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fuzzy pid tested OK

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lyon1998 2023-12-18 02:17:24 +08:00
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from fuzzypid import NB, NM, NS, ZO, PB, PM, PS
from fuzzypid import RuleBase, MembershipFunction, FuzzyPIDParams, PIDDirect, FuzzyPIDController
# Default fuzzy rule base of delta kp/ki/kd
kp_rule_base = [
[PB, PB, PM, PM, PS, ZO, ZO],
[PB, PB, PM, PS, PS, ZO, NS],
[PM, PM, PM, PS, ZO, NS, NS],
[PM, PM, PS, ZO, NS, NM, NM],
[PS, PS, ZO, NS, NS, NM, NM],
[PS, ZO, NS, NM, NM, NM, NB],
[ZO, ZO, NM, NM, NM, NB, NB],
]
ki_rule_base = [
[NB, NB, NM, NM, NS, ZO, ZO],
[NB, NB, NM, NS, NS, ZO, ZO],
[NB, NM, NS, NS, ZO, PS, PS],
[NM, NM, NS, ZO, PS, PM, PM],
[NM, NS, ZO, PS, PS, PM, PB],
[ZO, ZO, PS, PS, PM, PB, PB],
[ZO, ZO, PS, PM, PM, PB, PB],
]
kd_rule_base = [
[PS, NS, NB, NB, NB, NM, PS],
[PS, NS, NB, NM, NM, NS, ZO],
[ZO, NS, NM, NM, NS, NS, ZO],
[ZO, NS, NS, NS, NS, NS, ZO],
[ZO, ZO, ZO, ZO, ZO, ZO, ZO],
[PB, PS, PS, PS, PS, PS, PB],
[PB, PM, PM, PM, PS, PS, PB],
]
rule_base = RuleBase(kp_rule_base, ki_rule_base, kd_rule_base)
mf_params = MembershipFunction(
[-3, -3, -2, 0, -3, -2, -1, 0, -2, -1, 0, 0, -1, 0, 1, 0, 0, 1, 2, 0, 1, 2, 3, 0, 2, 3, 3, 0])
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])
fuzzy_pid_controller = FuzzyPIDController(
rule_base, mf_params, fuzzy_pid_params, direct=direct)
max_error = 100
middle_pwm_output = 500
control_id = 5
real = 0
idea = max_error * 0.9
print("idea value: ", idea)
for j in range(10):
out = fuzzy_pid_controller.compute_output(control_id, real, idea)
real += (out - middle_pwm_output) / middle_pwm_output * max_error * 0.1
print("%d,%s" % (int(out), real))

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ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
16. Limitation of Liability.
IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
SUCH DAMAGES.
17. Interpretation of Sections 15 and 16.
If the disclaimer of warranty and limitation of liability provided
above cannot be given local legal effect according to their terms,
reviewing courts shall apply local law that most closely approximates
an absolute waiver of all civil liability in connection with the
Program, unless a warranty or assumption of liability accompanies a
copy of the Program in return for a fee.
END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
state the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
notice like this when it starts in an interactive mode:
<program> Copyright (C) <year> <name of author>
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, your program's commands
might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
<http://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<http://www.gnu.org/philosophy/why-not-lgpl.html>.

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## fuzzy-pid
### 介绍
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：
- 隶属度函数 Membership function
- 高斯隶属度函数 Gaussian membership function
- 广义钟形隶属度函数 Generalized bell-shaped membership function
- S形隶属度函数 Sigmoidal membership function
- 梯形隶属度函数 Trapezoidal membership function
- 三角形隶属度函数 Triangular membership function
- Z形隶属度函数 Z-shaped membership function
- 模糊算子 Fuzzy operator
- 并算子 Union operator
- 交算子 Intersection operator
- 平衡算子 Equilibrium operator
- 中心平均解模糊器 Mean of centers defuzzifier
API使用的示例代码如下：
```c
#include "fuzzyPID.h"
#define DOF 6
int main() {
// Default fuzzy rule base of delta kp/ki/kd
int rule_base[][qf_default] = {
//delta kp rule base
{PB, PB, PM, PM, PS, ZO, ZO},
{PB, PB, PM, PS, PS, ZO, NS},
{PM, PM, PM, PS, ZO, NS, NS},
{PM, PM, PS, ZO, NS, NM, NM},
{PS, PS, ZO, NS, NS, NM, NM},
{PS, ZO, NS, NM, NM, NM, NB},
{ZO, ZO, NM, NM, NM, NB, NB},
//delta ki rule base
{NB, NB, NM, NM, NS, ZO, ZO},
{NB, NB, NM, NS, NS, ZO, ZO},
{NB, NM, NS, NS, ZO, PS, PS},
{NM, NM, NS, ZO, PS, PM, PM},
{NM, NS, ZO, PS, PS, PM, PB},
{ZO, ZO, PS, PS, PM, PB, PB},
{ZO, ZO, PS, PM, PM, PB, PB},
//delta kd rule base
{PS, NS, NB, NB, NB, NM, PS},
{PS, NS, NB, NM, NM, NS, ZO},
{ZO, NS, NM, NM, NS, NS, ZO},
{ZO, NS, NS, NS, NS, NS, ZO},
{ZO, ZO, ZO, ZO, ZO, ZO, ZO},
{PB, PS, PS, PS, PS, PS, PB},
{PB, PM, PM, PM, PS, PS, PB}};
// Default parameters of membership function
int mf_params[4 * qf_default] = {-3, -3, -2, 0,
-3, -2, -1, 0,
-2, -1, 0, 0,
-1, 0, 1, 0,
0, 1, 2, 0,
1, 2, 3, 0,
2, 3, 3, 0};
// Default parameters of pid controller
float fuzzy_pid_params[DOF][pid_params_count] = {{0.65f, 0, 0, 0, 0, 0, 1},
{-0.34f, 0, 0, 0, 0, 0, 1},
{-1.1f, 0, 0, 0, 0, 0, 1},
{-2.4f, 0, 0, 0, 0, 0, 1},
{1.2f, 0, 0, 0, 0, 0, 1},
{1.2f, 0.05f, 0.1f, 0, 0, 0, 1}};
// Obtain the PID controller vector according to the parameters
struct PID **pid_vector = fuzzy_pid_vector_init(fuzzy_pid_params, 2.0f, 4, 1, 0, mf_params, rule_base, DOF);
printf("output:\n");
int control_id = 5;
float real = 0;
float idea = max_error * 0.9f;
printf("idea value: %f\n", idea);
bool direct[DOF] = {true, false, false, false, true, true};
for (int j = 0; j < 1000; ++j) {
int out = fuzzy_pid_motor_pwd_output(real, idea, direct[control_id], pid_vector[control_id]);
real += (float) (out - middle_pwm_output) / (float) middle_pwm_output * (float) max_error * 0.1f;
printf("%d,%f\n", out, real);
}
delete_pid_vector(pid_vector, DOF);
return 0;
}
```

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#include "_fuzzypid.h"
#include "_fuzzypid_FuzzyPIDController.h"
#include "_fuzzypid_FuzzyPIDParams.h"
#include "_fuzzypid_MembershipFunction.h"
#include "_fuzzypid_PIDDirect.h"
#include "_fuzzypid_RuleBase.h"
#include "fuzzy_PID.h"
void _fuzzypid___init__(PikaObj* self) {
obj_setInt(self, "PB", PB);
obj_setInt(self, "PM", PM);
obj_setInt(self, "PS", PS);
obj_setInt(self, "ZO", ZO);
obj_setInt(self, "NS", NS);
obj_setInt(self, "NM", NM);
obj_setInt(self, "NB", NB);
}
static void _fillRuleBase(PikaObj* self,
PikaObj* rules,
int (*rules_base)[qf_default],
size_t* offset) {
size_t rules_len = pikaList_getSize(rules);
for (size_t i = 0; i < rules_len; ++i) {
PikaObj* rule = pikaList_getPtr(rules, i);
size_t rule_len = pikaList_getSize(rule);
for (size_t j = 0; j < rule_len; ++j) {
rules_base[*offset][j] = pikaList_getInt(rule, j);
}
++(*offset);
}
}
void _fuzzypid_RuleBase___init__(PikaObj* self,
PikaObj* kp_rules,
PikaObj* ki_rules,
PikaObj* kd_rules) {
size_t kp_rules_len = pikaList_getSize(kp_rules);
size_t ki_rules_len = pikaList_getSize(ki_rules);
size_t kd_rules_len = pikaList_getSize(kd_rules);
if (kp_rules_len != ki_rules_len || ki_rules_len != kd_rules_len) {
obj_setSysOut(
self,
"Error: kp_rules, ki_rules, kd_rules must have the same length");
obj_setErrorCode(self, -__LINE__);
return;
}
size_t rules_len = kp_rules_len;
if (rules_len == 0) {
obj_setSysOut(self,
"Error: kp_rules, ki_rules, kd_rules must not be "
"empty");
obj_setErrorCode(self, -__LINE__);
return;
}
size_t rule_len = pikaList_getSize(pikaList_getPtr(kp_rules, 0));
if (rule_len != qf_default) {
obj_setSysOut(self,
"Error: kp_rules, ki_rules, kd_rules must have "
"qf_default columns");
obj_setErrorCode(self, -__LINE__);
return;
}
for (size_t i = 0; i < rules_len; ++i) {
PikaObj* rule = pikaList_getPtr(kp_rules, i);
if (pikaList_getSize(rule) != rule_len) {
obj_setSysOut(self,
"Error: kp_rules, ki_rules, kd_rules must have "
"the same length");
obj_setErrorCode(self, -__LINE__);
return;
}
}
size_t rules_size = sizeof(int) * rules_len * rule_len * 3;
int(*rules)[qf_default] = pikaMalloc(rules_size);
obj_setInt(self, "rules_size", rules_size);
size_t offset = 0;
_fillRuleBase(self, kp_rules, rules, &offset);
_fillRuleBase(self, ki_rules, rules, &offset);
_fillRuleBase(self, kd_rules, rules, &offset);
obj_setPtr(self, "rules", rules);
}
void _fuzzypid_RuleBase___del__(PikaObj* self) {
int* rules = obj_getPtr(self, "rules");
pikaFree(rules, obj_getInt(self, "rules_size"));
}
void _fuzzypid_MembershipFunction___init__(PikaObj* self, PikaObj* params) {
size_t params_len = pikaList_getSize(params);
if (params_len != 4 * qf_default) {
obj_setSysOut(self, "Error: params must have 4 * qf_default columns");
obj_setErrorCode(self, -__LINE__);
return;
}
int* mf_params = pikaMalloc(sizeof(int) * params_len);
for (size_t i = 0; i < params_len; ++i) {
mf_params[i] = pikaList_getInt(params, i);
}
obj_setPtr(self, "mf_params", mf_params);
}
void _fuzzypid_MembershipFunction___del__(PikaObj* self) {
int* mf_params = obj_getPtr(self, "mf_params");
pikaFree(mf_params, sizeof(int) * 4 * qf_default);
}
void _fuzzypid_FuzzyPIDParams___init__(PikaObj* self, PikaObj* pid_params) {
size_t DOF = pikaList_getSize(pid_params);
size_t pid_params_len = pikaList_getSize(pikaList_getPtr(pid_params, 0));
if (pid_params_len != pid_params_count) {
obj_setSysOut(self,
"Error: pid_params must have pid_params_count columns");
obj_setErrorCode(self, -__LINE__);
return;
}
float(*fuzzy_pid_params)[pid_params_count] =
pikaMalloc(sizeof(float) * DOF * pid_params_count);
for (size_t i = 0; i < DOF; ++i) {
PikaObj* pid_param = pikaList_getPtr(pid_params, i);
if (pikaList_getSize(pid_param) != pid_params_len) {
obj_setSysOut(self, "Error: pid_params must have the same length");
obj_setErrorCode(self, -__LINE__);
return;
}
for (size_t j = 0; j < pid_params_len; ++j) {
fuzzy_pid_params[i][j] = pikaList_getFloat(pid_param, j);
}
}
obj_setPtr(self, "fuzzy_pid_params", fuzzy_pid_params);
obj_setInt(self, "DOF", DOF);
}
void _fuzzypid_FuzzyPIDParams___del__(PikaObj* self) {
float* fuzzy_pid_params = obj_getPtr(self, "fuzzy_pid_params");
size_t DOF = obj_getInt(self, "DOF");
pikaFree(fuzzy_pid_params, sizeof(float) * DOF * pid_params_count);
}
void _fuzzypid_PIDDirect___init__(PikaObj* self, PikaObj* direct) {
size_t DOF = pikaList_getSize(direct);
pika_bool* direct_vector = pikaMalloc(sizeof(pika_bool) * DOF);
for (size_t i = 0; i < DOF; ++i) {
direct_vector[i] = pikaList_getBool(direct, i);
}
obj_setInt(self, "DOF", DOF);
obj_setPtr(self, "direct_vector", direct_vector);
}
void _fuzzypid_PIDDirect___del__(PikaObj* self) {
pika_bool* direct_vector = obj_getPtr(self, "direct_vector");
pikaFree(direct_vector, sizeof(pika_bool) * obj_getInt(self, "DOF"));
}
void _fuzzypid_FuzzyPIDController___init__(PikaObj* self,
PikaObj* rule_base,
PikaObj* mf_params,
PikaObj* pid_params,
pika_float delta_k,
int mf_type,
int fo_type,
int df_type,
PikaObj* direct) {
obj_setPtr(self, "rule_base", rule_base);
obj_setPtr(self, "mf_params", mf_params);
obj_setPtr(self, "pid_params", pid_params);
obj_setPtr(self, "direct", direct);
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");
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);
obj_setPtr(self, "pid_vector", pid_vector);
obj_setInt(self, "DOF", DOF);
obj_setPtr(self, "direct_vector", obj_getPtr(direct, "direct_vector"));
}
void _fuzzypid_FuzzyPIDController___del__(PikaObj* self) {
struct PID** pid_vector = obj_getPtr(self, "pid_vector");
if (NULL != pid_vector) {
int DOF = obj_getInt(self, "DOF");
delete_pid_vector(pid_vector, DOF);
}
}
pika_float _fuzzypid_FuzzyPIDController_compute_output(PikaObj* self,
int control_id,
pika_float real,
pika_float input) {
struct PID** pid_vector = obj_getPtr(self, "pid_vector");
pika_bool* direct_vector = obj_getPtr(self, "direct_vector");
return fuzzy_pid_motor_pwd_output(real, input, direct_vector[control_id],
pid_vector[control_id]);
}

