; 49 | 50 | // Obtain the PID controller vector according to the parameters 51 | struct PID **pid_vector = fuzzy_pid_vector_init(fuzzy_pid_params, 2.0f, 4, 1, 0, mf_params, rule_base, DOF); 52 | 53 | printf("output:\n"); 54 | int control_id = 5; 55 | float real = 0; 56 | float idea = max_error * 0.9f; 57 | printf("idea value: %f\n", idea); 58 | bool direct[DOF] = {true, false, false, false, true, true}; 59 | for (int j = 0; j < 1000; ++j) { 60 | int out = fuzzy_pid_motor_pwd_output(real, idea, direct[control_id], pid_vector[control_id]); 61 | real += (float) (out - middle_pwm_output) / (float) middle_pwm_output * (float) max_error * 0.1f; 62 | printf("%d,%f\n", out, real); 63 | } 64 | 65 | delete_pid_vector(pid_vector, DOF); 66 | return 0; 67 | } -------------------------------------------------------------------------------- /fuzzyPID.c: -------------------------------------------------------------------------------- 1 | #include "fuzzyPID.h" 2 | 3 | struct fuzzy *fuzzy_init(unsigned int input_num, unsigned int output_num) { 4 | struct fuzzy *fuzzy_struct = (struct fuzzy *) malloc(sizeof(struct fuzzy)); 5 | fuzzy_struct->input_num = input_num; 6 | fuzzy_struct->output_num = output_num; 7 | fuzzy_struct->mf_type = (unsigned int *) malloc((input_num + output_num) * sizeof(unsigned int)); 8 | #ifdef fuzzy_pid_rule_base_deep_copy 9 | fuzzy_struct->mf_params = (int *) malloc(4 * qf_default * sizeof(int)); 10 | fuzzy_struct->rule_base = (int *) malloc(output_num * qf_default * qf_default * sizeof(int)); 11 | #endif 12 | fuzzy_struct->output = (float *) malloc(output_num * sizeof(float)); 13 | return fuzzy_struct; 14 | } 15 | 16 | void delete_fuzzy(struct fuzzy *fuzzy_struct) { 17 | free(fuzzy_struct->mf_type); 18 | free(fuzzy_struct->output); 19 | free(fuzzy_struct); 20 | } 21 | 22 | void fuzzy_params_init(struct fuzzy *fuzzy_struct, unsigned int mf_type, unsigned int fo_type, unsigned int df_type, 23 | int mf_params[], int rule_base[][qf_default]) { 24 | for (unsigned int i = 0; i < fuzzy_struct->input_num + fuzzy_struct->output_num; ++i) { 25 | fuzzy_struct->mf_type[i] = mf_type; 26 | } 27 | 28 | for (unsigned int i = 0; i < fuzzy_struct->output_num; ++i) { 29 | fuzzy_struct->output[i] = 0; 30 | } 31 | 32 | #ifdef fuzzy_pid_rule_base_deep_copy 33 | for (unsigned int j = 0; j < 4 * qf_default; ++j) { 34 | fuzzy_struct->mf_params[j] = mf_params[j]; 35 | } 36 | 37 | for (unsigned int k = 0; k < fuzzy_struct->output_num * qf_default; ++k) { 38 | for (unsigned int i = 0; i < qf_default; ++i) { 39 | fuzzy_struct->rule_base[k * 7 + i] = rule_base[k][i]; 40 | } 41 | } 42 | #else 43 | fuzzy_struct->mf_params = mf_params; 44 | fuzzy_struct->rule_base = (int *) rule_base; 45 | #endif 46 | 47 | fuzzy_struct->fo_type = fo_type; 48 | fuzzy_struct->df_type = df_type; 49 | } 50 | 51 | #define inverse(parameter) 1.0f/(float)parameter 52 | 53 | // Gaussian membership function 54 | float gaussmf(float x, float sigma, float c) { 55 | return expf(-powf(((x - c) / sigma), 2.0f)); 56 | } 57 | 58 | // Generalized bell-shaped membership function 59 | float gbellmf(float x, float a, float b, float c) { 60 | return inverse(1.0f + powf(fabsf((x - c) / a), 2.0f * b)); 61 | } 62 | 63 | // Sigmoidal membership function 64 | float sigmf(float x, float a, float c) { 65 | return inverse(1.0f + expf(a * (c - x))); 66 | } 67 | 68 | // Trapezoidal membership function 69 | float trapmf(float x, float a, float b, float c, float d) { 70 | if (x >= a && x < b) 71 | return (x - a) / (b - a); 72 | else if (x >= b && x < c) 73 | return 1.0f; 74 | else if (x >= c && x <= d) 75 | return (d - x) / (d - c); 76 | else return 0.0f; 77 | } 78 | 79 | // Triangular membership function 80 | float trimf(float x, float a, float b, float c) { 81 | return trapmf(x, a, b, b, c); 82 | } 83 | 84 | // Z-shaped membership function 85 | float zmf(float x, float a, float b) { 86 | if (x <= a) 87 | return 1.0f; 88 | else if (x >= a && x <= (a + b) / 2.0f) 89 | return 1.0f - 2.0f * powf((x - a) / (b - a), 2.0f); 90 | else if (x >= (a + b) / 2.0f && x < b) 91 | return 2.0f * powf((x - b) / (b - a), 2.0f); 92 | else return 0; 93 | } 94 | 95 | // Membership function 96 | float mf(float x, unsigned int mf_type, int *params) { 97 | switch (mf_type) { 98 | case 0: 99 | return gaussmf(x, params[0], params[1]); 100 | case 1: 101 | return gbellmf(x, params[0], params[1], params[2]); 102 | case 2: 103 | return sigmf(x, params[0], params[2]); 104 | case 3: 105 | return trapmf(x, params[0], params[1], params[2], params[3]); 106 | case 5: 107 | return zmf(x, params[0], params[1]); 108 | default: // set triangular as default membership function 109 | return trimf(x, params[0], params[1], params[2]); 110 | } 111 | } 112 | 113 | // Union operator 114 | float or(float a, float b, unsigned int type) { 115 | if (type == 1) { // algebraic sum 116 | return a + b - a * b; 117 | } else if (type == 2) { // bounded sum 118 | return fminf(1, a + b); 119 | } else { // fuzzy union 120 | return fmaxf(a, b); 121 | } 122 | } 123 | 124 | // Intersection operator 125 | float and(float a, float b, unsigned int type) { 126 | if (type == 1) { // algebraic product 127 | return a * b; 128 | } else if (type == 2) { // bounded product 129 | return fmaxf(0, a + b - 1); 130 | } else { // fuzzy intersection 131 | return fminf(a, b); 132 | } 133 | } 134 | 135 | // Equilibrium operator 136 | float equilibrium(float a, float b, float params) { 137 | return powf(a * b, 1 - params) * powf(1 - (1 - a) * (1 - b), params); 138 | } 139 | 140 | // Fuzzy operator 141 | float fo(float a, float b, unsigned int type) { 142 | if (type < 3) { 143 | return and(a, b, type); 144 | } else if (type < 6) { 145 | return or(a, b, type - 3); 146 | } else { 147 | return equilibrium(a, b, 0.5f); 148 | } 149 | } 150 | 151 | // Mean of centers defuzzifier, only for two input multiple index 152 | void moc(const float *joint_membership, const unsigned int *index, const unsigned int *count, struct fuzzy *fuzzy_struct) { 153 | 154 | float denominator_count = 0; 155 | float numerator_count[fuzzy_struct->output_num]; 156 | for (unsigned int l = 0; l < fuzzy_struct->output_num; ++l) { 157 | numerator_count[l] = 0; 158 | } 159 | 160 | for (int i = 0; i < count[0]; ++i) { 161 | for (int j = 0; j < count[1]; ++j) { 162 | denominator_count += joint_membership[i * count[1] + j]; 163 | } 164 | } 165 | 166 | for (unsigned int k = 0; k < fuzzy_struct->output_num; ++k) { 167 | for (unsigned int i = 0; i < count[0]; ++i) { 168 | for (unsigned int j = 0; j < count[1]; ++j) { 169 | numerator_count[k] += joint_membership[i * count[1] + j] * 170 | fuzzy_struct->rule_base[k * qf_default * qf_default + index[i] * qf_default + 171 | index[count[0] + j]]; 172 | } 173 | } 174 | } 175 | 176 | #ifdef fuzzy_pid_debug_print 177 | printf("output:\n"); 178 | #endif 179 | for (unsigned int l = 0; l < fuzzy_struct->output_num; ++l) { 180 | fuzzy_struct->output[l] = numerator_count[l] / denominator_count; 181 | #ifdef fuzzy_pid_debug_print 182 | printf("%f,%f,%f\n", numerator_count[l], denominator_count, fuzzy_struct->index[l]); 183 | #endif 184 | } 185 | } 186 | 187 | // Defuzzifier 188 | void df(const float *joint_membership, const unsigned int *output, const unsigned int *count, struct fuzzy *fuzzy_struct, 189 | int df_type) { 190 | if(df_type == 0) 191 | moc(joint_membership, output, count, fuzzy_struct); 192 | else { 193 | printf("Waring: No such of defuzzifier!\n"); 194 | moc(joint_membership, output, count, fuzzy_struct); 195 | } 196 | } 197 | 198 | void fuzzy_control(float e, float de, struct fuzzy *fuzzy_struct) { 199 | float membership[qf_default * 2]; // Store membership 200 | unsigned int index[qf_default * 2]; // Store the index of each membership 201 | unsigned int count[2] = {0, 0}; 202 | 203 | { 204 | int j = 0; 205 | for (int i = 0; i < qf_default; ++i) { 206 | float temp = mf(e, fuzzy_struct->mf_type[0], fuzzy_struct->mf_params + 4 * i); 207 | if (temp > 1e-4) { 208 | membership[j] = temp; 209 | index[j++] = i; 210 | } 211 | } 212 | 213 | count[0] = j; 214 | 215 | for (int i = 0; i < qf_default; ++i) { 216 | float temp = mf(de, fuzzy_struct->mf_type[1], fuzzy_struct->mf_params + 4 * i); 217 | if (temp > 1e-4) { 218 | membership[j] = temp; 219 | index[j++] = i; 220 | } 221 | } 222 | 223 | count[1] = j - count[0]; 224 | } 225 | 226 | #ifdef fuzzy_pid_debug_print 227 | printf("membership:\n"); 228 | for (unsigned int k = 0; k < j; ++k) { 229 | printf("%f\n", membership[k]); 230 | } 231 | 232 | printf("index:\n"); 233 | for (unsigned int k = 0; k < j; ++k) { 234 | printf("%d\n", index[k]); 235 | } 236 | 237 | printf("count:\n"); 238 | for (unsigned int k = 0; k < 2; ++k) { 239 | printf("%d\n", count[k]); 240 | } 241 | #endif 242 | 243 | if (count[0] == 0 || count[1] == 0) { 244 | for (unsigned int l = 0; l < fuzzy_struct->output_num; ++l) { 245 | fuzzy_struct->output[l] = 0; 246 | } 247 | return; 248 | } 249 | 250 | // Joint membership 251 | float joint_membership[count[0] * count[1]]; 252 | 253 | for (int i = 0; i < count[0]; ++i) { 254 | for (int j = 0; j < count[1]; ++j) { 255 | joint_membership[i * count[1] + j] = fo(membership[i], membership[count[0] + j], fuzzy_struct->fo_type); 256 | } 257 | } 258 | 259 | df(joint_membership, index, count, fuzzy_struct, 0); 260 | } 261 | 262 | struct PID *raw_fuzzy_pid_init(float kp, float ki, float kd, float integral_limit, float dead_zone, 263 | float feed_forward, float error_max, float delta_error_max, float delta_kp_max, 264 | float delta_ki_max, float delta_kd_max, unsigned int mf_type, unsigned int fo_type, 265 | unsigned int df_type, int mf_params[], int rule_base[][qf_default], 266 | int output_min_value, int output_middle_value, int output_max_value) { 267 | struct PID *pid = (struct PID *) malloc(sizeof(struct PID)); 268 | pid->kp = kp; 269 | pid->ki = ki; 270 | pid->kd = kd; 271 | 272 | pid->delta_kp_max = delta_kp_max; 273 | pid->delta_ki_max = delta_ki_max; 274 | pid->delta_kd_max = delta_kd_max; 275 | 276 | pid->delta_kp = 0; 277 | pid->delta_ki = 0; 278 | pid->delta_kd = 0; 279 | 280 | pid->error_max = error_max; 281 | pid->delta_error_max = delta_error_max; 282 | 283 | int output_count = 1; 284 | if (ki > 1e-4) { 285 | output_count += 1; 286 | if (kd > 1e-4) 287 | output_count += 1; 288 | } 289 | 290 | pid->fuzzy_struct = fuzzy_init(2, output_count); 291 | fuzzy_params_init(pid->fuzzy_struct, mf_type, fo_type, df_type, mf_params, rule_base); 292 | 293 | pid->last_error = 0; 294 | pid->current_error = 0; 295 | 296 | pid->intergral = 0; 297 | pid->intergral_limit = integral_limit; 298 | 299 | pid->dead_zone = dead_zone; 300 | pid->feed_forward = feed_forward; 301 | 302 | pid->output_max_value = output_max_value; 303 | pid->output_middle_value = output_middle_value; 304 | pid->output_min_value = output_min_value; 305 | 306 | return pid; 307 | } 308 | 309 | struct PID *fuzzy_pid_init(float *params, float delta_k, unsigned int mf_type, unsigned int fo_type, 310 | unsigned int df_type, int mf_params[], int rule_base[][qf_default]) { 311 | return raw_fuzzy_pid_init(params[0], params[1], params[2], params[3], params[4], params[5], max_error, 312 | max_delta_error, params[0] / delta_k, params[1] / delta_k, params[2] / delta_k, mf_type, 313 | fo_type, df_type, mf_params, 314 | rule_base, min_pwm_output, middle_pwm_output, max_pwm_output); 315 | } 316 | 317 | struct PID *raw_pid_init(float kp, float ki, float kd, float integral_limit, float dead_zone, 318 | float feed_forward, float linear_adaptive_kp, float error_max, float delta_error_max, 319 | int output_min_value, int output_middle_value, int output_max_value) { 320 | struct PID *pid = (struct PID *) malloc(sizeof(struct PID)); 321 | pid->kp = kp; 322 | pid->ki = ki; 323 | pid->kd = kd; 324 | 325 | pid->delta_kp_max = 0; 326 | pid->delta_ki_max = 0; 327 | pid->delta_kd_max = 0; 328 | 329 | pid->delta_kp = 0; 330 | pid->delta_ki = 0; 331 | pid->delta_kd = 0; 332 | 333 | pid->error_max = error_max; 334 | pid->delta_error_max = delta_error_max; 335 | 336 | pid->fuzzy_struct = NULL; 337 | 338 | pid->last_error = 0; 339 | pid->current_error = 0; 340 | 341 | pid->intergral = 0; 342 | pid->intergral_limit = integral_limit; 343 | 344 | pid->dead_zone = dead_zone; 345 | pid->feed_forward = feed_forward; 346 | 347 | pid->output_max_value = output_max_value; 348 | pid->output_middle_value = output_middle_value; 349 | pid->output_min_value = output_min_value; 350 | 351 | pid->linear_adaptive_kp = linear_adaptive_kp; 352 | return pid; 353 | } 354 | 355 | struct PID *pid_init(float *params) { 356 | return raw_pid_init(params[0], params[1], params[2], params[3], params[4], params[5], params[6], max_error, 357 | max_delta_error, min_pwm_output, middle_pwm_output, max_pwm_output); 358 | } 359 | 360 | int round_user(float parameter) { 361 | if ((int) (parameter * 10.0) % 10 >= 5) 362 | return parameter + 1; 363 | else 364 | return parameter; 365 | } 366 | 367 | int limit(int value, int max_limit, int min_limit) { 368 | if (value > max_limit) 369 | return max_limit; 370 | if (value < min_limit) 371 | return min_limit; 372 | return value; 373 | } 374 | 375 | float fuzzy_pid_control(float real, float idea, struct PID *pid) { 376 | pid->last_error = pid->current_error; 377 | pid->current_error = idea - real; 378 | float delta_error = pid->current_error - pid->last_error; 379 | #ifdef fuzzy_pid_dead_zone 380 | if (pid->current_error < pid->dead_zone && pid->current_error > -pid->dead_zone) { 381 | pid->current_error = 0; 382 | } else { 383 | if (pid->current_error > pid->dead_zone) 384 | pid->current_error = pid->current_error - pid->dead_zone; 385 | else { 386 | if (pid->current_error < -pid->dead_zone) 387 | pid->current_error = pid->current_error + pid->dead_zone; 388 | } 389 | } 390 | #endif 391 | fuzzy_control(pid->current_error / pid->error_max * 3.0f, delta_error / pid->delta_error_max * 3.0f, 392 | pid->fuzzy_struct); 393 | 394 | pid->delta_kp = pid->fuzzy_struct->output[0] / 3.0f * pid->delta_kp_max + pid->kp; 395 | 396 | if (pid->fuzzy_struct->output_num >= 2) 397 | pid->delta_ki = pid->fuzzy_struct->output[1] / 3.0f * pid->delta_ki_max; 398 | else pid->delta_ki = 0; 399 | 400 | if (pid->fuzzy_struct->output_num >= 3) 401 | pid->delta_kd = pid->fuzzy_struct->output[2] / 3.0f * pid->delta_kd_max; 402 | else pid->delta_ki = 0; 403 | 404 | #ifdef fuzzy_pid_debug_print 405 | printf("kp : %f, ki : %f, kd : %f\n", kp, ki, kd); 406 | #endif 407 | 408 | pid->intergral += (pid->ki + pid->delta_ki) * pid->current_error; 409 | #ifdef fuzzy_pid_integral_limit 410 | if (pid->intergral > pid->intergral_limit) 411 | pid->intergral = pid->intergral_limit; 412 | else { 413 | if (pid->intergral < -pid->intergral_limit) 414 | pid->intergral = -pid->intergral_limit; 415 | } 416 | #endif 417 | pid->output = (pid->kp + pid->delta_kp) * pid->current_error + pid->intergral + 418 | (pid->kd + pid->delta_kd) * (pid->current_error - pid->last_error); 419 | pid->output += pid->feed_forward * (float) idea; 420 | return pid->output; 421 | } 422 | 423 | 424 | float pid_control(float real, float idea, struct PID *pid) { 425 | pid->last_error = pid->current_error; 426 | pid->current_error = idea - real; 427 | 428 | #ifdef pid_dead_zone 429 | if (pid->current_error < pid->dead_zone && pid->current_error > -pid->dead_zone) { 430 | pid->current_error = 0; 431 | } else { 432 | if (pid->current_error > pid->dead_zone) 433 | pid->current_error = pid->current_error - pid->dead_zone; 434 | else { 435 | if (pid->current_error < -pid->dead_zone) 436 | pid->current_error = pid->current_error + pid->dead_zone; 437 | } 438 | } 439 | #endif 440 | 441 | #ifdef pid_debug_print 442 | printf("kp : %f, ki : %f, kd : %f\n", kp, ki, kd); 443 | #endif 444 | 445 | pid->intergral += (pid->ki) * pid->current_error; 446 | #ifdef pid_integral_limit 447 | if (pid->intergral > pid->intergral_limit) 448 | pid->intergral = pid->intergral_limit; 449 | else { 450 | if (pid->intergral < -pid->intergral_limit) 451 | pid->intergral = -pid->intergral_limit; 452 | } 453 | #endif 454 | 455 | float linear_adaptive_kp = 1; 456 | if (pid->linear_adaptive_kp > 1e-4) 457 | linear_adaptive_kp = 458 | (1 - pid->linear_adaptive_kp) * pid->current_error / pid->error_max + pid->linear_adaptive_kp; 459 | 460 | pid->output = pid->kp * linear_adaptive_kp * pid->current_error + pid->intergral + 461 | (pid->kd) * (pid->current_error - pid->last_error); 462 | pid->output += pid->feed_forward * (float) idea; 463 | return pid->output; 464 | } 465 | 466 | 467 | void delete_pid(struct PID *pid) { 468 | if (pid->fuzzy_struct != NULL) { 469 | delete_fuzzy(pid->fuzzy_struct); 470 | } 471 | free(pid); 