895 lines
22 KiB
C
895 lines
22 KiB
C
#include "pid.h"
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#include <math.h>
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// 定义死区枚举
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#define DEADZONE DEAD_ZONE_POSITIVE
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// 模糊集合
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#define NL -3
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#define NM -2
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#define NS -1
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#define ZE 0
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#define PS 1
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#define PM 2
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#define PL 3
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// 定义偏差E的范围，因为设置了非线性区间，误差在10时才开始进行PID调节，这里E的范围为10
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#define MAXE (100)
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#define MINE (-MAXE)
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// 定义EC的范围，因为变化非常缓慢！，每次的EC都非常小，这里可以根据实际需求来调整，
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#define MAXEC (100)
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#define MINEC (-MAXEC)
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// 定义e,ec的量化因子
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#define KE 3 / MAXE
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#define KEC 3 / MAXEC
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// 定义输出量比例因子
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#define KUP 1.0f // 这里只使用了模糊PID的比例增益
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#define KUI 0.0f
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#define KUD 0.0f
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static const float32 fuzzyRuleKp[7][7] = {
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PL, PL, PM, PL, PS, PM, PL,
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PL, PM, PM, PM, PS, PM, PL,
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PM, PS, PS, PS, PS, PS, PM,
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PM, PS, ZE, ZE, ZE, PS, PM,
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PS, PS, PS, PS, PS, PM, PM,
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PM, PM, PM, PM, PL, PL, PL,
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PM, PL, PL, PL, PL, PL, PL};
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static const float32 fuzzyRuleKi[7][7] = {
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NL, NL, NL, NL, NM, NL, NL,
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NL, NL, NM, NM, NM, NL, NL,
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NM, NM, NS, NS, NS, NM, NM,
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NM, NS, ZE, ZE, ZE, NS, NM,
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NM, NS, NS, NS, NS, NM, NM,
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NM, NM, NS, NM, NM, NL, NL,
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NM, NL, NM, NL, NL, NL, NL};
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static const float32 fuzzyRuleKd[7][7] = {
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PS, PS, ZE, ZE, ZE, PL, PL,
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NS, NS, NS, NS, ZE, NS, PM,
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NL, NL, NM, NS, ZE, PS, PM,
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NL, NM, NM, NS, ZE, PS, PM,
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NL, NM, NS, NS, ZE, PS, PS,
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NM, NS, NS, NS, ZE, PS, PS,
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PS, ZE, ZE, ZE, ZE, PL, PL};
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static void fuzzy(float32 e, float32 ec, FUZZY_PID_t *fuzzy_pid)
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{
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float32 etemp, ectemp;
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float32 eLefttemp, ecLefttemp; // ec,e，左隶属度
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float32 eRighttemp, ecRighttemp;
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int eLeftIndex, ecLeftIndex; // 模糊位置标号
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int eRightIndex, ecRightIndex;
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e = RANGE(e, fuzzy_pid->mine, fuzzy_pid->maxe);
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ec = RANGE(ec, MINEC, MAXEC);
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e = e * KE;
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ec = ec * KEC;
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etemp = e > 3.0f ? 0.0f : (e < -3.0f ? 0.0f : (e >= 0.0f ? (e >= 2.0f ? 2.5f : (e >= 1.0f ? 1.5f : 0.5f)) : (e >= -1.0f ? -0.5f : (e >= -2.0f ? -1.5f : (e >= -3.0f ? -2.5f : 0.0f)))));
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eLeftIndex = (int)((etemp - 0.5f) + 3); //[-3,3] -> [0,6]
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eRightIndex = (int)((etemp + 0.5f) + 3);
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eLefttemp = etemp == 0.0f ? 0.0f : ((etemp + 0.5f) - e); //