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PB: int
PM: int
PS: int
ZO: int
NS: int
NM: int
NB: int
def __init__(): ...
class RuleBase:
def __init__(self,
kp_rules: list[list[int]],
ki_rules: list[list[int]],
kd_rules: list[list[int]]): ...
def __del__(self): ...
class MembershipFunction:
def __init__(self, params: list[int]): ...
def __del__(self): ...
class FuzzyPIDParams:
def __init__(self, pid_params: list[list[float]]): ...
def __del__(self): ...
class PIDDirect:
def __init__(self, direct: list[int]): ...
def __del__(self): ...
class FuzzyPIDController:
def __init__(self,
rule_base: RuleBase,
mf_params: MembershipFunction,
pid_params: FuzzyPIDParams,
delta_k: float,
mf_type: int,
fo_type: int,
df_type: int,
direct: list): ...
def compute_output(self,
control_id: int,
real: float,
input: float,
) -> float: ...
def __del__(self): ...

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#include "fuzzy_PID.h"
struct fuzzy* fuzzy_init(unsigned int input_num, unsigned int output_num) {
struct fuzzy* fuzzy_struct =
(struct fuzzy*)pika_platform_malloc(sizeof(struct fuzzy));
fuzzy_struct->input_num = input_num;
fuzzy_struct->output_num = output_num;
fuzzy_struct->mf_type = (unsigned int*)pika_platform_malloc(
(input_num + output_num) * sizeof(unsigned int));
#ifdef fuzzy_pid_rule_base_deep_copy
fuzzy_struct->mf_params =
(int*)pika_platform_malloc(4 * qf_default * sizeof(int));
fuzzy_struct->rule_base = (int*)pika_platform_malloc(
output_num * qf_default * qf_default * sizeof(int));
#endif
fuzzy_struct->output =
(float*)pika_platform_malloc(output_num * sizeof(float));
return fuzzy_struct;
}
void delete_fuzzy(struct fuzzy* fuzzy_struct) {
pika_platform_free(fuzzy_struct->mf_type);
pika_platform_free(fuzzy_struct->output);
pika_platform_free(fuzzy_struct);
}
void fuzzy_params_init(struct fuzzy* fuzzy_struct,
unsigned int mf_type,
unsigned int fo_type,
unsigned int df_type,
int mf_params[],
int rule_base[][qf_default]) {
for (unsigned int i = 0;
i < fuzzy_struct->input_num + fuzzy_struct->output_num; ++i) {
fuzzy_struct->mf_type[i] = mf_type;
}
for (unsigned int i = 0; i < fuzzy_struct->output_num; ++i) {
fuzzy_struct->output[i] = 0;
}
#ifdef fuzzy_pid_rule_base_deep_copy
for (unsigned int j = 0; j < 4 * qf_default; ++j) {
fuzzy_struct->mf_params[j] = mf_params[j];
}
for (unsigned int k = 0; k < fuzzy_struct->output_num * qf_default; ++k) {
for (unsigned int i = 0; i < qf_default; ++i) {
fuzzy_struct->rule_base[k * 7 + i] = rule_base[k][i];
}
}
#else
fuzzy_struct->mf_params = mf_params;
fuzzy_struct->rule_base = (int*)rule_base;
#endif
fuzzy_struct->fo_type = fo_type;
fuzzy_struct->df_type = df_type;
}
#define inverse(parameter) 1.0f / (float)parameter
// Gaussian membership function
float gaussmf(float x, float sigma, float c) {
return expf(-powf(((x - c) / sigma), 2.0f));
}
// Generalized bell-shaped membership function
float gbellmf(float x, float a, float b, float c) {
return inverse(1.0f + powf(fabsf((x - c) / a), 2.0f * b));
}
// Sigmoidal membership function
float sigmf(float x, float a, float c) {
return inverse(1.0f + expf(a * (c - x)));
}
// Trapezoidal membership function
float trapmf(float x, float a, float b, float c, float d) {
if (x >= a && x < b)
return (x - a) / (b - a);
else if (x >= b && x < c)
return 1.0f;
else if (x >= c && x <= d)
return (d - x) / (d - c);
else
return 0.0f;
}
// Triangular membership function
float trimf(float x, float a, float b, float c) {
return trapmf(x, a, b, b, c);
}
// Z-shaped membership function
float zmf(float x, float a, float b) {
if (x <= a)
return 1.0f;
else if (x >= a && x <= (a + b) / 2.0f)
return 1.0f - 2.0f * powf((x - a) / (b - a), 2.0f);
else if (x >= (a + b) / 2.0f && x < b)
return 2.0f * powf((x - b) / (b - a), 2.0f);
else
return 0;
}
// Membership function
float mf(float x, unsigned int mf_type, int* params) {
switch (mf_type) {
case 0:
return gaussmf(x, params[0], params[1]);
case 1:
return gbellmf(x, params[0], params[1], params[2]);
case 2:
return sigmf(x, params[0], params[2]);
case 3:
return trapmf(x, params[0], params[1], params[2], params[3]);
case 5:
return zmf(x, params[0], params[1]);
default: // set triangular as default membership function
return trimf(x, params[0], params[1], params[2]);
}
}
// Union operator
float or (float a, float b, unsigned int type) {
if (type == 1) { // algebraic sum
return a + b - a * b;
} else if (type == 2) { // bounded sum
return fminf(1, a + b);
} else { // fuzzy union
return fmaxf(a, b);
}
}
// Intersection operator
float and (float a, float b, unsigned int type) {
if (type == 1) { // algebraic product
return a * b;
} else if (type == 2) { // bounded product
return fmaxf(0, a + b - 1);
} else { // fuzzy intersection
return fminf(a, b);
}
}
// Equilibrium operator
float equilibrium(float a, float b, float params) {
return powf(a * b, 1 - params) * powf(1 - (1 - a) * (1 - b), params);
}
// Fuzzy operator
float fo(float a, float b, unsigned int type) {
if (type < 3) {
return and(a, b, type);
} else if (type < 6) {
return or (a, b, type - 3);
} else {
return equilibrium(a, b, 0.5f);
}
}
// Mean of centers defuzzifier, only for two input multiple index
void moc(const float* joint_membership,
const unsigned int* index,
const unsigned int* count,
struct fuzzy* fuzzy_struct) {
float denominator_count = 0;
float numerator_count[fuzzy_struct->output_num];
for (unsigned int l = 0; l < fuzzy_struct->output_num; ++l) {
numerator_count[l] = 0;
}
for (int i = 0; i < count[0]; ++i) {
for (int j = 0; j < count[1]; ++j) {
denominator_count += joint_membership[i * count[1] + j];
}
}
for (unsigned int k = 0; k < fuzzy_struct->output_num; ++k) {
for (unsigned int i = 0; i < count[0]; ++i) {
for (unsigned int j = 0; j < count[1]; ++j) {
numerator_count[k] +=
joint_membership[i * count[1] + j] *
fuzzy_struct->rule_base[k * qf_default * qf_default +
index[i] * qf_default +
index[count[0] + j]];
}
}
}
#ifdef fuzzy_pid_debug_print
pika_platform_printf("output:\n");
#endif
for (unsigned int l = 0; l < fuzzy_struct->output_num; ++l) {
fuzzy_struct->output[l] = numerator_count[l] / denominator_count;
#ifdef fuzzy_pid_debug_print
pika_platform_printf("%f,%f,%f\n", numerator_count[l],
denominator_count, fuzzy_struct->index[l]);
#endif
}
}
// Defuzzifier
void df(const float* joint_membership,
const unsigned int* output,
const unsigned int* count,
struct fuzzy* fuzzy_struct,
int df_type) {
if (df_type == 0)
moc(joint_membership, output, count, fuzzy_struct);
else {
pika_platform_printf("Waring: No such of defuzzifier!\n");
moc(joint_membership, output, count, fuzzy_struct);
}
}
void fuzzy_control(float e, float de, struct fuzzy* fuzzy_struct) {
float membership[qf_default * 2]; // Store membership
unsigned int index[qf_default * 2]; // Store the index of each membership
unsigned int count[2] = {0, 0};
{
int j = 0;
for (int i = 0; i < qf_default; ++i) {
float temp = mf(e, fuzzy_struct->mf_type[0],
fuzzy_struct->mf_params + 4 * i);
if (temp > 1e-4) {
membership[j] = temp;
index[j++] = i;
}
}
count[0] = j;
for (int i = 0; i < qf_default; ++i) {
float temp = mf(de, fuzzy_struct->mf_type[1],
fuzzy_struct->mf_params + 4 * i);
if (temp > 1e-4) {
membership[j] = temp;
index[j++] = i;
}
}
count[1] = j - count[0];
}
#ifdef fuzzy_pid_debug_print
pika_platform_printf("membership:\n");
for (unsigned int k = 0; k < j; ++k) {
pika_platform_printf("%f\n", membership[k]);
}
pika_platform_printf("index:\n");
for (unsigned int k = 0; k < j; ++k) {
pika_platform_printf("%d\n", index[k]);
}
pika_platform_printf("count:\n");
for (unsigned int k = 0; k < 2; ++k) {
pika_platform_printf("%d\n", count[k]);
}
#endif
if (count[0] == 0 || count[1] == 0) {
for (unsigned int l = 0; l < fuzzy_struct->output_num; ++l) {
fuzzy_struct->output[l] = 0;
}
return;
}
// Joint membership
float joint_membership[count[0] * count[1]];
for (int i = 0; i < count[0]; ++i) {
for (int j = 0; j < count[1]; ++j) {