472 | } 473 | 474 | void delete_pid_vector(struct PID **pid_vector, unsigned int count) { 475 | for (unsigned int i = 0; i < count; ++i) { 476 | delete_pid(pid_vector[i]); 477 | } 478 | free(pid_vector); 479 | } 480 | 481 | struct PID **pid_vector_init(float params[][pid_params_count], unsigned int count) { 482 | struct PID **pid = (struct PID **) malloc(sizeof(struct PID *) * count); 483 | for (unsigned int i = 0; i < count; ++i) { 484 | pid[i] = pid_init(params[i]); 485 | } 486 | return pid; 487 | } 488 | 489 | struct PID ** 490 | fuzzy_pid_vector_init(float params[][pid_params_count], float delta_k, unsigned int mf_type, unsigned int fo_type, 491 | unsigned int df_type, int *mf_params, int rule_base[][qf_default], 492 | unsigned int count) { 493 | struct PID **pid = (struct PID **) malloc(sizeof(struct PID *) * count); 494 | for (unsigned int i = 0; i < count; ++i) { 495 | pid[i] = fuzzy_pid_init(params[i], delta_k, mf_type, fo_type, df_type, mf_params, rule_base); 496 | } 497 | return pid; 498 | } 499 | 500 | int direct_control(int zero_value, int offset_value, bool direct) { 501 | if (direct == true) { 502 | return zero_value + offset_value; 503 | } else { 504 | return zero_value - offset_value; 505 | } 506 | } 507 | 508 | int fuzzy_pid_motor_pwd_output(float real, float idea, bool direct, struct PID *pid) { 509 | return limit(direct_control(pid->output_middle_value, fuzzy_pid_control(real, idea, pid), direct), 510 | pid->output_max_value, pid->output_min_value); 511 | } 512 | 513 | int pid_motor_pwd_output(float real, float idea, bool direct, struct PID *pid) { 514 | return limit(direct_control(pid->output_middle_value, pid_control(real, idea, pid), direct), pid->output_max_value, 515 | pid->output_min_value); 516 | } 517 | 518 | -------------------------------------------------------------------------------- /fuzzyPID.h: -------------------------------------------------------------------------------- 1 | #ifndef _FUZZY_PID_H_ 2 | #define _FUZZY_PID_H_ 3 | 4 | #ifdef __cplusplus 5 | extern "C" { 6 | #endif 7 | 8 | #include "math.h" 9 | #include "stdlib.h" 10 | #include "stdio.h" 11 | 12 | #ifndef bool 13 | #define bool char 14 | #endif 15 | 16 | #ifndef false 17 | #define false (char)0 18 | #endif 19 | 20 | #ifndef true 21 | #define true (char)1 22 | #endif 23 | 24 | 25 | // Fuzzy quantity fields 26 | enum quantity_fields { 27 | qf_small = 5, 28 | qf_middle = 7, 29 | qf_large = 8 30 | }; 31 | 32 | #define qf_default qf_middle 33 | 34 | struct fuzzy { 35 | unsigned int input_num; 36 | unsigned int output_num; 37 | unsigned int fo_type; 38 | unsigned int *mf_type; 39 | int *mf_params; 40 | unsigned int df_type; 41 | int *rule_base; 42 | float *output; 43 | }; 44 | 45 | struct PID { 46 | float kp; 47 | float ki; 48 | float kd; 49 | 50 | float delta_kp_max; 51 | float delta_ki_max; 52 | float delta_kd_max; 53 | 54 | float delta_kp; 55 | float delta_ki; 56 | float delta_kd; 57 | 58 | float error_max; 59 | float delta_error_max; 60 | 61 | float last_error; 62 | float current_error; 63 | 64 | float intergral; 65 | float intergral_limit; 66 | 67 | float dead_zone; 68 | float feed_forward; 69 | 70 | float output; 71 | 72 | int output_min_value; 73 | int output_middle_value; 74 | int output_max_value; 75 | 76 | float linear_adaptive_kp; 77 | 78 | struct fuzzy *fuzzy_struct; 