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eRighttemp = etemp == 0.0f ? 0.0f : (e - (etemp - 0.5f));
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ectemp = ec > 3.0f ? 0.0f : (ec < -3.0f ? 0.0f : (ec >= 0.0f ? (ec >= 2.0f ? 2.5f : (ec >= 1.0f ? 1.5f : 0.5f)) : (ec >= -1.0f ? -0.5f : (ec >= -2.0f ? -1.5f : (ec >= -3.0f ? -2.5f : 0.0f)))));
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ecLeftIndex = (int)((ectemp - 0.5f) + 3); //[-3,3] -> [0,6]
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ecRightIndex = (int)((ectemp + 0.5f) + 3);
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ecLefttemp = ectemp == 0.0f ? 0.0f : ((ectemp + 0.5f) - ec);
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ecRighttemp = ectemp == 0.0f ? 0.0f : (ec - (ectemp - 0.5f));
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/*************************************反模糊*************************************/
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fuzzy_pid->kp = (eLefttemp * ecLefttemp * fuzzyRuleKp[eLeftIndex][ecLeftIndex] + eLefttemp * ecRighttemp * fuzzyRuleKp[eLeftIndex][ecRightIndex] + eRighttemp * ecLefttemp * fuzzyRuleKp[eRightIndex][ecLeftIndex] + eRighttemp * ecRighttemp * fuzzyRuleKp[eRightIndex][ecRightIndex]);
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fuzzy_pid->ki = (eLefttemp * ecLefttemp * fuzzyRuleKi[eLeftIndex][ecLeftIndex] + eLefttemp * ecRighttemp * fuzzyRuleKi[eLeftIndex][ecRightIndex] + eRighttemp * ecLefttemp * fuzzyRuleKi[eRightIndex][ecLeftIndex] + eRighttemp * ecRighttemp * fuzzyRuleKi[eRightIndex][ecRightIndex]);
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fuzzy_pid->kd = (eLefttemp * ecLefttemp * fuzzyRuleKd[eLeftIndex][ecLeftIndex] + eLefttemp * ecRighttemp * fuzzyRuleKd[eLeftIndex][ecRightIndex] + eRighttemp * ecLefttemp * fuzzyRuleKd[eRightIndex][ecLeftIndex] + eRighttemp * ecRighttemp * fuzzyRuleKd[eRightIndex][ecRightIndex]);
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// 对解算出的KP,KI,KD进行量化映射
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fuzzy_pid->kp = fuzzy_pid->kp * fuzzy_pid->kup;
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fuzzy_pid->ki = fuzzy_pid->ki * fuzzy_pid->kui;
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fuzzy_pid->kd = fuzzy_pid->kd * fuzzy_pid->kud;
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}
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/**
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* @brief SV平滑给定,步长默认为0.1，范围0-1之间，越大平滑性越差
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* @param {PID_FUZZY} *self
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* @param {float32} target_sv
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* @return {*}
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* @note
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*/
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static void smooth_setpoint(struct PID_FUZZY *self, float32 target_sv)
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{
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if (self->sub_type == PID_SUB_TYPE_POSITION)
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{
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pid_common_position_t *pri = NULL;
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pri = &self->pri_u.position;
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float32 stepIn = (pri->sv_range) * 0.1f;
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float32 kFactor = 0.0f;
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if (fabs(pri->ref - target_sv) <= stepIn)
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{
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pri->ref = target_sv;
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}
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else
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{
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if (pri->ref - target_sv > 0)
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{
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kFactor = -1.0f;
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}
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else if (pri->ref - target_sv < 0)
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{
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kFactor = 1.0f;
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}
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else
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{
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kFactor = 0.0f;
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}
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pri->ref = pri->ref + kFactor * stepIn;
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}
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}
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else
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{
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pid_common_increment_t *pri = NULL;
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pri = &self->pri_u.increment;
