#include <stdio.h>
typedef struct FuzzyPID
{
int num_area ; //划分区域个数
//float e_max; //误差做大值
//float e_min; //误差最小值
//float ec_max; //误差变化最大值
//float ec_min; //误差变化最小值
//float kp_max, kp_min;
float e_membership_values[7] ; //输入e的隶属值
float ec_membership_values[7] ;//输入de/dt的隶属值
float kp_menbership_values[7] ;//输出增量kp的隶属值
float ki_menbership_values[7] ; //输出增量ki的隶属值
float kd_menbership_values[7] ; //输出增量kd的隶属值
float fuzzyoutput_menbership_values[7];
//int menbership_values[7] = {-3,-};
float kp; //PID参数kp
float ki; //PID参数ki
float kd; //PID参数kd
float qdetail_kp; //增量kp对应论域中的值
float qdetail_ki; //增量ki对应论域中的值
float qdetail_kd; //增量kd对应论域中的值
float qfuzzy_output;
float detail_kp; //输出增量kp
float detail_ki; //输出增量ki
float detail_kd; //输出增量kd
float fuzzy_output;
float qerro; //输入e对应论域中的值
float qerro_c; //输入de/dt对应论域中的值
float errosum;
float e_gradmembership[2]; //输入e的隶属度
float ec_gradmembership[2]; //输入de/dt的隶属度
int e_grad_index[2]; //输入e隶属度在规则表的索引
int ec_grad_index[2]; //输入de/dt隶属度在规则表的索引
float gradSums[7] ;
float KpgradSums[7]; //输出增量kp总的隶属度
float KigradSums[7] ; //输出增量ki总的隶属度
float KdgradSums[7] ; //输出增量kd总的隶属度
int Kp_rule_list[7][7];
int Ki_rule_list[7][7];
int Kd_rule_list[7][7];
int Fuzzy_rule_list[7][7];
//private:
}FuzzyPID;
typedef struct
{
float e_max ;//误差最大范围
float e_min ;//误差最小
float ec_max;//误差的微分范围
float ec_min;//误差的微分范围
float kp_max;//p的范围
float kp_min;
float ki_max ;//i的范围
float ki_min;
float kd_max;//d的范围
float kd_min;
float erro;//误差
float erro_c;//误差的微分
float erro_pre;//上一次的误差
float erro_ppre;//上上次的误差
}range;//修改变量
typedef struct
{
float erro;
float erro_c;
float erro_pre;
float erro_ppre;
}Error;
#define NB -3
#define NM - 2
#define NS - 1
#define ZO 0
#define PS 1
#define PM 2
#define PB 3
int Kp_rule[7][7] = { {PB,PB,PM,PM,PS,ZO,ZO}, //kp规则表
{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} };
int Ki_rule[7][7] = { {NB,NB,NM,NM,NS,ZO,ZO}, //ki规则表
{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} };
int Kd_rule[7][7] = { {PS,NS,NB,NB,NB,NM,PS}, //kd规则表
{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,NS,PS,PS,PS,PS,PB},
{PB,PM,PM,PM,PS,PS,PB} };
int Fuzzy_rule[7][7] = { {PB,PB,PB,PB,PM,ZO,ZO},
{PB,PB,PB,PM,PM,ZO,ZO},
{PB,PM,PM,PS,ZO,NS,NM},
{PM,PM,PS,ZO,NS,NM,NM},
{PS,PS,ZO,NM,NM,NM,NB},
{ZO,ZO,ZO,NM,NB,NB,NB},
{ZO,NS,NB,NB,NB,NB,NB} };
float values[7] = { -3,-2,-1,0,1,2,3 }; //输入e的隶属值
void FuzzyPID_Init(FuzzyPID* pid) //构造函数
{
int i, j;
pid->num_area = 8;
pid->kp = 0;
pid->ki = 0;
pid->kd = 0;
pid->fuzzy_output = 0;
pid->qdetail_kp = 0;
pid->qdetail_ki = 0;
pid->qdetail_kd = 0;
pid->qfuzzy_output = 0;
pid->errosum = 0;
for ( i = 0; i < 7; i++)
{
for ( j = 0; j < 7; j++)
{
pid->Kp_rule_list[i][j] = Kp_rule[i][j];
pid->Ki_rule_list[i][j] = Ki_rule[i][j];
pid->Kd_rule_list[i][j] = Kd_rule[i][j];
pid->Fuzzy_rule_list[i][j] = Fuzzy_rule[i][j];
}
}
for ( i = 0; i < 7; i++)
{
pid->e_membership_values[i] = values[i];
pid->ec_membership_values[i] = values[i];
pid->kp_menbership_values[i] = values[i];
pid->ki_menbership_values[i] = values[i];
pid->kd_menbership_values[i] = values[i];