joint_membership[i * count[1] + j] = fo(
membership[i], membership[count[0] + j], fuzzy_struct->fo_type);
}
}
df(joint_membership, index, count, fuzzy_struct, 0);
}
struct PID* raw_fuzzy_pid_init(float kp,
float ki,
float kd,
float integral_limit,
float dead_zone,
float feed_forward,
float error_max,
float delta_error_max,
float delta_kp_max,
float delta_ki_max,
float delta_kd_max,
unsigned int mf_type,
unsigned int fo_type,
unsigned int df_type,
int mf_params[],
int rule_base[][qf_default],
int output_min_value,
int output_middle_value,
int output_max_value) {
struct PID* pid = (struct PID*)pika_platform_malloc(sizeof(struct PID));
pid->kp = kp;
pid->ki = ki;
pid->kd = kd;
pid->delta_kp_max = delta_kp_max;
pid->delta_ki_max = delta_ki_max;
pid->delta_kd_max = delta_kd_max;
pid->delta_kp = 0;
pid->delta_ki = 0;
pid->delta_kd = 0;
pid->error_max = error_max;
pid->delta_error_max = delta_error_max;
int output_count = 1;
if (ki > 1e-4) {
output_count += 1;
if (kd > 1e-4)
output_count += 1;
}
pid->fuzzy_struct = fuzzy_init(2, output_count);
fuzzy_params_init(pid->fuzzy_struct, mf_type, fo_type, df_type, mf_params,
rule_base);
pid->last_error = 0;
pid->current_error = 0;
pid->intergral = 0;
pid->intergral_limit = integral_limit;
pid->dead_zone = dead_zone;
pid->feed_forward = feed_forward;
pid->output_max_value = output_max_value;
pid->output_middle_value = output_middle_value;
pid->output_min_value = output_min_value;
return pid;
}
struct PID* fuzzy_pid_init(float* params,
float delta_k,
unsigned int mf_type,
unsigned int fo_type,
unsigned int df_type,
int mf_params[],
int rule_base[][qf_default]) {
return raw_fuzzy_pid_init(
params[0], params[1], params[2], params[3], params[4], params[5],
max_error, max_delta_error, params[0] / delta_k, params[1] / delta_k,
params[2] / delta_k, mf_type, fo_type, df_type, mf_params, rule_base,
min_pwm_output, middle_pwm_output, max_pwm_output);
}
struct PID* raw_pid_init(float kp,
float ki,
float kd,
float integral_limit,
float dead_zone,
float feed_forward,
float linear_adaptive_kp,
float error_max,
float delta_error_max,
int output_min_value,
int output_middle_value,
int output_max_value) {
struct PID* pid = (struct PID*)pika_platform_malloc(sizeof(struct PID));
pid->kp = kp;
pid->ki = ki;
pid->kd = kd;
pid->delta_kp_max = 0;
pid->delta_ki_max = 0;
pid->delta_kd_max = 0;
pid->delta_kp = 0;
pid->delta_ki = 0;
pid->delta_kd = 0;
pid->error_max = error_max;
pid->delta_error_max = delta_error_max;
pid->fuzzy_struct = NULL;
pid->last_error = 0;
pid->current_error = 0;
pid->intergral = 0;
pid->intergral_limit = integral_limit;
pid->dead_zone = dead_zone;
pid->feed_forward = feed_forward;
pid->output_max_value = output_max_value;
pid->output_middle_value = output_middle_value;
pid->output_min_value = output_min_value;
pid->linear_adaptive_kp = linear_adaptive_kp;
return pid;
}
struct PID* pid_init(float* params) {
return raw_pid_init(params[0], params[1], params[2], params[3], params[4],
params[5], params[6], max_error, max_delta_error,
min_pwm_output, middle_pwm_output, max_pwm_output);
}
int round_user(float parameter) {
if ((int)(parameter * 10.0) % 10 >= 5)
return parameter + 1;
else
return parameter;
}
int limit(int value, int max_limit, int min_limit) {
if (value > max_limit)
return max_limit;
if (value < min_limit)
return min_limit;
return value;
}
float fuzzy_pid_control(float real, float idea, struct PID* pid) {
pid->last_error = pid->current_error;
pid->current_error = idea - real;
float delta_error = pid->current_error - pid->last_error;
#ifdef fuzzy_pid_dead_zone
if (pid->current_error < pid->dead_zone &&
pid->current_error > -pid->dead_zone) {
pid->current_error = 0;
} else {
if (pid->current_error > pid->dead_zone)
pid->current_error = pid->current_error - pid->dead_zone;
else {
if (pid->current_error < -pid->dead_zone)
pid->current_error = pid->current_error + pid->dead_zone;
}
}
#endif
fuzzy_control(pid->current_error / pid->error_max * 3.0f,
delta_error / pid->delta_error_max * 3.0f, pid->fuzzy_struct);
pid->delta_kp =
pid->fuzzy_struct->output[0] / 3.0f * pid->delta_kp_max + pid->kp;
if (pid->fuzzy_struct->output_num >= 2)
pid->delta_ki = pid->fuzzy_struct->output[1] / 3.0f * pid->delta_ki_max;
else
pid->delta_ki = 0;
if (pid->fuzzy_struct->output_num >= 3)
pid->delta_kd = pid->fuzzy_struct->output[2] / 3.0f * pid->delta_kd_max;
else
pid->delta_ki = 0;
#ifdef fuzzy_pid_debug_print
pika_platform_printf("kp : %f, ki : %f, kd : %f\n", kp, ki, kd);
#endif
pid->intergral += (pid->ki + pid->delta_ki) * pid->current_error;
#ifdef fuzzy_pid_integral_limit
if (pid->intergral > pid->intergral_limit)
pid->intergral = pid->intergral_limit;
else {
if (pid->intergral < -pid->intergral_limit)
pid->intergral = -pid->intergral_limit;
}
#endif
pid->output =
(pid->kp + pid->delta_kp) * pid->current_error + pid->intergral +
(pid->kd + pid->delta_kd) * (pid->current_error - pid->last_error);
pid->output += pid->feed_forward * (float)idea;
return pid->output;
}
float pid_control(float real, float idea, struct PID* pid) {
pid->last_error = pid->current_error;
pid->current_error = idea - real;
#ifdef pid_dead_zone
if (pid->current_error < pid->dead_zone &&
pid->current_error > -pid->dead_zone) {
pid->current_error = 0;
} else {
if (pid->current_error > pid->dead_zone)
pid->current_error = pid->current_error - pid->dead_zone;
else {
if (pid->current_error < -pid->dead_zone)
pid->current_error = pid->current_error + pid->dead_zone;
}
}
#endif
#ifdef pid_debug_print
pika_platform_printf("kp : %f, ki : %f, kd : %f\n", kp, ki, kd);
#endif
pid->intergral += (pid->ki) * pid->current_error;
#ifdef pid_integral_limit
if (pid->intergral > pid->intergral_limit)
pid->intergral = pid->intergral_limit;
else {
if (pid->intergral < -pid->intergral_limit)
pid->intergral = -pid->intergral_limit;
}
#endif
float linear_adaptive_kp = 1;
if (pid->linear_adaptive_kp > 1e-4)
linear_adaptive_kp = (1 - pid->linear_adaptive_kp) *
pid->current_error / pid->error_max +
pid->linear_adaptive_kp;
pid->output = pid->kp * linear_adaptive_kp * pid->current_error +
pid->intergral +
(pid->kd) * (pid->current_error - pid->last_error);
pid->output += pid->feed_forward * (float)idea;
return pid->output;
}
void delete_pid(struct PID* pid) {
if (pid->fuzzy_struct != NULL) {
delete_fuzzy(pid->fuzzy_struct);
}
pika_platform_free(pid);
}
void delete_pid_vector(struct PID** pid_vector, unsigned int count) {
for (unsigned int i = 0; i < count; ++i) {
delete_pid(pid_vector[i]);
}
pika_platform_free(pid_vector);
}
struct PID** pid_vector_init(float params[][pid_params_count],
unsigned int count) {
struct PID** pid =
(struct PID**)pika_platform_malloc(sizeof(struct PID*) * count);
for (unsigned int i = 0; i < count; ++i) {
pid[i] = pid_init(params[i]);
}
return pid;
}
struct PID** fuzzy_pid_vector_init(float params[][pid_params_count],
float delta_k,
unsigned int mf_type,
unsigned int fo_type,
unsigned int df_type,
int* mf_params,
int rule_base[][qf_default],
unsigned int count) {
struct PID** pid =
(struct PID**)pika_platform_malloc(sizeof(struct PID*) * count);
for (unsigned int i = 0; i < count; ++i) {
pid[i] = fuzzy_pid_init(params[i], delta_k, mf_type, fo_type, df_type,
mf_params, rule_base);
}
return pid;
}
int direct_control(int zero_value, int offset_value, pika_bool direct) {
if (direct == pika_true) {
return zero_value + offset_value;
} else {
return zero_value - offset_value;
}
}
int fuzzy_pid_motor_pwd_output(float real,
float idea,
pika_bool direct,
struct PID* pid) {
return limit(direct_control(pid->output_middle_value,
fuzzy_pid_control(real, idea, pid), direct),
pid->output_max_value, pid->output_min_value);
}
int pid_motor_pwd_output(float real,
float idea,
pika_bool direct,
struct PID* pid) {
return limit(direct_control(pid->output_middle_value,
pid_control(real, idea, pid), direct),
pid->output_max_value, pid->output_min_value);
}