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float32 stepIn = (pri->sv_range) * 0.1f;
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float32 kFactor = 0.0f;
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if (fabs(pri->ref - target_sv) <= stepIn)
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{
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pri->ref = target_sv;
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}
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else
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{
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if (pri->ref - target_sv > 0)
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{
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kFactor = -1.0f;
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}
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else if (pri->ref - target_sv < 0)
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{
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kFactor = 1.0f;
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}
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else
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{
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kFactor = 0.0f;
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}
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pri->ref = pri->ref + kFactor * stepIn;
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}
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}
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}
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// 变速积分
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static float32 changing_integral_rate(struct PID_FUZZY *self)
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{
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float32 err = 0, iout = 0;
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float32 err_1 = 1, // 误差下限
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err_2 = 10; // 误差上限
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float32 index = 0;
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if (self->sub_type == PID_SUB_TYPE_POSITION)
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{
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pid_common_position_t *pri = NULL;
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pri = &self->pri_u.position;
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err = pri->e_0;
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iout = pri->iout;
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}
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else
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{
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pid_common_increment_t *pri = NULL;
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pri = &self->pri_u.increment;
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err = pri->e_0;
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iout = pri->iout;
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}
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if (err * iout > 0) // 判断积分是否为积累趋势
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{
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if (ABS(err) <= err_1)
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{
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index = 1; // 完整积分
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}
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else if (ABS(err) <= (err_1 + err_2))
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{
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// 使用线性函数过渡
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index = (float)(err_2 - ABS(err) + err_1) / err_2;
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}
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else
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{
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index = 0;
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}
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}
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return index;
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}
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/*封装模糊接口*/
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static void compensate(float32 e, float32 ec, FUZZY_PID_t *fuzzy_d)
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{
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fuzzy(e, ec, fuzzy_d);
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}
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/**
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* @brief 更新最大最小值
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* @param {PID_FUZZY} *self
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* @param {float32} out_min
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* @param {float32} out_max
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* @return {*}
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* @note
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*/
