236 lines
7.0 KiB
C
236 lines
7.0 KiB
C
#ifndef __PID_H__
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#define __PID_H__
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#include "lib.h"
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#include "pid_auto_tune.h"
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#define INCOMPLETE_DIFFEREN 0 // 不完全微分
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typedef enum
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{
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PID_SUB_TYPE_POSITION = 1, // 位置式
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PID_SUB_TYPE_INCREMENT = 2, // 增量式
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} pid_sub_type_e;
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typedef enum
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{
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DEAD_ZONE_BOTH = 0, // 正负都可以
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DEAD_ZONE_POSITIVE = 1, // 正数
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DEAD_ZONE_NEGATIVE = 2, // 负数
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} deadzone_e;
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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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// 通用PID
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PID_TYPE_COMMON,
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// 神经PID
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PID_TYPE_NEURAL,
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// 模糊PID
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PID_TYPE_FUZZY,
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// 以下是自定义PID
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// cj PID
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PID_TYPE_CUSTOM_CAO,
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// gp jPID
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PID_TYPE_CUSTOM_GAO,
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// xsh PID
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PID_TYPE_CUSTOM_XU,
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// zxm PID
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PID_TYPE_CUSTOM_ZHANG,
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// hangdian PID
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PID_TYPE_CUSTOM_HANGDIAN,
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} pid_type_e;
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typedef struct
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{
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float32 ref;
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float32 feedback;
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float32 pre_feedback;
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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 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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float32 alpha;
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float32 lastdev;
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float32 out;
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float32 out_max;
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float32 out_min;
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float32 sv_range;
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float32 iout; // 积分输出
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BOOL sm;
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BOOL ki_enable;
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BOOL kd_enable;
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float32 deviation; // 纠正系统误差造成的影响，作用于死区，大于0需要补偿，小于0需要反向补偿
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BOOL in_dead_zone; // 是否在死区内
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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 err_dead;
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float32 deviation; // 纠正系统误差造成的影响，作用于死区
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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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float32 sum_iterm;
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float32 iout; // 积分输出
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float32 alpha; // 不完全微分参数
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float32 lastdev; // 不完全微分参数
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BOOL sm;
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BOOL ki_enable;
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BOOL kd_enable;
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float32 sv_range;
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// 没有用的
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float32 err_limit;
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BOOL detach;
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} pid_common_increment_t; // 增量式PID
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typedef struct PID_COMMON
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{
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uint8_t 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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/* 设置积分范围 */
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void (*set_integral_prm)(struct PID_COMMON *self, float32 integral_up, float32 integral_low);
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/* 控制接口 */
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float32 (*PID)(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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uint8_t 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 minimum, float32 maximum);
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/* 设置输出范围 */
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void (*set_out_prm)(struct PID_NEURAL *self, float32 minimum, float32 maximum);
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/* 控制接口 */
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float32 (*PID)(struct PID_NEURAL *self, float32 target, float32 feedback);
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struct
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{
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float32 setpoint; /*设定值*/
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float32 kcoef; /*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 lasterror; /*前一拍偏差*/
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float32 preerror; /*前两拍偏差*/
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float32 deadband; /*死区*/
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float32 result; /*输出值*/
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float32 output; /*百分比输出值*/
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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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} pri;
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} pid_neural_t; // 神经PID
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typedef struct
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{
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float32 kp;
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float32 ki;
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float32 kd;
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float32 kup;
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float32 kui;
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float32 kud;
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float32 maxe; // 非线性区间最大值
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float32 mine; // 非线性区间最小值
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} FUZZY_PID_t;
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// 模糊PID
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typedef struct PID_FUZZY
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{
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/* 设置PID三个参数 */
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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); // 设置PID参数
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void (*set_error_max_min)(struct PID_FUZZY *self, float32 mine, float32 maxe); // 设置非线性区间值
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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); // 更新PID参数
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void (*set_range)(struct PID_FUZZY *self, float32 out_min, float32 out_max); // 更新最大最小值
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void (*set_cfg)(struct PID_FUZZY *self, float32 max_err, BOOL mode); // 配置PID模式,默认不使用积分分离
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void (*set_smooth_enable)(struct PID_FUZZY *self, BOOL enable, float32 sv_range); // 设置平滑范围
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void (*set_iout)(struct PID_FUZZY *self, float32 iout); // 设置积分输出
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void (*set_err_dead)(struct PID_FUZZY *self, float32 err_dead); // 设置死区
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void (*set_kp)(struct PID_FUZZY *self, float32 kp);
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void (*set_ki_enable)(struct PID_FUZZY *self, BOOL enable);
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void (*set_ki)(struct PID_FUZZY *self, float32 ki);
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// 微分开启使能
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void (*set_kd_enable)(struct PID_FUZZY *self, BOOL enable);
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void (*set_kd)(struct PID_FUZZY *self, float32 kd);
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void (*set_kd_dev)(struct PID_FUZZY *self, float32 alpha);
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void (*restctrl)(struct PID_FUZZY *self, float32 out); // 复位PID积分及微分控制数据
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/* 控制接口 */
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float32 (*execute)(struct PID_FUZZY *self, float32 target, float32 feedback);
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BOOL(*in_dead_zone)
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(struct PID_FUZZY *self);
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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_sub_type_e sub_type; // 位置式PID，增量式PID
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BOOL open; // 是否使用模糊PID控制
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BOOL speed_integral_enable; // 变速积分，暂时没有验证成功
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deadzone_e deadzone_dir;
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FUZZY_PID_t pid_params;
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} pid_fuzzy_t; // 模糊PID
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// PID
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typedef struct
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{
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BOOL is_init; // 是否初始化
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pid_type_e type; // 不同的算法类型，模糊PID，神经PID，通用PID
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pid_sub_type_e sub_type; // 位置式PID，增量式PID
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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_fuzzy_t fuzzy;
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} pid_u;
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pid_auto_tune_t auto_tune;
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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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// 模糊PID
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extern void pid_fuzzy_constructor(struct PID_FUZZY *self);
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#endif
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