192
package/fuzzypid/fuzzy_PID.h Normal file
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@ -0,0 +1,192 @@
#ifndef _FUZZY_PID_H_
#define _FUZZY_PID_H_
#ifdef __cplusplus
extern "C" {
#endif
#include "PikaObj.h"
#include "math.h"
#include "stdio.h"
#include "stdlib.h"
// Fuzzy quantity fields
enum quantity_fields { qf_small = 5, qf_middle = 7, qf_large = 8 };
#define qf_default qf_middle
struct fuzzy {
unsigned int input_num;
unsigned int output_num;
unsigned int fo_type;
unsigned int* mf_type;
int* mf_params;
unsigned int df_type;
int* rule_base;
float* output;
};
struct PID {
float kp;
float ki;
float kd;
float delta_kp_max;
float delta_ki_max;
float delta_kd_max;
float delta_kp;
float delta_ki;
float delta_kd;
float error_max;
float delta_error_max;
float last_error;
float current_error;
float intergral;
float intergral_limit;
float dead_zone;
float feed_forward;
float output;
int output_min_value;
int output_middle_value;
int output_max_value;
float linear_adaptive_kp;
struct fuzzy* fuzzy_struct;
};
#define NB -3
#define NM -2
#define NS -1
#define ZO 0
#define PS 1
#define PM 2
#define PB 3
// #define pid_debug_print
// #define pid_dead_zone
// #define pid_integral_limit
// #define fuzzy_pid_debug_print
// #define fuzzy_pid_dead_zone
// #define fuzzy_pid_integral_limit
// #define fuzzy_pid_rule_base_deep_copy
#define pid_params_count 7
#define torque_mode 1
#define position_mode 2
#define control_mode position_mode
#if control_mode == position_mode
#define max_error 100.0f
#define max_delta_error 100.0f
#else
#define max_error 12.0f
#define max_delta_error 12.0f
#endif
#define min_pwm_output 0
#define middle_pwm_output 500
#define max_pwm_output 1000
struct fuzzy* fuzzy_init(unsigned int input_num, unsigned int output_num);
void fuzzy_params_init(struct fuzzy* fuzzy_struct,
unsigned int mf_type,
unsigned int fo_type,
unsigned int df_type,
int mf_params[],
int rule_base[][qf_default]);
void fuzzy_control(float e, float de, struct fuzzy* fuzzy_struct);
struct PID* raw_pid_init(float kp,
float ki,
float kd,
float integral_limit,
float dead_zone,
float feed_forward,
float linear_adaptive_kp,
float error_max,
float delta_error_max,
int output_min_value,
int output_middle_value,
int output_max_value);
struct PID* raw_fuzzy_pid_init(float kp,
float ki,
float kd,
float integral_limit,
float dead_zone,
float feed_forward,
float error_max,
float delta_error_max,
float delta_kp_max,
float delta_ki_max,
float delta_kd_max,
unsigned int mf_type,
unsigned int fo_type,
unsigned int df_type,
int* mf_params,
int rule_base[][qf_default],
int output_min_value,
int output_middle_value,
int output_max_value);
// float params[pid_params_count] = {kp, ki, kd, integral_limit,
// dead_zonefeed_forward, linear_adaptive_kp};
struct PID* pid_init(float* params);
struct PID* fuzzy_pid_init(float* params,
float delta_k,
unsigned int mf_type,
unsigned int fo_type,
unsigned int df_type,
int mf_params[],
int rule_base[][qf_default]);
struct PID** pid_vector_init(float params[][pid_params_count],
unsigned int count);
struct PID** fuzzy_pid_vector_init(float params[][pid_params_count],
float delta_k,
unsigned int mf_type,
unsigned int fo_type,
unsigned int df_type,
int* mf_params,
int rule_base[][qf_default],
unsigned int count);
float pid_control(float real, float idea, struct PID* pid);
float fuzzy_pid_control(float real, float idea, struct PID* pid);
int direct_control(int zero_value, int offset_value, pika_bool direct);
int pid_motor_pwd_output(float real,
float idea,
pika_bool direct,
struct PID* pid);
int fuzzy_pid_motor_pwd_output(float real,
float idea,
pika_bool direct,
struct PID* pid);
void delete_pid(struct PID* pid);
void delete_pid_vector(struct PID** pid_vector, unsigned int count);
#ifdef __cplusplus
}
#endif
#endif //_FUZZY_PID_H_

39
package/fuzzypid/fuzzypid.py Normal file
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@ -0,0 +1,39 @@
import _fuzzypid
PB: int = _fuzzypid.PB
PM: int = _fuzzypid.PM
PS: int = _fuzzypid.PS
ZO: int = _fuzzypid.ZO
NS: int = _fuzzypid.NS
NM: int = _fuzzypid.NM
NB: int = _fuzzypid.NB
class RuleBase(_fuzzypid.RuleBase):
...
class MembershipFunction(_fuzzypid.MembershipFunction):
...
class FuzzyPIDParams(_fuzzypid.FuzzyPIDParams):
...
class PIDDirect(_fuzzypid.PIDDirect):
...
class FuzzyPIDController(_fuzzypid.FuzzyPIDController):
def __init__(self,
rule_base: RuleBase,
mf_params: MembershipFunction,
pid_params: FuzzyPIDParams,
delta_k: float = 2,
mf_type: int = 4,
fo_type: int = 1,
df_type: int = 0,
direct: list = None):
super().__init__(rule_base, mf_params, pid_params,
delta_k, mf_type, fo_type, df_type, direct)

2
port/linux/.vscode/launch.json vendored
View File

@ -19,7 +19,7 @@
// "--gtest_filter=vm.run_file"
// "--gtest_filter=stddata.encode_decode"
// "--gtest_filter=packtool.packfiles_txt"
"--gtest_filter=vm.str_issue"
"--gtest_filter=fuzzypid.fuzzypid1"
],
"stopAtEntry": false,
"cwd": "${workspaceFolder}",

11
port/linux/.vscode/settings.json vendored
View File

@ -117,7 +117,14 @@
"datastrs.h": "c",
"__instruction_table.h": "c",
"assert.h": "c",
"_flashdb_kvdb_ctrl.h": "c"
"_flashdb_kvdb_ctrl.h": "c",
"_fuzzypid.h": "c",
"_fuzzypid_membershipfunction.h": "c",
"_fuzzypid_fuzzypidcontroller.h": "c",
"_fuzzypid_pidparams.h": "c",
"_fuzzypid_rulebase.h": "c",
"fuzzy_pid.h": "c",
"_fuzzypid_piddirect.h": "c"
},
"python.formatting.provider": "none",
"clangd.arguments": [
@ -128,7 +135,7 @@
"editor.defaultFormatter": "tamasfe.even-better-toml"
},
"[python]": {
"editor.defaultFormatter": "ms-python.python"
"editor.defaultFormatter": "ms-python.autopep8"
},
"[jsonc]": {
"editor.defaultFormatter": "vscode.json-language-features"

54
port/linux/package/pikascript/_fuzzypid.pyi Normal file
View File

@ -0,0 +1,54 @@
PB: int
PM: int
PS: int
ZO: int
NS: int
NM: int
NB: int
def __init__(): ...
class RuleBase:
def __init__(self,
kp_rules: list[list[int]],
ki_rules: list[list[int]],
kd_rules: list[list[int]]): ...
def __del__(self): ...
class MembershipFunction:
def __init__(self, params: list[int]): ...
def __del__(self): ...
class FuzzyPIDParams:
def __init__(self, pid_params: list[list[float]]): ...
def __del__(self): ...
class PIDDirect:
def __init__(self, direct: list[int]): ...
def __del__(self): ...
class FuzzyPIDController:
def __init__(self,
rule_base: RuleBase,
mf_params: MembershipFunction,
pid_params: FuzzyPIDParams,
delta_k: float,
mf_type: int,
fo_type: int,
df_type: int,
direct: list): ...
def compute_output(self,
control_id: int,
real: float,
input: float,
) -> float: ...
def __del__(self): ...

39
port/linux/package/pikascript/fuzzypid.py Normal file
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@ -0,0 +1,39 @@
import _fuzzypid
PB: int = _fuzzypid.PB
PM: int = _fuzzypid.PM
PS: int = _fuzzypid.PS
ZO: int = _fuzzypid.ZO
NS: int = _fuzzypid.NS
NM: int = _fuzzypid.NM
NB: int = _fuzzypid.NB
class RuleBase(_fuzzypid.RuleBase):
...
class MembershipFunction(_fuzzypid.MembershipFunction):
...
class FuzzyPIDParams(_fuzzypid.FuzzyPIDParams):
...
class PIDDirect(_fuzzypid.PIDDirect):
...
class FuzzyPIDController(_fuzzypid.FuzzyPIDController):
def __init__(self,
rule_base: RuleBase,
mf_params: MembershipFunction,
pid_params: FuzzyPIDParams,
delta_k: float = 2,
mf_type: int = 4,
fo_type: int = 1,
df_type: int = 0,
direct: list = None):
super().__init__(rule_base, mf_params, pid_params,
delta_k, mf_type, fo_type, df_type, direct)

3
port/linux/package/pikascript/module_list.txt
View File

@ -40,4 +40,5 @@ eventloop
this
fsm
subsrc.mod1
flashdb
flashdb
fuzzypid

674
port/linux/package/pikascript/pikascript-lib/fuzzypid/LICENSE Normal file
View File

