175 lines
4.1 KiB
C
175 lines
4.1 KiB
C
#ifndef __PID_H__
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#define __PID_H__
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#include "lib.h"
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typedef enum
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{
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// PID自整定
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PID_TYPE_AUTO_TUNE,
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// 增量式PID
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PID_TYPE_COMMON_INCREMENT,
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// 位置式PID
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PID_TYPE_COMMON_POSITION,
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// 神经PID
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PID_TYPE_NEURAL,
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} pid_type_e;
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typedef enum
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{
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// 位置式
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PID_SUB_TYPE_POSITION,
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// 增量式
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PID_SUB_TYPE_INCREMENT,
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} pid_sub_type_e;
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#define FUZZY_SUB_TYPE PID_SUB_TYPE_POSITION
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#define INCOMPLETE_DIFFEREN 0 // 不完全微分
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#define INTEGRAL_SEPARATION 1 // 积分分离
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#pragma pack(1)
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typedef struct
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{
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float32 ref;
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float32 feed_back;
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float32 pre_feed_back;
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float32 pre_error;
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float32 ki_error; /*积分误差*/
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float32 ki_limit; /*积分分离界限*/
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float32 kp_limit; /*变积分界限*/
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float32 alpha; /*不完全微分系数*/
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float32 err;
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float32 sum_iterm;
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float32 kp;
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float32 kp_small; /*在接近稳态时的Kp*/
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float32 kp_big; /*在大范围时的Kp*/
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float32 ki;
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float32 kd;
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float32 err_limit;
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BOOL detach;
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float32 err_dead;
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#if INCOMPLETE_DIFFEREN == 1
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dc_t alpha;
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dc_t lastdev;
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#endif
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float32 out;
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float32 pre_out;
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float32 out_max;
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float32 out_min;
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BOOL sm;
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float32 sv_range;
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} pid_common_position_t; // 位置式PID
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typedef struct
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{
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float32 ref; // 目标设定值
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float32 feedback; // 传感器采集值
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float32 out; // PID计算结果
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float32 kp;
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float32 ki;
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float32 kd;
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float32 e_0; // 当前误差
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float32 e_1; // 上一次误差
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float32 e_2; // 上上次误差
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float32 ki_error; /*积分误差*/
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float32 alpha;
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float32 lastdev;
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float32 err_dead;
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float32 out_max; // 输出限幅
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float32 out_min; // 输出限幅
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BOOL sm;
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float32 sv_range;
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} pid_common_increment_t; // 增量式PID
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#pragma pack()
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typedef struct PID_COMMON
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{
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pid_sub_type_e type;
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/* 设置PID三个参数 */
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void (*set_ctrl_prm)(struct PID_COMMON* self, float32 kp, float32 ki, float32 kd);
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void (*set_ctrl_prm_position)(struct PID_COMMON* self, float32 kp, float32 ki, float32 kd);
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/* 设置输出范围 */
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void (*set_out_prm)(struct PID_COMMON* self, float32 maximum, float32 minimum);
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void (*set_out_prm_position)(struct PID_COMMON* self, float32 maximum, float32 minimum);
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/* 控制接口 */
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float32(*PID_increment)(struct PID_COMMON* self, float32 err);
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float32(*PID_position)(struct PID_COMMON* self, float32 err);
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/* in value */
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float32 err;
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/* out value */
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float32 out;
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union
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{
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pid_common_position_t position;
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pid_common_increment_t increment;
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} pri_u;
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} pid_common_t; // 通用PID
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typedef struct PID_NEURAL
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{
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pid_sub_type_e type;
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/* 设置PID三个参数 */
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void (*set_ctrl_prm)(struct PID_NEURAL* self, float32 k, float32 kp, float32 ki, float32 kd);
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/* 设置输出范围 */
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void (*set_out_prm)(struct PID_NEURAL* self, float32 maximum, float32 minimum);
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/* 控制接口 */
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float32(*PID)(struct PID_NEURAL* self, float32 err);
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/* in value */
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float32 err;
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/* out value */
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float32 out;
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/* private */
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struct
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{
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float32 k; /*神经元输出比例*/
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float32 kp; /*比例学习速度*/
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float32 ki; /*积分学习速度*/
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float32 kd; /*微分学习速度*/
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float32 ki_error; /*积分误差*/
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float32 last_error; /*前一拍偏差*/
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float32 prev_error; /*前两拍偏差*/
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float32 deadband; /*死区*/
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float32 maximum; /*输出值的上限*/
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float32 minimum; /*输出值的下限*/
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float32 wp; /*比例加权系数*/
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float32 wi; /*积分加权系数*/
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float32 wd; /*微分加权系数*/
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float32 u[3]; /*神经元输出*/
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} pri;
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} pid_neural_t; // 神经PID
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// PID
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typedef struct
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{
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pid_type_e type;
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union
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{
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pid_common_t common;
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pid_neural_t neural;
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} pid_u;
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} pid_t;
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// PID控制
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extern void pid_constructor(pid_t* self);
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// private
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// 神经元PID
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extern void pid_neural_constructor(struct PID_NEURAL* self);
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//HD：增量式PID
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extern void pid_increment_constructor(struct PID_COMMON* self);
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//HD: 位置式PID
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extern void pid_position_constructor(struct PID_COMMON* self);
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#endif
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