instance structure for fuzzy PID controller More...

#include <pid_fuzzy.h>

Collaboration diagram for a_pid_fuzzy:

Public Member Functions
void	init ()

void	set_opr (unsigned int opr_)

void *	bfuzz () const

void	set_bfuzz (void *ptr, a_size num)

void	set_rule (unsigned int nrule_, a_float const me_, a_float const mec_, a_float const mkp_, a_float const mki_, a_float const *mkd_)

void	set_kpid (a_float kp_, a_float ki_, a_float kd_)

a_float	run (a_float set, a_float fdb)

a_float	pos (a_float set, a_float fdb)

a_float	inc (a_float set, a_float fdb)

void	zero ()

Data Fields
a_pid	pid

a_float const *	me

a_float const *	mec

a_float const *	mkp

a_float const *	mki

a_float const *	mkd

unsigned int *	idx

a_float *	val

a_float(*	opr )(a_float, a_float)

a_float	kp

a_float	ki

a_float	kd

unsigned int	nrule

unsigned int	nfuzz

Detailed Description

instance structure for fuzzy PID controller

Field Documentation

◆ idx

unsigned int* a_pid_fuzzy::idx

the memory block for membership index, >= 2N

◆ kd

a_float a_pid_fuzzy::kd

base derivative constant

◆ ki

a_float a_pid_fuzzy::ki

base integral constant

◆ kp

a_float a_pid_fuzzy::kp

base proportional constant

◆ me

a_float const* a_pid_fuzzy::me

points to e's membership function parameter table

◆ mec

a_float const* a_pid_fuzzy::mec

points to ec's membership function parameter table

◆ mkd

a_float const* a_pid_fuzzy::mkd

points to Kd's rule base, which must be a square matrix

◆ mki

a_float const* a_pid_fuzzy::mki

points to Ki's rule base, which must be a square matrix

◆ mkp

a_float const* a_pid_fuzzy::mkp

points to Kp's rule base, which must be a square matrix

◆ nfuzz

unsigned int a_pid_fuzzy::nfuzz

maximum number triggered by the rule

◆ nrule

unsigned int a_pid_fuzzy::nrule

number of order in the square matrix

◆ opr

a_float(* a_pid_fuzzy::opr) (a_float, a_float)

fuzzy relational operator

◆ pid

a_pid a_pid_fuzzy::pid

instance structure for PID controller

◆ val

a_float* a_pid_fuzzy::val

the memory block for membership value and membership outer product of e and ec, >= (2+N)N

The documentation for this struct was generated from the following file:

pid_fuzzy.h

Public Member Functions

Data Fields