@ -0,0 +1,674 @@
GNU GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
Preamble
The GNU General Public License is a free, copyleft license for
software and other kinds of works.
The licenses for most software and other practical works are designed
to take away your freedom to share and change the works. By contrast,
the GNU General Public License is intended to guarantee your freedom to
share and change all versions of a program--to make sure it remains free
software for all its users. We, the Free Software Foundation, use the
GNU General Public License for most of our software; it applies also to
any other work released this way by its authors. You can apply it to
your programs, too.
When we speak of free software, we are referring to freedom, not
price. Our General Public Licenses are designed to make sure that you
have the freedom to distribute copies of free software (and charge for
them if you wish), that you receive source code or can get it if you
want it, that you can change the software or use pieces of it in new
free programs, and that you know you can do these things.
To protect your rights, we need to prevent others from denying you
these rights or asking you to surrender the rights. Therefore, you have
certain responsibilities if you distribute copies of the software, or if
you modify it: responsibilities to respect the freedom of others.
For example, if you distribute copies of such a program, whether
gratis or for a fee, you must pass on to the recipients the same
freedoms that you received. You must make sure that they, too, receive
or can get the source code. And you must show them these terms so they
know their rights.
Developers that use the GNU GPL protect your rights with two steps:
(1) assert copyright on the software, and (2) offer you this License
giving you legal permission to copy, distribute and/or modify it.
For the developers' and authors' protection, the GPL clearly explains
that there is no warranty for this free software. For both users' and
authors' sake, the GPL requires that modified versions be marked as
changed, so that their problems will not be attributed erroneously to
authors of previous versions.
Some devices are designed to deny users access to install or run
modified versions of the software inside them, although the manufacturer
can do so. This is fundamentally incompatible with the aim of
protecting users' freedom to change the software. The systematic
pattern of such abuse occurs in the area of products for individuals to
use, which is precisely where it is most unacceptable. Therefore, we
have designed this version of the GPL to prohibit the practice for those
products. If such problems arise substantially in other domains, we
stand ready to extend this provision to those domains in future versions
of the GPL, as needed to protect the freedom of users.
Finally, every program is threatened constantly by software patents.
States should not allow patents to restrict development and use of
software on general-purpose computers, but in those that do, we wish to
avoid the special danger that patents applied to a free program could
make it effectively proprietary. To prevent this, the GPL assures that
patents cannot be used to render the program non-free.
The precise terms and conditions for copying, distribution and
modification follow.
TERMS AND CONDITIONS
0. Definitions.
"This License" refers to version 3 of the GNU General Public License.
"Copyright" also means copyright-like laws that apply to other kinds of
works, such as semiconductor masks.
"The Program" refers to any copyrightable work licensed under this
License. Each licensee is addressed as "you". "Licensees" and
"recipients" may be individuals or organizations.
To "modify" a work means to copy from or adapt all or part of the work
in a fashion requiring copyright permission, other than the making of an
exact copy. The resulting work is called a "modified version" of the
earlier work or a work "based on" the earlier work.
A "covered work" means either the unmodified Program or a work based
on the Program.
To "propagate" a work means to do anything with it that, without
permission, would make you directly or secondarily liable for
infringement under applicable copyright law, except executing it on a
computer or modifying a private copy. Propagation includes copying,
distribution (with or without modification), making available to the
public, and in some countries other activities as well.
To "convey" a work means any kind of propagation that enables other
parties to make or receive copies. Mere interaction with a user through
a computer network, with no transfer of a copy, is not conveying.
An interactive user interface displays "Appropriate Legal Notices"
to the extent that it includes a convenient and prominently visible
feature that (1) displays an appropriate copyright notice, and (2)
tells the user that there is no warranty for the work (except to the
extent that warranties are provided), that licensees may convey the
work under this License, and how to view a copy of this License. If
the interface presents a list of user commands or options, such as a
menu, a prominent item in the list meets this criterion.
1. Source Code.
The "source code" for a work means the preferred form of the work
for making modifications to it. "Object code" means any non-source
form of a work.
A "Standard Interface" means an interface that either is an official
standard defined by a recognized standards body, or, in the case of
interfaces specified for a particular programming language, one that
is widely used among developers working in that language.
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## fuzzy-pid
### 介绍
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：
- 隶属度函数 Membership function
- 高斯隶属度函数 Gaussian membership function
- 广义钟形隶属度函数 Generalized bell-shaped membership function
- S形隶属度函数 Sigmoidal membership function
- 梯形隶属度函数 Trapezoidal membership function
- 三角形隶属度函数 Triangular membership function
- Z形隶属度函数 Z-shaped membership function
- 模糊算子 Fuzzy operator
- 并算子 Union operator
- 交算子 Intersection operator
- 平衡算子 Equilibrium operator
- 中心平均解模糊器 Mean of centers defuzzifier
API使用的示例代码如下：
```c
#include "fuzzyPID.h"
#define DOF 6
int main() {
// Default fuzzy rule base of delta kp/ki/kd
int rule_base[][qf_default] = {
//delta kp rule base
{PB, PB, PM, PM, PS, ZO, ZO},
{PB, PB, PM, PS, PS, ZO, NS},
{PM, PM, PM, PS, ZO, NS, NS},
{PM, PM, PS, ZO, NS, NM, NM},
{PS, PS, ZO, NS, NS, NM, NM},
{PS, ZO, NS, NM, NM, NM, NB},
{ZO, ZO, NM, NM, NM, NB, NB},
//delta ki rule base
{NB, NB, NM, NM, NS, ZO, ZO},
{NB, NB, NM, NS, NS, ZO, ZO},
{NB, NM, NS, NS, ZO, PS, PS},
{NM, NM, NS, ZO, PS, PM, PM},
{NM, NS, ZO, PS, PS, PM, PB},
{ZO, ZO, PS, PS, PM, PB, PB},
{ZO, ZO, PS, PM, PM, PB, PB},
//delta kd rule base
{PS, NS, NB, NB, NB, NM, PS},
{PS, NS, NB, NM, NM, NS, ZO},
{ZO, NS, NM, NM, NS, NS, ZO},
{ZO, NS, NS, NS, NS, NS, ZO},
{ZO, ZO, ZO, ZO, ZO, ZO, ZO},
{PB, PS, PS, PS, PS, PS, PB},
{PB, PM, PM, PM, PS, PS, PB}};
// Default parameters of membership function
int mf_params[4 * qf_default] = {-3, -3, -2, 0,
-3, -2, -1, 0,
-2, -1, 0, 0,
-1, 0, 1, 0,
0, 1, 2, 0,
1, 2, 3, 0,
2, 3, 3, 0};
// Default parameters of pid controller
float fuzzy_pid_params[DOF][pid_params_count] = {{0.65f, 0, 0, 0, 0, 0, 1},
{-0.34f, 0, 0, 0, 0, 0, 1},
{-1.1f, 0, 0, 0, 0, 0, 1},
{-2.4f, 0, 0, 0, 0, 0, 1},
{1.2f, 0, 0, 0, 0, 0, 1},
{1.2f, 0.05f, 0.1f, 0, 0, 0, 1}};
// Obtain the PID controller vector according to the parameters
struct PID **pid_vector = fuzzy_pid_vector_init(fuzzy_pid_params, 2.0f, 4, 1, 0, mf_params, rule_base, DOF);
printf("output:\n");
int control_id = 5;
float real = 0;
float idea = max_error * 0.9f;
printf("idea value: %f\n", idea);
bool direct[DOF] = {true, false, false, false, true, true};
for (int j = 0; j < 1000; ++j) {
int out = fuzzy_pid_motor_pwd_output(real, idea, direct[control_id], pid_vector[control_id]);
real += (float) (out - middle_pwm_output) / (float) middle_pwm_output * (float) max_error * 0.1f;
printf("%d,%f\n", out, real);
}
delete_pid_vector(pid_vector, DOF);
return 0;
}
```

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#include "_fuzzypid.h"
#include "_fuzzypid_FuzzyPIDController.h"
#include "_fuzzypid_FuzzyPIDParams.h"
#include "_fuzzypid_MembershipFunction.h"
#include "_fuzzypid_PIDDirect.h"
#include "_fuzzypid_RuleBase.h"
#include "fuzzy_PID.h"
void _fuzzypid___init__(PikaObj* self) {
obj_setInt(self, "PB", PB);
obj_setInt(self, "PM", PM);
obj_setInt(self, "PS", PS);
obj_setInt(self, "ZO", ZO);
obj_setInt(self, "NS", NS);
obj_setInt(self, "NM", NM);
obj_setInt(self, "NB", NB);
}
static void _fillRuleBase(PikaObj* self,
PikaObj* rules,
int (*rules_base)[qf_default],
size_t* offset) {
size_t rules_len = pikaList_getSize(rules);
for (size_t i = 0; i < rules_len; ++i) {
PikaObj* rule = pikaList_getPtr(rules, i);
size_t rule_len = pikaList_getSize(rule);
for (size_t j = 0; j < rule_len; ++j) {
rules_base[*offset][j] = pikaList_getInt(rule, j);
}
++(*offset);
}
}
void _fuzzypid_RuleBase___init__(PikaObj* self,
PikaObj* kp_rules,
PikaObj* ki_rules,
PikaObj* kd_rules) {
size_t kp_rules_len = pikaList_getSize(kp_rules);
size_t ki_rules_len = pikaList_getSize(ki_rules);
size_t kd_rules_len = pikaList_getSize(kd_rules);
if (kp_rules_len != ki_rules_len || ki_rules_len != kd_rules_len) {
obj_setSysOut(
self,
"Error: kp_rules, ki_rules, kd_rules must have the same length");
obj_setErrorCode(self, -__LINE__);
return;
}
size_t rules_len = kp_rules_len;
if (rules_len == 0) {
obj_setSysOut(self,
"Error: kp_rules, ki_rules, kd_rules must not be "
"empty");
obj_setErrorCode(self, -__LINE__);
return;
}
size_t rule_len = pikaList_getSize(pikaList_getPtr(kp_rules, 0));
if (rule_len != qf_default) {
obj_setSysOut(self,
"Error: kp_rules, ki_rules, kd_rules must have "
"qf_default columns");
obj_setErrorCode(self, -__LINE__);
return;
}
for (size_t i = 0; i < rules_len; ++i) {
PikaObj* rule = pikaList_getPtr(kp_rules, i);
if (pikaList_getSize(rule) != rule_len) {
obj_setSysOut(self,
"Error: kp_rules, ki_rules, kd_rules must have "
"the same length");
obj_setErrorCode(self, -__LINE__);
return;
}
}
size_t rules_size = sizeof(int) * rules_len * rule_len * 3;
int(*rules)[qf_default] = pikaMalloc(rules_size);
obj_setInt(self, "rules_size", rules_size);
size_t offset = 0;
_fillRuleBase(self, kp_rules, rules, &offset);
_fillRuleBase(self, ki_rules, rules, &offset);
_fillRuleBase(self, kd_rules, rules, &offset);
obj_setPtr(self, "rules", rules);
}
void _fuzzypid_RuleBase___del__(PikaObj* self) {
int* rules = obj_getPtr(self, "rules");
pikaFree(rules, obj_getInt(self, "rules_size"));
}
void _fuzzypid_MembershipFunction___init__(PikaObj* self, PikaObj* params) {
size_t params_len = pikaList_getSize(params);
if (params_len != 4 * qf_default) {
obj_setSysOut(self, "Error: params must have 4 * qf_default columns");
obj_setErrorCode(self, -__LINE__);
return;
}
int* mf_params = pikaMalloc(sizeof(int) * params_len);
for (size_t i = 0; i < params_len; ++i) {
mf_params[i] = pikaList_getInt(params, i);
}
obj_setPtr(self, "mf_params", mf_params);
}
void _fuzzypid_MembershipFunction___del__(PikaObj* self) {
int* mf_params = obj_getPtr(self, "mf_params");
pikaFree(mf_params, sizeof(int) * 4 * qf_default);
}
void _fuzzypid_FuzzyPIDParams___init__(PikaObj* self, PikaObj* pid_params) {
size_t DOF = pikaList_getSize(pid_params);
size_t pid_params_len = pikaList_getSize(pikaList_getPtr(pid_params, 0));
if (pid_params_len != pid_params_count) {
obj_setSysOut(self,
"Error: pid_params must have pid_params_count columns");
obj_setErrorCode(self, -__LINE__);
return;
}
float(*fuzzy_pid_params)[pid_params_count] =
pikaMalloc(sizeof(float) * DOF * pid_params_count);
for (size_t i = 0; i < DOF; ++i) {
PikaObj* pid_param = pikaList_getPtr(pid_params, i);
if (pikaList_getSize(pid_param) != pid_params_len) {
obj_setSysOut(self, "Error: pid_params must have the same length");
obj_setErrorCode(self, -__LINE__);
return;
}
for (size_t j = 0; j < pid_params_len; ++j) {
fuzzy_pid_params[i][j] = pikaList_getFloat(pid_param, j);
}
}
obj_setPtr(self, "fuzzy_pid_params", fuzzy_pid_params);
obj_setInt(self, "DOF", DOF);
}
void _fuzzypid_FuzzyPIDParams___del__(PikaObj* self) {
float* fuzzy_pid_params = obj_getPtr(self, "fuzzy_pid_params");
size_t DOF = obj_getInt(self, "DOF");
pikaFree(fuzzy_pid_params, sizeof(float) * DOF * pid_params_count);
}
void _fuzzypid_PIDDirect___init__(PikaObj* self, PikaObj* direct) {
size_t DOF = pikaList_getSize(direct);
pika_bool* direct_vector = pikaMalloc(sizeof(pika_bool) * DOF);
for (size_t i = 0; i < DOF; ++i) {
direct_vector[i] = pikaList_getBool(direct, i);
}
obj_setInt(self, "DOF", DOF);
obj_setPtr(self, "direct_vector", direct_vector);
}
void _fuzzypid_PIDDirect___del__(PikaObj* self) {
pika_bool* direct_vector = obj_getPtr(self, "direct_vector");
pikaFree(direct_vector, sizeof(pika_bool) * obj_getInt(self, "DOF"));
}
void _fuzzypid_FuzzyPIDController___init__(PikaObj* self,
PikaObj* rule_base,
PikaObj* mf_params,
PikaObj* pid_params,
pika_float delta_k,
int mf_type,
int fo_type,
int df_type,
PikaObj* direct) {
obj_setPtr(self, "rule_base", rule_base);
obj_setPtr(self, "mf_params", mf_params);
obj_setPtr(self, "pid_params", pid_params);
obj_setPtr(self, "direct", direct);
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");
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);
obj_setPtr(self, "pid_vector", pid_vector);
obj_setInt(self, "DOF", DOF);
obj_setPtr(self, "direct_vector", obj_getPtr(direct, "direct_vector"));
}
void _fuzzypid_FuzzyPIDController___del__(PikaObj* self) {
struct PID** pid_vector = obj_getPtr(self, "pid_vector");
if (NULL != pid_vector) {
int DOF = obj_getInt(self, "DOF");
delete_pid_vector(pid_vector, DOF);
}
}
pika_float _fuzzypid_FuzzyPIDController_compute_output(PikaObj* self,
int control_id,
pika_float real,
pika_float input) {
struct PID** pid_vector = obj_getPtr(self, "pid_vector");
pika_bool* direct_vector = obj_getPtr(self, "direct_vector");
return fuzzy_pid_motor_pwd_output(real, input, direct_vector[control_id],
pid_vector[control_id]);
}