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static void _set_range(struct PID_FUZZY *self, float32 out_min, float32 out_max)
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{
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if (self->sub_type == PID_SUB_TYPE_POSITION)
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{
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pid_common_position_t *pri = NULL;
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pri = &self->pri_u.position;
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pri->out_max = out_max;
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pri->out_min = out_min;
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}
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else
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{
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pid_common_increment_t *pri = NULL;
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pri = &self->pri_u.increment;
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pri->out_max = out_max;
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pri->out_min = out_min;
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}
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}
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/**
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* @brief 设置死区
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* @param {PID_FUZZY} *self
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* @param {float32} err_dead
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* @return {*}
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* @note
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*/
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static void _set_err_dead(struct PID_FUZZY *self, float32 err_dead)
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{
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if (self->sub_type == PID_SUB_TYPE_POSITION)
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{
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pid_common_position_t *pri = NULL;
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pri = &self->pri_u.position;
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pri->err_dead = err_dead;
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}
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else
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{
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pid_common_increment_t *pri = NULL;
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pri = &self->pri_u.increment;
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pri->err_dead = err_dead;
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}
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}
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static void _set_iout(struct PID_FUZZY *self, float32 iout)
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{
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if (self->sub_type == PID_SUB_TYPE_POSITION)
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{
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pid_common_position_t *pri = NULL;
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pri = &self->pri_u.position;
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pri->iout = iout;
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}
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else
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{
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pid_common_increment_t *pri = NULL;
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pri = &self->pri_u.increment;
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pri->iout = iout;
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}
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}
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static void _set_kp(struct PID_FUZZY *self, float32 kp)
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{
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if (self->sub_type == PID_SUB_TYPE_POSITION)
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{
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pid_common_position_t *pri = NULL;
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pri = &self->pri_u.position;
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pri->kp = kp;
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}
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else
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{
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pid_common_increment_t *pri = NULL;
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pri = &self->pri_u.increment;
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pri->kp = kp;
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}
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}
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/**
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* @brief 使能积分控制
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* @param {PID_FUZZY} *self
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* @param {BOOL} enable
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* @return {*}