pid->fuzzyoutput_menbership_values[i] = values[i];
pid->gradSums[i] = 0;
pid->KpgradSums[i] = 0;
pid->KigradSums[i] = 0;
pid->KdgradSums[i] = 0;
}
}
//输入e与de/dt隶属度计算函数///
void Get_grad_membership(FuzzyPID* pid,float erro, float erro_c)
{
int i;
//当误差在这个范围
if (erro > pid->e_membership_values[0] && erro < pid->e_membership_values[6])
{
//6个区域
for ( i = 0; i < pid->num_area - 2; i++)
{
//如果误差在区间区域内
if (erro >= pid->e_membership_values[i] && erro <= pid->e_membership_values[i + 1])
{
//e的隶属度
//PM
pid->e_gradmembership[0] = -(erro - pid->e_membership_values[i + 1]) / (pid->e_membership_values[i + 1] - pid->e_membership_values[i]);
//PB
pid->e_gradmembership[1] = 1 + (erro - pid->e_membership_values[i + 1]) / (pid->e_membership_values[i + 1] - pid->e_membership_values[i]);
//记录是在哪两个区间内
pid->e_grad_index[0] = i;
pid->e_grad_index[1] = i + 1;
break;
}
}
}
else
{
//如果误差的止小于等于论域的最小值
if (erro <= pid->e_membership_values[0])
{
pid->e_gradmembership[0] = 1;
pid->e_gradmembership[1] = 0;
pid->e_grad_index[0] = 0;
pid->e_grad_index[1] = -1;
}//超出范围了
else if (erro >= pid->e_membership_values[6])
{
pid->e_gradmembership[0] = 1;
pid->e_gradmembership[1] = 0;
pid->e_grad_index[0] = 6;
pid->e_grad_index[1] = -1;
}
}
//误差的微分
if (erro_c > pid->ec_membership_values[0] && erro_c < pid->ec_membership_values[6])
{
for ( i = 0; i < pid->num_area - 2; i++)
{
if (erro_c >= pid->ec_membership_values[i] && erro_c <= pid->ec_membership_values[i + 1])
{
pid->ec_gradmembership[0] = -(erro_c - pid->ec_membership_values[i + 1]) / (pid->ec_membership_values[i + 1] - pid->ec_membership_values[i]);
pid->ec_gradmembership[1] = 1 + (erro_c - pid->ec_membership_values[i + 1]) / (pid->ec_membership_values[i + 1] - pid->ec_membership_values[i]);
pid->ec_grad_index[0] = i;
pid->ec_grad_index[1] = i + 1;
break;
}
}
}
else
{
if (erro_c <= pid->ec_membership_values[0])
{
pid->ec_gradmembership[0] = 1;
pid->ec_gradmembership[1] = 0;
pid->ec_grad_index[0] = 0;
pid->ec_grad_index[1] = -1;
}
else if (erro_c >= pid->ec_membership_values[6])
{
pid->ec_gradmembership[0] = 1;
pid->ec_gradmembership[1] = 0;
pid->ec_grad_index[0] = 6;
pid->ec_grad_index[1] = -1;
}
}
}
// //获取输出增量kp, ki, kd的总隶属度 /
void GetSumGrad(FuzzyPID* pid)
{
int i,j;
//划分八个区域
for ( i = 0; i <= pid->num_area - 1; i++)
{
pid->KpgradSums[i] = 0;
pid->KigradSums[i] = 0;
pid->KdgradSums[i] = 0;
//把PID的各个隶属值清零
}
for ( i = 0; i < 2; i++)//循环两次
{
if (pid->e_grad_index[i] == -1)//误差有没有爆表
{
continue;
}
for ( j = 0; j < 2; j++)//
{
if (pid->ec_grad_index[j] != -1)//误差的微分有没有爆表
{
int indexKp = pid->Kp_rule_list[pid->e_grad_index[i]][pid->ec_grad_index[j]] + 3;
int indexKi = pid->Ki_rule_list[pid->e_grad_index[i]][pid->ec_grad_index[j]] + 3;
int indexKd = pid->Kd_rule_list[pid->e_grad_index[i]][pid->ec_grad_index[j]] + 3;
//gradSums[index] = gradSums[index] + (e_gradmembership[i] * ec_gradmembership[j])* Kp_rule_list[e_grad_index[i]][ec_grad_index[j]];
pid->KpgradSums[indexKp] = pid->KpgradSums[indexKp] + (pid->e_gradmembership[i] * pid->ec_gradmembership[j]);
pid->KigradSums[indexKi] = pid->KigradSums[indexKi] + (pid->e_gradmembership[i] * pid->ec_gradmembership[j]);