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#include "fuzzy_PID.h"
struct fuzzy* fuzzy_init(unsigned int input_num, unsigned int output_num) {
struct fuzzy* fuzzy_struct =
(struct fuzzy*)pika_platform_malloc(sizeof(struct fuzzy));
fuzzy_struct->input_num = input_num;
fuzzy_struct->output_num = output_num;
fuzzy_struct->mf_type = (unsigned int*)pika_platform_malloc(
(input_num + output_num) * sizeof(unsigned int));
#ifdef fuzzy_pid_rule_base_deep_copy
fuzzy_struct->mf_params =
(int*)pika_platform_malloc(4 * qf_default * sizeof(int));
fuzzy_struct->rule_base = (int*)pika_platform_malloc(
output_num * qf_default * qf_default * sizeof(int));
#endif
fuzzy_struct->output =
(float*)pika_platform_malloc(output_num * sizeof(float));
return fuzzy_struct;
}
void delete_fuzzy(struct fuzzy* fuzzy_struct) {
pika_platform_free(fuzzy_struct->mf_type);
pika_platform_free(fuzzy_struct->output);
pika_platform_free(fuzzy_struct);
}
void fuzzy_params_init(struct fuzzy* fuzzy_struct,
unsigned int mf_type,
unsigned int fo_type,
unsigned int df_type,
int mf_params[],
int rule_base[][qf_default]) {
for (unsigned int i = 0;
i < fuzzy_struct->input_num + fuzzy_struct->output_num; ++i) {
fuzzy_struct->mf_type[i] = mf_type;
}
for (unsigned int i = 0; i < fuzzy_struct->output_num; ++i) {
fuzzy_struct->output[i] = 0;
}
#ifdef fuzzy_pid_rule_base_deep_copy
for (unsigned int j = 0; j < 4 * qf_default; ++j) {
fuzzy_struct->mf_params[j] = mf_params[j];
}
for (unsigned int k = 0; k < fuzzy_struct->output_num * qf_default; ++k) {
for (unsigned int i = 0; i < qf_default; ++i) {
fuzzy_struct->rule_base[k * 7 + i] = rule_base[k][i];
}
}
#else
fuzzy_struct->mf_params = mf_params;
fuzzy_struct->rule_base = (int*)rule_base;
#endif
fuzzy_struct->fo_type = fo_type;
fuzzy_struct->df_type = df_type;
}
#define inverse(parameter) 1.0f / (float)parameter
// Gaussian membership function
float gaussmf(float x, float sigma, float c) {
return expf(-powf(((x - c) / sigma), 2.0f));
}
// Generalized bell-shaped membership function
float gbellmf(float x, float a, float b, float c) {
return inverse(1.0f + powf(fabsf((x - c) / a), 2.0f * b));
}
// Sigmoidal membership function
float sigmf(float x, float a, float c) {
return inverse(1.0f + expf(a * (c - x)));
}
// Trapezoidal membership function
float trapmf(float x, float a, float b, float c, float d) {
if (x >= a && x < b)
return (x - a) / (b - a);
else if (x >= b && x < c)
return 1.0f;
else if (x >= c && x <= d)
return (d - x) / (d - c);
else
return 0.0f;
}
// Triangular membership function
float trimf(float x, float a, float b, float c) {
return trapmf(x, a, b, b, c);
}
// Z-shaped membership function
float zmf(float x, float a, float b) {
if (x <= a)
return 1.0f;
else if (x >= a && x <= (a + b) / 2.0f)
return 1.0f - 2.0f * powf((x - a) / (b - a), 2.0f);
else if (x >= (a + b) / 2.0f && x < b)
return 2.0f * powf((x - b) / (b - a), 2.0f);
else
return 0;
}
// Membership function
float mf(float x, unsigned int mf_type, int* params) {
switch (mf_type) {
case 0:
return gaussmf(x, params[0], params[1]);
case 1:
return gbellmf(x, params[0], params[1], params[2]);
case 2:
return sigmf(x, params[0], params[2]);
case 3:
return trapmf(x, params[0], params[1], params[2], params[3]);
case 5:
return zmf(x, params[0], params[1]);
default: // set triangular as default membership function
return trimf(x, params[0], params[1], params[2]);
}
}
// Union operator
float or (float a, float b, unsigned int type) {
if (type == 1) { // algebraic sum
return a + b - a * b;
} else if (type == 2) { // bounded sum
return fminf(1, a + b);
} else { // fuzzy union
return fmaxf(a, b);
}
}
// Intersection operator
float and (float a, float b, unsigned int type) {
if (type == 1) { // algebraic product
return a * b;
} else if (type == 2) { // bounded product
return fmaxf(0, a + b - 1);
} else { // fuzzy intersection
return fminf(a, b);
}
}
// Equilibrium operator
float equilibrium(float a, float b, float params) {
return powf(a * b, 1 - params) * powf(1 - (1 - a) * (1 - b), params);
}
// Fuzzy operator
float fo(float a, float b, unsigned int type) {
if (type < 3) {
return and(a, b, type);
} else if (type < 6) {
return or (a, b, type - 3);
} else {
return equilibrium(a, b, 0.5f);
}
}
// Mean of centers defuzzifier, only for two input multiple index
void moc(const float* joint_membership,
const unsigned int* index,
const unsigned int* count,
struct fuzzy* fuzzy_struct) {
float denominator_count = 0;
float numerator_count[fuzzy_struct->output_num];
for (unsigned int l = 0; l < fuzzy_struct->output_num; ++l) {
numerator_count[l] = 0;
}
for (int i = 0; i < count[0]; ++i) {
for (int j = 0; j < count[1]; ++j) {
denominator_count += joint_membership[i * count[1] + j];
}
}
for (unsigned int k = 0; k < fuzzy_struct->output_num; ++k) {
for (unsigned int i = 0; i < count[0]; ++i) {
for (unsigned int j = 0; j < count[1]; ++j) {
numerator_count[k] +=
joint_membership[i * count[1] + j] *
fuzzy_struct->rule_base[k * qf_default * qf_default +
index[i] * qf_default +
index[count[0] + j]];
}
}
}
#ifdef fuzzy_pid_debug_print
pika_platform_printf("output:\n");
#endif
for (unsigned int l = 0; l < fuzzy_struct->output_num; ++l) {
fuzzy_struct->output[l] = numerator_count[l] / denominator_count;
#ifdef fuzzy_pid_debug_print
pika_platform_printf("%f,%f,%f\n", numerator_count[l],
denominator_count, fuzzy_struct->index[l]);
#endif
}
}
// Defuzzifier
void df(const float* joint_membership,
const unsigned int* output,
const unsigned int* count,
struct fuzzy* fuzzy_struct,
int df_type) {
if (df_type == 0)
moc(joint_membership, output, count, fuzzy_struct);
else {
pika_platform_printf("Waring: No such of defuzzifier!\n");
moc(joint_membership, output, count, fuzzy_struct);
}
}
void fuzzy_control(float e, float de, struct fuzzy* fuzzy_struct) {
float membership[qf_default * 2]; // Store membership
unsigned int index[qf_default * 2]; // Store the index of each membership
unsigned int count[2] = {0, 0};
{
int j = 0;
for (int i = 0; i < qf_default; ++i) {
float temp = mf(e, fuzzy_struct->mf_type[0],
fuzzy_struct->mf_params + 4 * i);
if (temp > 1e-4) {
membership[j] = temp;
index[j++] = i;
}
}
count[0] = j;
for (int i = 0; i < qf_default; ++i) {
float temp = mf(de, fuzzy_struct->mf_type[1],
fuzzy_struct->mf_params + 4 * i);
if (temp > 1e-4) {
membership[j] = temp;
index[j++] = i;
}
}
count[1] = j - count[0];
}
#ifdef fuzzy_pid_debug_print
pika_platform_printf("membership:\n");
for (unsigned int k = 0; k < j; ++k) {
pika_platform_printf("%f\n", membership[k]);
}
pika_platform_printf("index:\n");
for (unsigned int k = 0; k < j; ++k) {
pika_platform_printf("%d\n", index[k]);
}
pika_platform_printf("count:\n");
for (unsigned int k = 0; k < 2; ++k) {
pika_platform_printf("%d\n", count[k]);
}
#endif
if (count[0] == 0 || count[1] == 0) {
for (unsigned int l = 0; l < fuzzy_struct->output_num; ++l) {
fuzzy_struct->output[l] = 0;
}
return;
}
// Joint membership
float joint_membership[count[0] * count[1]];
for (int i = 0; i < count[0]; ++i) {
for (int j = 0; j < count[1]; ++j) {
joint_membership[i * count[1] + j] = fo(
membership[i], membership[count[0] + j], fuzzy_struct->fo_type);
}
}
df(joint_membership, index, count, fuzzy_struct, 0);
}
struct PID* raw_fuzzy_pid_init(float kp,
float ki,
float kd,
float integral_limit,
float dead_zone,
float feed_forward,
float error_max,
float delta_error_max,
float delta_kp_max,
float delta_ki_max,
float delta_kd_max,
unsigned int mf_type,
unsigned int fo_type,
unsigned int df_type,
int mf_params[],
int rule_base[][qf_default],
int output_min_value,
int output_middle_value,
int output_max_value) {
struct PID* pid = (struct PID*)pika_platform_malloc(sizeof(struct PID));
pid->kp = kp;
pid->ki = ki;
pid->kd = kd;
pid->delta_kp_max = delta_kp_max;
pid->delta_ki_max = delta_ki_max;
pid->delta_kd_max = delta_kd_max;
pid->delta_kp = 0;
pid->delta_ki = 0;
pid->delta_kd = 0;
pid->error_max = error_max;
pid->delta_error_max = delta_error_max;
int output_count = 1;
if (ki > 1e-4) {
output_count += 1;
if (kd > 1e-4)
output_count += 1;
}
pid->fuzzy_struct = fuzzy_init(2, output_count);
fuzzy_params_init(pid->fuzzy_struct, mf_type, fo_type, df_type, mf_params,
rule_base);
pid->last_error = 0;
pid->current_error = 0;
pid->intergral = 0;
pid->intergral_limit = integral_limit;
pid->dead_zone = dead_zone;
pid->feed_forward = feed_forward;
pid->output_max_value = output_max_value;
pid->output_middle_value = output_middle_value;
pid->output_min_value = output_min_value;
return pid;
}
struct PID* fuzzy_pid_init(float* params,
float delta_k,
unsigned int mf_type,
unsigned int fo_type,
unsigned int df_type,
int mf_params[],
int rule_base[][qf_default]) {
return raw_fuzzy_pid_init(
params[0], params[1], params[2], params[3], params[4], params[5],
max_error, max_delta_error, params[0] / delta_k, params[1] / delta_k,
params[2] / delta_k, mf_type, fo_type, df_type, mf_params, rule_base,
min_pwm_output, middle_pwm_output, max_pwm_output);
}
struct PID* raw_pid_init(float kp,
float ki,
float kd,
float integral_limit,
float dead_zone,
float feed_forward,
float linear_adaptive_kp,
float error_max,
float delta_error_max,
int output_min_value,
int output_middle_value,
int output_max_value) {
struct PID* pid = (struct PID*)pika_platform_malloc(sizeof(struct PID));
pid->kp = kp;
pid->ki = ki;
pid->kd = kd;
pid->delta_kp_max = 0;
pid->delta_ki_max = 0;
pid->delta_kd_max = 0;
pid->delta_kp = 0;
pid->delta_ki = 0;
pid->delta_kd = 0;
pid->error_max = error_max;
pid->delta_error_max = delta_error_max;
pid->fuzzy_struct = NULL;
pid->last_error = 0;
pid->current_error = 0;
pid->intergral = 0;
pid->intergral_limit = integral_limit;
pid->dead_zone = dead_zone;
pid->feed_forward = feed_forward;
pid->output_max_value = output_max_value;
pid->output_middle_value = output_middle_value;
pid->output_min_value = output_min_value;
pid->linear_adaptive_kp = linear_adaptive_kp;
return pid;
}
struct PID* pid_init(float* params) {
return raw_pid_init(params[0], params[1], params[2], params[3], params[4],
params[5], params[6], max_error, max_delta_error,
min_pwm_output, middle_pwm_output, max_pwm_output);
}
int round_user(float parameter) {
if ((int)(parameter * 10.0) % 10 >= 5)
return parameter + 1;
else
return parameter;
}
int limit(int value, int max_limit, int min_limit) {
if (value > max_limit)
return max_limit;
if (value < min_limit)
return min_limit;
return value;
}
float fuzzy_pid_control(float real, float idea, struct PID* pid) {
pid->last_error = pid->current_error;
pid->current_error = idea - real;
float delta_error = pid->current_error - pid->last_error;
#ifdef fuzzy_pid_dead_zone
if (pid->current_error < pid->dead_zone &&
pid->current_error > -pid->dead_zone) {
pid->current_error = 0;
} else {
if (pid->current_error > pid->dead_zone)
pid->current_error = pid->current_error - pid->dead_zone;
else {
if (pid->current_error < -pid->dead_zone)
pid->current_error = pid->current_error + pid->dead_zone;
}
}
#endif
fuzzy_control(pid->current_error / pid->error_max * 3.0f,
delta_error / pid->delta_error_max * 3.0f, pid->fuzzy_struct);
pid->delta_kp =
pid->fuzzy_struct->output[0] / 3.0f * pid->delta_kp_max + pid->kp;
if (pid->fuzzy_struct->output_num >= 2)
pid->delta_ki = pid->fuzzy_struct->output[1] / 3.0f * pid->delta_ki_max;
else
pid->delta_ki = 0;
if (pid->fuzzy_struct->output_num >= 3)
pid->delta_kd = pid->fuzzy_struct->output[2] / 3.0f * pid->delta_kd_max;
else
pid->delta_ki = 0;
#ifdef fuzzy_pid_debug_print
pika_platform_printf("kp : %f, ki : %f, kd : %f\n", kp, ki, kd);
#endif
pid->intergral += (pid->ki + pid->delta_ki) * pid->current_error;
#ifdef fuzzy_pid_integral_limit
if (pid->intergral > pid->intergral_limit)
pid->intergral = pid->intergral_limit;
else {
if (pid->intergral < -pid->intergral_limit)
pid->intergral = -pid->intergral_limit;
}
#endif
pid->output =
(pid->kp + pid->delta_kp) * pid->current_error + pid->intergral +
(pid->kd + pid->delta_kd) * (pid->current_error - pid->last_error);
pid->output += pid->feed_forward * (float)idea;
return pid->output;
}
float pid_control(float real, float idea, struct PID* pid) {
pid->last_error = pid->current_error;
pid->current_error = idea - real;
#ifdef pid_dead_zone
if (pid->current_error < pid->dead_zone &&
pid->current_error > -pid->dead_zone) {
pid->current_error = 0;
} else {
if (pid->current_error > pid->dead_zone)
pid->current_error = pid->current_error - pid->dead_zone;
else {
if (pid->current_error < -pid->dead_zone)
pid->current_error = pid->current_error + pid->dead_zone;
}
}
#endif
#ifdef pid_debug_print
pika_platform_printf("kp : %f, ki : %f, kd : %f\n", kp, ki, kd);
#endif
pid->intergral += (pid->ki) * pid->current_error;
#ifdef pid_integral_limit
if (pid->intergral > pid->intergral_limit)
pid->intergral = pid->intergral_limit;
else {
if (pid->intergral < -pid->intergral_limit)
pid->intergral = -pid->intergral_limit;
}
#endif
float linear_adaptive_kp = 1;
if (pid->linear_adaptive_kp > 1e-4)
linear_adaptive_kp = (1 - pid->linear_adaptive_kp) *
pid->current_error / pid->error_max +
pid->linear_adaptive_kp;
pid->output = pid->kp * linear_adaptive_kp * pid->current_error +
pid->intergral +
(pid->kd) * (pid->current_error - pid->last_error);
pid->output += pid->feed_forward * (float)idea;
return pid->output;
}
void delete_pid(struct PID* pid) {
if (pid->fuzzy_struct != NULL) {
delete_fuzzy(pid->fuzzy_struct);
}
pika_platform_free(pid);
}
void delete_pid_vector(struct PID** pid_vector, unsigned int count) {
for (unsigned int i = 0; i < count; ++i) {
delete_pid(pid_vector[i]);
}
pika_platform_free(pid_vector);
}
struct PID** pid_vector_init(float params[][pid_params_count],
unsigned int count) {
struct PID** pid =
(struct PID**)pika_platform_malloc(sizeof(struct PID*) * count);
for (unsigned int i = 0; i < count; ++i) {
pid[i] = pid_init(params[i]);
}
return pid;
}
struct PID** fuzzy_pid_vector_init(float params[][pid_params_count],
float delta_k,
unsigned int mf_type,
unsigned int fo_type,
unsigned int df_type,
int* mf_params,
int rule_base[][qf_default],
unsigned int count) {
struct PID** pid =
(struct PID**)pika_platform_malloc(sizeof(struct PID*) * count);
for (unsigned int i = 0; i < count; ++i) {
pid[i] = fuzzy_pid_init(params[i], delta_k, mf_type, fo_type, df_type,
mf_params, rule_base);
}
return pid;
}
int direct_control(int zero_value, int offset_value, pika_bool direct) {
if (direct == pika_true) {
return zero_value + offset_value;
} else {
return zero_value - offset_value;
}
}
int fuzzy_pid_motor_pwd_output(float real,
float idea,
pika_bool direct,
struct PID* pid) {
return limit(direct_control(pid->output_middle_value,
fuzzy_pid_control(real, idea, pid), direct),
pid->output_max_value, pid->output_min_value);
}
int pid_motor_pwd_output(float real,
float idea,
pika_bool direct,
struct PID* pid) {
return limit(direct_control(pid->output_middle_value,
pid_control(real, idea, pid), direct),
pid->output_max_value, pid->output_min_value);
}