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* @note
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*/
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// static void _set_ki_enable(struct PID_FUZZY *self, BOOL enable)
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// {
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// pri->ki_enable = enable;
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// }
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/**
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* @brief 使能微分控制
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* @param {PID_FUZZY} *self
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* @param {BOOL} enable
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* @return {*}
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* @note
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*/
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static void _set_kd_enable(struct PID_FUZZY *self, BOOL enable)
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{
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if (self->sub_type == PID_SUB_TYPE_POSITION)
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{
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pid_common_position_t *pri = NULL;
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pri = &self->pri_u.position;
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pri->kd_enable = enable;
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}
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else
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{
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pid_common_increment_t *pri = NULL;
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pri = &self->pri_u.increment;
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pri->kd_enable = enable;
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}
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}
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static void _set_kd(struct PID_FUZZY *self, float32 kd)
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{
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if (self->sub_type == PID_SUB_TYPE_POSITION)
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{
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pid_common_position_t *pri = NULL;
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pri = &self->pri_u.position;
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pri->kd = kd;
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}
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else
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{
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pid_common_increment_t *pri = NULL;
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pri = &self->pri_u.increment;
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pri->kd = kd;
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}
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}
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/**
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* @brief 配置不完全微分系数
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* @param {PID_FUZZY} *self
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* @param {float32} alpha
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* @return {*}
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* @note alpha范围0-1，系数越大,不完全微分的作用越强
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*/
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static void _set_kd_dev(struct PID_FUZZY *self, float32 alpha)
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{
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if (self->sub_type == PID_SUB_TYPE_POSITION)
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{
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pid_common_position_t *pri = NULL;
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pri = &self->pri_u.position;
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pri->alpha = alpha;
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}
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else
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{
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pid_common_increment_t *pri = NULL;
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pri = &self->pri_u.increment;
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pri->alpha = alpha;
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}
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}
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static void _set_ki_enable(struct PID_FUZZY *self, BOOL enable)
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{
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if (self->sub_type == PID_SUB_TYPE_POSITION)
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{
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pid_common_position_t *pri = NULL;
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pri = &self->pri_u.position;
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pri->ki_enable = enable;
