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more check for fuzzypid

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This commit is contained in:
lyon1998 2023-12-18 02:35:10 +08:00
parent 8131137b2c
commit bbe04c7d93
4 changed files with 36 additions and 16 deletions
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7
examples/fuzzypid/fuzzypid1.py
View File

@ -41,19 +41,16 @@ fuzzy_pid_params = FuzzyPIDParams([
[0.65, 0, 0, 0, 0, 0, 1],
[-0.34, 0, 0, 0, 0, 0, 1],
[-1.1, 0, 0, 0, 0, 0, 1],
[-2.4, 0, 0, 0, 0, 0, 1],
[1.2, 0, 0, 0, 0, 0, 1],
[1.2, 0.05, 0.1, 0, 0, 0, 1],
])
direct = PIDDirect([True, False, False, False, True, True])
direct = PIDDirect([True, False, False])
fuzzy_pid_controller = FuzzyPIDController(
rule_base, mf_params, fuzzy_pid_params, direct=direct)
max_error = 100
middle_pwm_output = 500
control_id = 5
control_id = 2
real = 0
idea = max_error * 0.9
print("idea value: ", idea)

19
package/fuzzypid/_fuzzypid.c
View File

@ -168,12 +168,19 @@ void _fuzzypid_FuzzyPIDController___init__(PikaObj* self,
int* rules = obj_getPtr(rule_base, "rules");
int* mf_params_mat = obj_getPtr(mf_params, "mf_params");
float* fuzzy_pid_params = obj_getPtr(pid_params, "fuzzy_pid_params");
int DOF = obj_getInt(pid_params, "DOF");
int DOF_pid_parms = obj_getInt(pid_params, "DOF");
int DOF_direct = obj_getInt(direct, "DOF");
if (DOF_pid_parms != DOF_direct) {
obj_setSysOut(self,
"Error: pid_params and direct must have the same length");
obj_setErrorCode(self, -__LINE__);
return;
}
struct PID** pid_vector = fuzzy_pid_vector_init(
(float(*)[pid_params_count])fuzzy_pid_params, delta_k, mf_type, fo_type,
df_type, mf_params_mat, (int(*)[pid_params_count])rules, DOF);
df_type, mf_params_mat, (int(*)[pid_params_count])rules, DOF_pid_parms);
obj_setPtr(self, "pid_vector", pid_vector);
obj_setInt(self, "DOF", DOF);
obj_setInt(self, "DOF", DOF_pid_parms);
obj_setPtr(self, "direct_vector", obj_getPtr(direct, "direct_vector"));
}
@ -191,6 +198,12 @@ pika_float _fuzzypid_FuzzyPIDController_compute_output(PikaObj* self,
pika_float input) {
struct PID** pid_vector = obj_getPtr(self, "pid_vector");
pika_bool* direct_vector = obj_getPtr(self, "direct_vector");
int DOF = obj_getInt(self, "DOF");
if (control_id < 0 || control_id >= DOF) {
obj_setSysOut(self, "Error: control_id out of range");
obj_setErrorCode(self, -__LINE__);
return 0;
}
return fuzzy_pid_motor_pwd_output(real, input, direct_vector[control_id],
pid_vector[control_id]);
}

19
port/linux/package/pikascript/pikascript-lib/fuzzypid/_fuzzypid.c
View File

@ -168,12 +168,19 @@ void _fuzzypid_FuzzyPIDController___init__(PikaObj* self,
int* rules = obj_getPtr(rule_base, "rules");
int* mf_params_mat = obj_getPtr(mf_params, "mf_params");
float* fuzzy_pid_params = obj_getPtr(pid_params, "fuzzy_pid_params");
int DOF = obj_getInt(pid_params, "DOF");
int DOF_pid_parms = obj_getInt(pid_params, "DOF");
int DOF_direct = obj_getInt(direct, "DOF");
if (DOF_pid_parms != DOF_direct) {
obj_setSysOut(self,
"Error: pid_params and direct must have the same length");
obj_setErrorCode(self, -__LINE__);
return;
}
struct PID** pid_vector = fuzzy_pid_vector_init(
(float(*)[pid_params_count])fuzzy_pid_params, delta_k, mf_type, fo_type,
df_type, mf_params_mat, (int(*)[pid_params_count])rules, DOF);
df_type, mf_params_mat, (int(*)[pid_params_count])rules, DOF_pid_parms);
obj_setPtr(self, "pid_vector", pid_vector);
obj_setInt(self, "DOF", DOF);
obj_setInt(self, "DOF", DOF_pid_parms);
obj_setPtr(self, "direct_vector", obj_getPtr(direct, "direct_vector"));
}
@ -191,6 +198,12 @@ pika_float _fuzzypid_FuzzyPIDController_compute_output(PikaObj* self,
pika_float input) {
struct PID** pid_vector = obj_getPtr(self, "pid_vector");
pika_bool* direct_vector = obj_getPtr(self, "direct_vector");
int DOF = obj_getInt(self, "DOF");
if (control_id < 0 || control_id >= DOF) {
obj_setSysOut(self, "Error: control_id out of range");
obj_setErrorCode(self, -__LINE__);
return 0;
}
return fuzzy_pid_motor_pwd_output(real, input, direct_vector[control_id],
pid_vector[control_id]);
}

7
port/linux/test/python/fuzzypid/fuzzypid1.py
View File

@ -41,19 +41,16 @@ fuzzy_pid_params = FuzzyPIDParams([
[0.65, 0, 0, 0, 0, 0, 1],
[-0.34, 0, 0, 0, 0, 0, 1],
[-1.1, 0, 0, 0, 0, 0, 1],
[-2.4, 0, 0, 0, 0, 0, 1],
[1.2, 0, 0, 0, 0, 0, 1],
[1.2, 0.05, 0.1, 0, 0, 0, 1],
])
direct = PIDDirect([True, False, False, False, True, True])
direct = PIDDirect([True, False, False])
fuzzy_pid_controller = FuzzyPIDController(
rule_base, mf_params, fuzzy_pid_params, direct=direct)
max_error = 100
middle_pwm_output = 500
control_id = 5
control_id = 2
real = 0
idea = max_error * 0.9
print("idea value: ", idea)