192
port/linux/package/pikascript/pikascript-lib/fuzzypid/fuzzy_PID.h Normal file
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@ -0,0 +1,192 @@
#ifndef _FUZZY_PID_H_
#define _FUZZY_PID_H_
#ifdef __cplusplus
extern "C" {
#endif
#include "PikaObj.h"
#include "math.h"
#include "stdio.h"
#include "stdlib.h"
// Fuzzy quantity fields
enum quantity_fields { qf_small = 5, qf_middle = 7, qf_large = 8 };
#define qf_default qf_middle
struct fuzzy {
unsigned int input_num;
unsigned int output_num;
unsigned int fo_type;
unsigned int* mf_type;
int* mf_params;
unsigned int df_type;
int* rule_base;
float* output;
};
struct PID {
float kp;
float ki;
float kd;
float delta_kp_max;
float delta_ki_max;
float delta_kd_max;
float delta_kp;
float delta_ki;
float delta_kd;
float error_max;
float delta_error_max;
float last_error;
float current_error;
float intergral;
float intergral_limit;
float dead_zone;
float feed_forward;
float output;
int output_min_value;
int output_middle_value;
int output_max_value;
float linear_adaptive_kp;
struct fuzzy* fuzzy_struct;
};
#define NB -3
#define NM -2
#define NS -1
#define ZO 0
#define PS 1
#define PM 2
#define PB 3
// #define pid_debug_print
// #define pid_dead_zone
// #define pid_integral_limit
// #define fuzzy_pid_debug_print
// #define fuzzy_pid_dead_zone
// #define fuzzy_pid_integral_limit
// #define fuzzy_pid_rule_base_deep_copy
#define pid_params_count 7
#define torque_mode 1
#define position_mode 2
#define control_mode position_mode
#if control_mode == position_mode
#define max_error 100.0f
#define max_delta_error 100.0f
#else
#define max_error 12.0f
#define max_delta_error 12.0f
#endif
#define min_pwm_output 0
#define middle_pwm_output 500
#define max_pwm_output 1000
struct fuzzy* fuzzy_init(unsigned int input_num, unsigned int output_num);
void fuzzy_params_init(struct fuzzy* fuzzy_struct,
unsigned int mf_type,
unsigned int fo_type,
unsigned int df_type,
int mf_params[],
int rule_base[][qf_default]);
void fuzzy_control(float e, float de, struct fuzzy* fuzzy_struct);
struct PID* raw_pid_init(float kp,
float ki,
float kd,
float integral_limit,
float dead_zone,
float feed_forward,
float linear_adaptive_kp,
float error_max,
float delta_error_max,
int output_min_value,
int output_middle_value,
int output_max_value);
struct PID* raw_fuzzy_pid_init(float kp,
float ki,
float kd,
float integral_limit,
float dead_zone,
float feed_forward,
float error_max,
float delta_error_max,
float delta_kp_max,
float delta_ki_max,
float delta_kd_max,
unsigned int mf_type,
unsigned int fo_type,
unsigned int df_type,
int* mf_params,
int rule_base[][qf_default],
int output_min_value,
int output_middle_value,
int output_max_value);
// float params[pid_params_count] = {kp, ki, kd, integral_limit,
// dead_zonefeed_forward, linear_adaptive_kp};
struct PID* pid_init(float* params);
struct PID* fuzzy_pid_init(float* params,
float delta_k,
unsigned int mf_type,
unsigned int fo_type,
unsigned int df_type,
int mf_params[],
int rule_base[][qf_default]);
struct PID** pid_vector_init(float params[][pid_params_count],
unsigned int count);
struct PID** fuzzy_pid_vector_init(float params[][pid_params_count],
float delta_k,
unsigned int mf_type,
unsigned int fo_type,
unsigned int df_type,
int* mf_params,
int rule_base[][qf_default],
unsigned int count);
float pid_control(float real, float idea, struct PID* pid);
float fuzzy_pid_control(float real, float idea, struct PID* pid);
int direct_control(int zero_value, int offset_value, pika_bool direct);
int pid_motor_pwd_output(float real,
float idea,
pika_bool direct,
struct PID* pid);
int fuzzy_pid_motor_pwd_output(float real,
float idea,
pika_bool direct,
struct PID* pid);
void delete_pid(struct PID* pid);
void delete_pid_vector(struct PID** pid_vector, unsigned int count);
#ifdef __cplusplus
}
#endif
#endif //_FUZZY_PID_H_