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}
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else
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{
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pid_common_increment_t *pri = NULL;
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pri = &self->pri_u.increment;
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pri->ki_enable = enable;
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}
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}
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static void _set_ki(struct PID_FUZZY *self, float32 ki)
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{
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if (self->sub_type == PID_SUB_TYPE_POSITION)
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{
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pid_common_position_t *pri = NULL;
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pri = &self->pri_u.position;
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pri->ki = ki;
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}
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else
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{
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pid_common_increment_t *pri = NULL;
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pri = &self->pri_u.increment;
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pri->ki = ki;
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}
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}
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/*
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* Function:使能平滑控制
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* parameter:*pid需要配，PID参数结构指针，sv_range控制范围sv的范围
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* return:无
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*/
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static void _set_smooth_enable(struct PID_FUZZY *self, BOOL enable, float32 sv_range)
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{
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if (self->sub_type == PID_SUB_TYPE_POSITION)
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{
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pid_common_position_t *pri = NULL;
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pri = &self->pri_u.position;
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pri->sm = enable;
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pri->sv_range = sv_range;
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}
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else
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{
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pid_common_increment_t *pri = NULL;
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pri = &self->pri_u.increment;
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pri->sm = enable;
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pri->sv_range = sv_range;
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}
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}
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// 设置控制参数
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static void _set_ctrl_prm(struct PID_FUZZY *self, float32 kp, float32 ki, float32 kd, float32 err_dead, float32 deviation,
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float32 out_min, float32 out_max)
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{
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self->open = TRUE;
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self->pid_params.kup = KUP;
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self->pid_params.kui = KUI;
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self->pid_params.kud = KUD;
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self->pid_params.mine = MINE;
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self->pid_params.maxe = MAXE;
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if (self->sub_type == PID_SUB_TYPE_POSITION)
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{
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pid_common_position_t *pri = NULL;
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pri = &self->pri_u.position;
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osel_memset((uint8_t *)pri, 0, sizeof(pid_common_position_t));
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pri->kp = kp;
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pri->ki = ki;
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pri->kd = kd;
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pri->err_dead = err_dead;
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pri->deviation = deviation;
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pri->out_max = out_max;
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pri->out_min = out_min;
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pri->detach = FALSE;
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pri->sm = FALSE;
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pri->ki_enable = TRUE;