pid->KdgradSums[indexKd] = pid->KdgradSums[indexKd] + (pid->e_gradmembership[i] * pid->ec_gradmembership[j]);
}
else
{
continue;
}
}
}
}
//计算输出增量kp, kd, ki对应论域值//
void GetOUT(FuzzyPID* pid)
{
int i;
for ( i = 0; i < pid->num_area - 1; i++)
{
pid->qdetail_kp +=pid->kp_menbership_values[i] * pid->KpgradSums[i];
pid->qdetail_ki += pid->ki_menbership_values[i] * pid->KigradSums[i];
pid->qdetail_kd += pid->kd_menbership_values[i] * pid->KdgradSums[i];
}
}
///区间映射函数///
float Quantization(float maximum, float minimum, float x)
{
float qvalues = 6.0 * (x - minimum) / (maximum - minimum) - 3;
//float qvalues=6.0*()
return qvalues;
//qvalues[1] = 3.0 * ecerro / (maximum - minimum);
}
//反区间映射函数
float Inverse_quantization(float maximum, float minimum, float qvalues)
{
float x = (maximum - minimum) * (qvalues + 3) / 6 + minimum;
return x;
}
//模糊PID控制实现函数/
float FuzzyPIDcontroller(FuzzyPID* pid, range* rang, Error* error, float Target, float actual)
{
error->erro_ppre = error->erro_pre;
error->erro_pre = error->erro;
error->erro = Target - actual;
error->erro_c = error->erro - error->erro_pre;
pid->errosum += error->erro;
//Arear_dipart(e_max, e_min, ec_max, ec_min, kp_max, kp_min,ki_max,ki_min,kd_max,kd_min);
pid->qerro = Quantization(rang->e_max, rang->e_min, error->erro);//区间映射
pid->qerro_c = Quantization(rang->ec_max, rang->ec_min, error->erro_c);//区间映射
//把他们缩小到0123范围内
Get_grad_membership(pid,pid->qerro, pid->qerro_c);
//获取输出增量kp, ki, kd的总隶属度
GetSumGrad(pid);
//计算输出增量kp, kd, ki对应论域值//
GetOUT(pid);
pid->detail_kp = Inverse_quantization(rang->kp_max, rang->kp_min, pid->qdetail_kp);
pid->detail_ki = Inverse_quantization(rang->ki_max, rang->ki_min, pid->qdetail_ki);
pid->detail_kd = Inverse_quantization(rang->kd_max, rang->kd_min, pid->qdetail_kd);
pid->qdetail_kd = 0;
pid->qdetail_ki = 0;
pid->qdetail_kp = 0;
/*if (qdetail_kp >= kp_max)
qdetail_kp = kp_max;
else if (qdetail_kp <= kp_min)
qdetail_kp = kp_min;
if (qdetail_ki >= ki_max)
qdetail_ki = ki_max;
else if (qdetail_ki <= ki_min)
qdetail_ki = ki_min;
if (qdetail_kd >= kd_max)
qdetail_kd = kd_max;
else if (qdetail_kd <= kd_min)
qdetail_kd = kd_min;*/
pid->kp = pid->kp + pid->detail_kp;
pid->ki = pid->ki + pid->detail_ki;
pid->kd =pid->kd + pid->detail_kd;
//确定范围
if (pid->kp < 0)
pid->kp = 0;
if (pid->ki < 0)
pid->ki = 0;
if (pid->kd < 0)
pid->kd = 0;
pid->detail_kp = 0;
pid->detail_ki = 0;
pid->detail_kd = 0;
//增量式PID
float output = pid->kp * (error->erro - error->erro_pre) + pid->ki * error->erro + pid->kd * (error->erro - 2 * error->erro_pre + error->erro_ppre);
return output;
}
range rang = { 40,-40,5,-5,100,-100,0.1,-0.1,0.01,-0.01 };
Error error = { 0,0,0,0 };
int main()
{
FuzzyPID myfuzzypid;
FuzzyPID_Init(&myfuzzypid);
float Target =20;//目标值
float actual = 0;//实际值
for (int i = 0; i < 100; i++)
{
float u;
u = FuzzyPIDcontroller(&myfuzzypid, &rang, &error, Target, actual);
actual += u;
printf("i:%d\tTarget:%f\tActual:%f\t\n",i,Target,actual);
//std::cout << "i:" << i << "\t" << "Target:" << Target << "\t" << "Actual:" << actual << std::endl;
}
}