79 | }; 80 | 81 | #define NB -3 82 | #define NM -2 83 | #define NS -1 84 | #define ZO 0 85 | #define PS 1 86 | #define PM 2 87 | #define PB 3 88 | 89 | //#define pid_debug_print 90 | //#define pid_dead_zone 91 | //#define pid_integral_limit 92 | 93 | //#define fuzzy_pid_debug_print 94 | //#define fuzzy_pid_dead_zone 95 | //#define fuzzy_pid_integral_limit 96 | //#define fuzzy_pid_rule_base_deep_copy 97 | 98 | #define pid_params_count 7 99 | 100 | #define torque_mode 1 101 | #define position_mode 2 102 | #define control_mode position_mode 103 | 104 | #if control_mode == position_mode 105 | #define max_error 100.0f 106 | #define max_delta_error 100.0f 107 | #else 108 | #define max_error 12.0f 109 | #define max_delta_error 12.0f 110 | #endif 111 | 112 | #define min_pwm_output 0 113 | #define middle_pwm_output 500 114 | #define max_pwm_output 1000 115 | 116 | struct fuzzy *fuzzy_init(unsigned int input_num, unsigned int output_num); 117 | 118 | void fuzzy_params_init(struct fuzzy *fuzzy_struct, unsigned int mf_type, unsigned int fo_type, unsigned int df_type, 119 | int mf_params[], int rule_base[][qf_default]); 120 | 121 | void fuzzy_control(float e, float de, struct fuzzy *fuzzy_struct); 122 | 123 | struct PID *raw_pid_init(float kp, float ki, float kd, float integral_limit, float dead_zone, 124 | float feed_forward, float linear_adaptive_kp, float error_max, float delta_error_max, 125 | int output_min_value, int output_middle_value, int output_max_value); 126 | 127 | struct PID *raw_fuzzy_pid_init(float kp, float ki, float kd, float integral_limit, float dead_zone, 128 | float feed_forward, float error_max, float delta_error_max, float delta_kp_max, 129 | float delta_ki_max, float delta_kd_max, unsigned int mf_type, unsigned int fo_type, 130 | unsigned int df_type, int *mf_params, int rule_base[][qf_default], 131 | int output_min_value, int output_middle_value, int output_max_value); 132 | 133 | //float params[pid_params_count] = {kp, ki, kd, integral_limit, dead_zonefeed_forward, linear_adaptive_kp}; 134 | struct PID *pid_init(float *params); 135 | 136 | struct PID *fuzzy_pid_init(float *params, float delta_k, unsigned int mf_type, unsigned int fo_type, 137 | unsigned int df_type, int mf_params[], int rule_base[][qf_default]); 138 | 139 | struct PID **pid_vector_init(float params[][pid_params_count], unsigned int count); 140 | 141 | struct PID ** 142 | fuzzy_pid_vector_init(float params[][pid_params_count], float delta_k, unsigned int mf_type, unsigned int fo_type, 143 | unsigned int df_type, int *mf_params, int rule_base[][qf_default], 144 | unsigned int count); 145 | 146 | float pid_control(float real, float idea, struct PID *pid); 147 | 148 | float fuzzy_pid_control(float real, float idea, struct PID *pid); 149 | 150 | int direct_control(int zero_value, int offset_value, bool direct); 151 | 152 | int pid_motor_pwd_output(float real, float idea, bool direct, struct PID *pid); 153 | 154 | int fuzzy_pid_motor_pwd_output(float real, float idea, bool direct, struct PID *pid); 155 | 156 | void delete_pid(struct PID *pid); 157 | 158 | void delete_pid_vector(struct PID **pid_vector, unsigned int count); 159 | 160 | #ifdef __cplusplus 161 | } 162 | #endif 163 | 164 | #endif //_FUZZY_PID_H_ 165 | --------------------------------------------------------------------------------