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||
}
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||
else
|
||
{
|
||
pid_common_increment_t *pri = NULL;
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||
pri = &self->pri_u.increment;
|
||
osel_memset((uint8_t *)pri, 0, sizeof(pid_common_increment_t));
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||
pri->kp = kp;
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||
pri->ki = ki;
|
||
pri->kd = kd;
|
||
pri->err_dead = err_dead;
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||
pri->deviation = deviation;
|
||
pri->out_max = out_max;
|
||
pri->out_min = out_min;
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||
pri->ki_enable = TRUE;
|
||
}
|
||
}
|
||
|
||
static void _set_error_max_min(struct PID_FUZZY *self, float32 mine, float32 maxe)
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||
{
|
||
self->pid_params.mine = mine;
|
||
self->pid_params.maxe = maxe;
|
||
}
|
||
|
||
static void _update_ctrl_prm(struct PID_FUZZY *self, float32 kp, float32 ki, float32 kd, float32 err_dead,
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||
float32 out_min, float32 out_max)
|
||
{
|
||
|
||
if (self->sub_type == PID_SUB_TYPE_POSITION)
|
||
{
|
||
pid_common_position_t *pri = NULL;
|
||
pri = &self->pri_u.position;
|
||
pri->kp = kp;
|
||
pri->ki = ki;
|
||
pri->kd = kd;
|
||
pri->err_dead = err_dead;
|
||
pri->out_max = out_max;
|
||
pri->out_min = out_min;
|
||
pri->detach = FALSE;
|
||
pri->sm = FALSE;
|
||
|
||
if (kd > 0)
|
||
{
|
||
pri->kd_enable = TRUE;
|
||
}
|
||
else
|
||
{
|
||
pri->kd_enable = FALSE;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
pid_common_increment_t *pri = NULL;
|
||
pri = &self->pri_u.increment;
|
||
pri->kp = kp;
|
||
pri->ki = ki;
|
||
pri->kd = kd;
|
||
pri->err_dead = err_dead;
|
||
pri->out_max = out_max;
|
||
pri->out_min = out_min;
|
||
|
||
if (kd > 0)
|
||
{
|
||
pri->kd_enable = TRUE;
|
||
}
|
||
else
|
||
{
|
||
pri->kd_enable = FALSE;
|
||
}
|
||
}
|
||
}
|
||
|
||
/**
|
||
* @brief 非0时配置为积分分离+抗积分饱和PID,否则为普通抗积分饱和PID
|
||
* @param {PID_FUZZY} *self
|
||
* @param {float32} max_err
|
||
* @param {BOOL} mode
|
||
* @return {*}
|
||
*/
|
||
static void _set_cfg(struct PID_FUZZY *self, float32 max_err, BOOL mode)
|
||
{
|
||
|
||
if (self->sub_type == PID_SUB_TYPE_POSITION)
|
||
{
|
||
pid_common_position_t *pri = NULL;
|
||
pri = &self->pri_u.position;
|
||
pri->err_limit = max_err;
|
||
pri->detach = mode == FALSE ? FALSE : TRUE;
|
||
}
|
||
else
|
||
{
|
||
pid_common_increment_t *pri = NULL;
|
||
pri = &self->pri_u.increment;
|
||
pri->err_limit = max_err;
|
||
pri->detach = mode == FALSE ? FALSE : TRUE;
|
||
}
|
||
}
|
||
|
||
/**
|
||
* @brief 判断是否处于死区范围内
|
||
*
|
||
* 根据给定的 PID_FUZZY 结构体，判断当前值是否处于死区范围内。
|
||
*
|
||
* @param self PID_FUZZY 结构体指针
|
||
*
|
||
* @return 如果处于死区范围内，返回 TRUE；否则返回 FALSE
|
||
*/
|
||
static BOOL _in_dead_zone(struct PID_FUZZY *self)
|
||
{
|
||
float32 deviation = 0.0f;
|
||
float32 err_dead = 0.0f;
|
||
float32 err = 0.0f;
|
||
float32 offset = 0.0f;
|
||
if (self->sub_type == PID_SUB_TYPE_POSITION)
|
||
{
|
||
pid_common_position_t *pri = NULL;
|
||
pri = &self->pri_u.position;
|
||
deviation = pri->deviation;
|
||
err_dead = pri->err_dead;
|
||
err = pri->feedback - pri->ref;
|
||
}
|
||
else
|
||
{
|
||
pid_common_increment_t *pri = NULL;
|
||
pri = &self->pri_u.increment;
|
||
deviation = pri->deviation;
|
||
err_dead = pri->err_dead;
|
||
err = pri->feedback - pri->ref;
|
||
}
|
||
|
||
offset = err + deviation;
|
||
|
||
if (self->deadzone_dir == DEAD_ZONE_POSITIVE)
|
||
{
|
||
if (offset >= 0 && offset <= ABS(err_dead))
|
||
{
|
||
return TRUE;
|
||
}
|
||
else
|
||
{
|
||
return FALSE;
|
||
}
|
||
}
|
||
else if (self->deadzone_dir == DEAD_ZONE_NEGATIVE)
|
||
{
|
||
if (offset <= 0 && offset >= err_dead)
|
||
{
|
||
return TRUE;
|
||
}
|
||
else
|
||
{
|
||
return FALSE;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
if (ABS(offset) <= ABS(err_dead))
|
||
{
|
||
return TRUE;
|
||
}
|
||
else
|
||
{
|
||
return FALSE;
|
||
}
|
||
}
|
||
}
|
||
|
||
static float32 position_pid(struct PID_FUZZY *self, float32 target, float32 feedback)
|
||
{
|
||
float32 error = 0;
|
||
float32 ec = 0;
|
||
float32 kd = 0;
|
||
float32 thisdev = 0;
|
||
|
||
pid_common_position_t *pri = &self->pri_u.position;
|
||
kd = pri->kd;
|
||
/*获取期望值与实际值,进行偏差计算*/
|
||
if (pri->sm == 1)
|
||
{
|
||
smooth_setpoint(self, target);
|
||
}
|
||
else
|
||
{
|
||
pri->ref = target;
|
||
}
|
||
|
||
pri->feedback = feedback;
|
||
error = pri->ref - pri->feedback;
|
||
|
||
if (self->in_dead_zone(self) == TRUE)
|
||
{
|
||
error = 0;
|
||
pri->in_dead_zone = TRUE;
|
||
}
|
||
else
|
||
{
|
||
pri->in_dead_zone = FALSE;
|
||
}
|
||
|
||
pri->e_0 = error;
|
||
|
||
/* fuzzy control caculate */
|
||
ec = error - pri->e_1;
|
||
if (self->open == TRUE)
|
||
{
|
||
compensate(error, ec, &self->pid_params);
|
||
}
|
||
|
||
/*根据PID配置的模式,获取积分数据,进行积分累加*/
|
||
if (self->speed_integral_enable == TRUE)
|
||
{
|
||
pri->iout = (pri->ki + self->pid_params.ki) * error * changing_integral_rate(self);
|
||
}
|
||
else
|
||
{
|
||
float32 temp_iterm = 0.0f;
|
||
float32 insert = 0;
|
||
if (pri->out >= pri->out_max)
|
||
{
|