62
port/linux/test/module-test.cpp
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@ -800,4 +800,66 @@ TEST_RUN_SINGLE_FILE_EXCEPT_OUTPUT(flashdb,
#endif
TEST(fuzzypid, base) {
#define DOF 6
// Default fuzzy rule base of delta kp/ki/kd
int rule_base[][qf_default] = {// delta kp rule base
{PB, PB, PM, PM, PS, ZO, ZO},
{PB, PB, PM, PS, PS, ZO, NS},
{PM, PM, PM, PS, ZO, NS, NS},
{PM, PM, PS, ZO, NS, NM, NM},
{PS, PS, ZO, NS, NS, NM, NM},
{PS, ZO, NS, NM, NM, NM, NB},
{ZO, ZO, NM, NM, NM, NB, NB},
// delta ki rule base
{NB, NB, NM, NM, NS, ZO, ZO},
{NB, NB, NM, NS, NS, ZO, ZO},
{NB, NM, NS, NS, ZO, PS, PS},
{NM, NM, NS, ZO, PS, PM, PM},
{NM, NS, ZO, PS, PS, PM, PB},
{ZO, ZO, PS, PS, PM, PB, PB},
{ZO, ZO, PS, PM, PM, PB, PB},
// delta kd rule base
{PS, NS, NB, NB, NB, NM, PS},
{PS, NS, NB, NM, NM, NS, ZO},
{ZO, NS, NM, NM, NS, NS, ZO},
{ZO, NS, NS, NS, NS, NS, ZO},
{ZO, ZO, ZO, ZO, ZO, ZO, ZO},
{PB, PS, PS, PS, PS, PS, PB},
{PB, PM, PM, PM, PS, PS, PB}};
// Default parameters of membership function
int mf_params[4 * qf_default] = {-3, -3, -2, 0, -3, -2, -1, 0, -2, -1,
0, 0, -1, 0, 1, 0, 0, 1, 2, 0,
1, 2, 3, 0, 2, 3, 3, 0};
// Default parameters of pid controller
float fuzzy_pid_params[DOF][pid_params_count] = {
{0.65f, 0, 0, 0, 0, 0, 1}, {-0.34f, 0, 0, 0, 0, 0, 1},
{-1.1f, 0, 0, 0, 0, 0, 1}, {-2.4f, 0, 0, 0, 0, 0, 1},
{1.2f, 0, 0, 0, 0, 0, 1}, {1.2f, 0.05f, 0.1f, 0, 0, 0, 1}};
// Obtain the PID controller vector according to the parameters
struct PID** pid_vector = fuzzy_pid_vector_init(
fuzzy_pid_params, 2.0f, 4, 1, 0, mf_params, rule_base, DOF);
printf("output:\n");
int control_id = 5;
float real = 0;
float idea = max_error * 0.9f;
printf("idea value: %f\n", idea);
bool direct[DOF] = {true, false, false, false, true, true};
for (int j = 0; j < 10; ++j) {
int out = fuzzy_pid_motor_pwd_output(real, idea, direct[control_id],
pid_vector[control_id]);
real += (float)(out - middle_pwm_output) / (float)middle_pwm_output *
(float)max_error * 0.1f;
printf("%d,%f\n", out, real);
}
delete_pid_vector(pid_vector, DOF);
}
TEST_RUN_SINGLE_FILE(fuzzypid, fuzzypid1, "test/python/fuzzypid/fuzzypid1.py");
TEST_END

63
port/linux/test/python/fuzzypid/fuzzypid1.py Normal file
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@ -0,0 +1,63 @@
from fuzzypid import NB, NM, NS, ZO, PB, PM, PS
from fuzzypid import RuleBase, MembershipFunction, FuzzyPIDParams, PIDDirect, FuzzyPIDController
# Default fuzzy rule base of delta kp/ki/kd
kp_rule_base = [
[PB, PB, PM, PM, PS, ZO, ZO],
[PB, PB, PM, PS, PS, ZO, NS],
[PM, PM, PM, PS, ZO, NS, NS],
[PM, PM, PS, ZO, NS, NM, NM],
[PS, PS, ZO, NS, NS, NM, NM],
[PS, ZO, NS, NM, NM, NM, NB],
[ZO, ZO, NM, NM, NM, NB, NB],
]
ki_rule_base = [
[NB, NB, NM, NM, NS, ZO, ZO],
[NB, NB, NM, NS, NS, ZO, ZO],
[NB, NM, NS, NS, ZO, PS, PS],
[NM, NM, NS, ZO, PS, PM, PM],
[NM, NS, ZO, PS, PS, PM, PB],
[ZO, ZO, PS, PS, PM, PB, PB],
[ZO, ZO, PS, PM, PM, PB, PB],
]
kd_rule_base = [
[PS, NS, NB, NB, NB, NM, PS],
[PS, NS, NB, NM, NM, NS, ZO],
[ZO, NS, NM, NM, NS, NS, ZO],
[ZO, NS, NS, NS, NS, NS, ZO],
[ZO, ZO, ZO, ZO, ZO, ZO, ZO],
[PB, PS, PS, PS, PS, PS, PB],
[PB, PM, PM, PM, PS, PS, PB],
]
rule_base = RuleBase(kp_rule_base, ki_rule_base, kd_rule_base)
mf_params = MembershipFunction(
[-3, -3, -2, 0, -3, -2, -1, 0, -2, -1, 0, 0, -1, 0, 1, 0, 0, 1, 2, 0, 1, 2, 3, 0, 2, 3, 3, 0])
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])
fuzzy_pid_controller = FuzzyPIDController(
rule_base, mf_params, fuzzy_pid_params, direct=direct)
max_error = 100
middle_pwm_output = 500
control_id = 5
real = 0
idea = max_error * 0.9
print("idea value: ", idea)
for j in range(10):
out = fuzzy_pid_controller.compute_output(control_id, real, idea)
real += (out - middle_pwm_output) / middle_pwm_output * max_error * 0.1
print("%d,%s" % (int(out), real))

1
port/linux/test/test_common.h
View File

@ -12,6 +12,7 @@
extern "C" {
#include <stdio.h>
#include "../fuzzypid/fuzzy_PID.h"
#include "PikaMain.h"
#include "PikaMath_Operator.h"
#include "PikaStdLib_MemChecker.h"

16
src/PikaParser.c
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@ -2589,6 +2589,7 @@ static char* Suger_from_import_as(Args* buffs_p, char* sLine) {
return sLine;
#endif
Args buffs = {0};
Arg* aLineOut = NULL;
char* sLineOut = sLine;
char* sClass = NULL;
char* sModule = NULL;
@ -2636,13 +2637,20 @@ static char* Suger_from_import_as(Args* buffs_p, char* sLine) {
sClassItem);
sClassAfter = strsAppend(&buffs, sClassAfter, sClassItem);
}
sClassAfter[strlen(sClassAfter) - 1] = '\0';
sClassAfter[strGetSize(sClassAfter) - 1] = '\0';
sClass = sClassAfter;
sLineOut = strsFormat(&buffs, PIKA_LINE_BUFF_SIZE, "import %s\n%s = %s",
sClass, sAlias, sClass);
aLineOut = arg_newStr("import ");
aLineOut = arg_strAppend(aLineOut, sClass);
aLineOut = arg_strAppend(aLineOut, "\n");
aLineOut = arg_strAppend(aLineOut, sAlias);
aLineOut = arg_strAppend(aLineOut, " = ");
aLineOut = arg_strAppend(aLineOut, sClass);
sLineOut = arg_getStr(aLineOut);
sLineOut = strsCopy(buffs_p, sLineOut);
__exit:
if (NULL != aLineOut) {
arg_deinit(aLineOut);
}
strsDeinit(&buffs);
return sLineOut;
}

2
src/PikaVM.c
View File

@ -1427,7 +1427,7 @@ static uint32_t _get_n_input_with_unpack(PikaVMFrame* vm, int n_used) {
}
#define vars_or_keys_or_default (f.is_vars || f.is_keys || f.is_default)
#define METHOD_TYPE_LIST_MAX_LEN PIKA_LINE_BUFF_SIZE
#define METHOD_TYPE_LIST_MAX_LEN PIKA_LINE_BUFF_SIZE * 2
static int PikaVMFrame_loadArgsFromMethodArg(PikaVMFrame* vm,
PikaObj* oMethodHost,
Args* aLoclas,

2
src/PikaVersion.h
View File

@ -2,4 +2,4 @@
#define PIKA_VERSION_MINOR 13
#define PIKA_VERSION_MICRO 1
#define PIKA_EDIT_TIME "2023/12/17 23:09:50"
#define PIKA_EDIT_TIME "2023/12/18 02:17:06"