||
if (fabs(error) > pri->err_limit && pri->detach)
|
||
{
|
||
insert = 0;
|
||
}
|
||
else
|
||
{
|
||
insert = 1;
|
||
if (error < 0)
|
||
{
|
||
temp_iterm = (pri->ki + self->pid_params.ki) * error;
|
||
}
|
||
}
|
||
}
|
||
else if (pri->out <= pri->out_min)
|
||
{
|
||
if (fabs(error) > pri->err_limit && pri->detach)
|
||
{
|
||
insert = 0;
|
||
}
|
||
else
|
||
{
|
||
insert = 1;
|
||
if (error > 0)
|
||
{
|
||
temp_iterm = (pri->ki + self->pid_params.ki) * error;
|
||
}
|
||
}
|
||
}
|
||
else
|
||
{
|
||
if (fabs(error) > pri->err_limit && pri->detach)
|
||
{
|
||
insert = 0;
|
||
}
|
||
else
|
||
{
|
||
insert = 1;
|
||
temp_iterm = (pri->ki + self->pid_params.ki) * error;
|
||
}
|
||
}
|
||
|
||
pri->iout += temp_iterm;
|
||
|
||
/* limt integral */
|
||
if (pri->iout > pri->out_max)
|
||
{
|
||
pri->iout = pri->out_max;
|
||
}
|
||
else if (pri->iout < pri->out_min)
|
||
{
|
||
pri->iout = pri->out_min;
|
||
}
|
||
pri->iout = pri->iout * insert;
|
||
}
|
||
|
||
#if INCOMPLETE_DIFFEREN == 1
|
||
/*不完全微分*/
|
||
thisdev = kd * (1.0 - pri->alpha) * (error - pri->e_1) + pri->alpha * pri->lastdev;
|
||
/*record last dev result*/
|
||
pri->lastdev = thisdev;
|
||
#else
|
||
thisdev = (error - pri->e_1) * (kd);
|
||
#endif
|
||
|
||
if (pri->kd_enable == FALSE)
|
||
{
|
||
thisdev = 0;
|
||
}
|
||
|
||
if (pri->ki_enable == FALSE)
|
||
{
|
||
pri->iout = 0;
|
||
}
|
||
|
||
pri->out = (pri->kp + self->pid_params.kp) * error + pri->iout + thisdev;
|
||
pri->e_1 = error;
|
||
/*record last feedback sensor result*/
|
||
pri->pre_feedback = pri->feedback;
|
||
/*limt pid output*/
|
||
pri->out = RANGE(pri->out, pri->out_min, pri->out_max);
|
||
return pri->out;
|
||
}
|
||
|
||
static float32 increment_pid(struct PID_FUZZY *self, float32 target, float32 feedback)
|
||
{
|
||
float32 ep, ei, ed;
|
||
float32 inc_out;
|
||
float32 thisdev = 0;
|
||
pid_common_increment_t *pri = &self->pri_u.increment;
|
||
|
||
pri->feedback = feedback;
|
||
pri->e_0 = pri->ref - pri->feedback;
|
||
|
||
if (pri->e_0 >= MAXE)
|
||
{
|
||
return pri->out_max;
|
||
}
|
||
else if (pri->e_0 <= MINE)
|
||
{
|
||
return pri->out_min;
|
||
}
|
||
|
||
if (fabs(pri->e_0) <= pri->err_dead)
|
||
{
|
||
pri->e_0 = 0;
|
||
}
|
||
|
||
ep = pri->e_0 - pri->e_1;
|
||
ei = pri->e_0;
|
||
ed = pri->e_0 - 2 * pri->e_1 + pri->e_2;
|
||
if (self->open == TRUE)
|
||
{
|
||
compensate(pri->e_0, ep, &self->pid_params);
|
||
}
|
||
|
||
if (pri->sm == 1)
|
||
{
|
||
smooth_setpoint(self, target);
|
||
}
|
||
else
|
||
{
|
||
pri->ref = target;
|
||
}
|
||
|
||
#if INCOMPLETE_DIFFEREN == 1
|
||
/*不完全微分*/
|
||
thisdev = (1.0 - pri->alpha) * (pri->kd + self->pid_params.kd) * ed + pri->alpha * pri->lastdev;
|
||
#else
|
||
ed = ed;
|
||
#endif
|
||
|
||
if (self->speed_integral_enable == TRUE)
|
||
{
|
||
|
||
if (ABS(pri->e_0) > MAXE)
|
||
{
|
||
pri->iout = (pri->ki + self->pid_params.ki) * ei;
|
||
}
|
||
else
|
||
{
|
||
// 变速积分
|
||
pri->iout = (pri->ki + self->pid_params.ki) * ei * changing_integral_rate(self);
|
||
}
|
||
}
|
||
else
|
||
{
|
||
pri->iout = (pri->ki + self->pid_params.ki) * ei;
|
||
}
|
||
|
||
if (pri->kd_enable == FALSE)
|
||
{
|
||
thisdev = 0;
|
||
}
|
||
|
||
if (pri->ki_enable == FALSE)
|
||
{
|
||
pri->iout = 0;
|
||
}
|
||
|
||
inc_out = (pri->kp + self->pid_params.kp) * ep + pri->iout + thisdev;
|
||
pri->e_2 = pri->e_1;
|
||
pri->e_1 = pri->e_0;
|
||
pri->lastdev = thisdev;
|
||
pri->out = pri->out + inc_out;
|
||
pri->out = RANGE(pri->out, pri->out_min, pri->out_max);
|
||
return pri->out;
|
||
}
|
||
|
||
static float32 _pid(struct PID_FUZZY *self, float32 target, float32 feedback)
|
||
{
|
||
if (self->sub_type == PID_SUB_TYPE_POSITION)
|
||
{
|
||
return position_pid(self, target, feedback);
|
||
}
|
||
else
|
||
{
|
||
return increment_pid(self, target, feedback);
|
||
}
|
||
}
|
||
|
||
/**
|
||
* @brief 复位PID积分及微分控制数据
|
||
* @param {PID_FUZZY} *self
|
||
* @return {*}
|
||
*/
|
||
static void _restctrl(struct PID_FUZZY *self, float32 out)
|
||
{
|
||
if (self->sub_type == PID_SUB_TYPE_POSITION)
|
||
{
|
||
pid_common_position_t *pri = NULL;
|
||
pri = &self->pri_u.position;
|
||
pri->e_1 = 0;
|
||
pri->iout = 0;
|
||
pri->out = out;
|
||
pri->iout = out;
|
||
#if INCOMPLETE_DIFFEREN == 1
|
||
pri->lastdev = 0;
|
||
#endif
|
||
}
|
||
else
|
||
{
|
||
pid_common_increment_t *pri = NULL;
|
||
pri = &self->pri_u.increment;
|
||
pri->e_0 = 0;
|
||
pri->e_1 = 0;
|
||
pri->e_2 = 0;
|
||
pri->lastdev = 0;
|
||
pri->out = out;
|
||
pri->iout = out;
|
||
}
|
||
}
|
||
|
||
void pid_fuzzy_constructor(struct PID_FUZZY *self)
|
||
{
|
||
self->set_ctrl_prm = _set_ctrl_prm;
|
||
self->set_error_max_min = _set_error_max_min;
|
||
self->update_ctrl_prm = _update_ctrl_prm;
|
||
self->set_cfg = _set_cfg;
|
||
self->set_smooth_enable = _set_smooth_enable;
|
||
self->set_err_dead = _set_err_dead;
|
||
self->set_kp = _set_kp;
|
||
self->set_ki_enable = _set_ki_enable;
|
||
self->set_ki = _set_ki;
|
||
self->set_kd_enable = _set_kd_enable;
|
||
self->set_kd = _set_kd;
|
||
self->set_kd_dev = _set_kd_dev;
|
||
self->set_range = _set_range;
|
||
self->restctrl = _restctrl;
|
||
self->set_iout = _set_iout;
|
||
self->in_dead_zone = _in_dead_zone;
|
||
self->execute = _pid;
|
||
}
|