ldoc

• Index

Contents

• Functions
• Tables

Modules

• liba
• liba.complex
• liba.crc16
• liba.crc32
• liba.crc64
• liba.crc8
• liba.hpf
• liba.lpf
• liba.mf
• liba.pid
• liba.pid_fuzzy
• liba.pid_neuro
• liba.tf
• liba.trajbell
• liba.trajpoly3
• liba.trajpoly5
• liba.trajpoly7
• liba.trajtrap
• liba.version

Classes

• a.complex
• a.crc16
• a.crc32
• a.crc64
• a.crc8
• a.hpf
• a.lpf
• a.pid
• a.pid_fuzzy
• a.pid_neuro
• a.tf
• a.trajbell
• a.trajpoly3
• a.trajpoly5
• a.trajpoly7
• a.trajtrap
• a.version

Module liba.pid_fuzzy

fuzzy proportional integral derivative controller

Functions

die (ctx)	destructor for fuzzy PID controller
new ()	constructor for fuzzy PID controller
init (ctx)	initialize for fuzzy PID controller
op (ctx, op)	set fuzzy relational operator for fuzzy PID controller
rule (ctx, me, mec, mkp, mki, mkd)	set rule base for fuzzy PID controller
set_block (ctx, num)	set memory block for fuzzy PID controller
kpid (ctx, kp, ki, kd)	set proportional integral derivative constant for fuzzy PID controller
run (ctx, set, fdb)	calculate for fuzzy PID controller
pos (ctx, set, fdb)	calculate for positional fuzzy PID controller
inc (ctx, set, fdb)	calculate for incremental fuzzy PID controller
zero (ctx)	zeroing for fuzzy PID controller

Tables

op	enumeration for fuzzy relational operator

Functions

die (ctx)

destructor for fuzzy PID controller

Parameters:

• ctx a.pid_fuzzy fuzzy PID controller userdata

new ()

constructor for fuzzy PID controller

Returns:

a.pid_fuzzy fuzzy PID controller userdata

init (ctx)

initialize for fuzzy PID controller

Parameters:

• ctx a.pid_fuzzy fuzzy PID controller userdata

Returns:

a.pid_fuzzy fuzzy PID controller userdata

op (ctx, op)

set fuzzy relational operator for fuzzy PID controller

Parameters:

• ctx a.pid_fuzzy fuzzy PID controller userdata
• op int enumeration for fuzzy PID controller operator

Returns:

a.pid_fuzzy fuzzy PID controller userdata

rule (ctx, me, mec, mkp, mki, mkd)

set rule base for fuzzy PID controller

Parameters:

• ctx a.pid_fuzzy fuzzy PID controller userdata
• me table points to membership function parameter table, terminated by 0
• mec table points to membership function parameter table, terminated by 0
• mkp table points to Kp's rule base table which must be a square matrix
• mki table points to Ki's rule base table which must be a square matrix
• mkd table points to Kd's rule base table which must be a square matrix

Returns:

a.pid_fuzzy fuzzy PID controller userdata

set_block (ctx, num)

set memory block for fuzzy PID controller

Parameters:

• ctx a.pid_fuzzy fuzzy PID controller userdata
• num int maximum number triggered by the rule

Returns:

a.pid_fuzzy fuzzy PID controller userdata

kpid (ctx, kp, ki, kd)

set proportional integral derivative constant for fuzzy PID controller

Parameters:

• ctx a.pid_fuzzy fuzzy PID controller userdata
• kp number proportional constant
• ki number integral constant
• kd number derivative constant

Returns:

a.pid_fuzzy fuzzy PID controller userdata

run (ctx, set, fdb)

calculate for fuzzy PID controller

Parameters:

• ctx a.pid_fuzzy fuzzy PID controller userdata
• set number setpoint value
• fdb number feedback value

Returns:

number setpoint value

pos (ctx, set, fdb)

calculate for positional fuzzy PID controller

Parameters:

• ctx a.pid_fuzzy fuzzy PID controller userdata
• set number setpoint value
• fdb number feedback value

Returns:

number output value

inc (ctx, set, fdb)

calculate for incremental fuzzy PID controller

Parameters:

• ctx a.pid_fuzzy fuzzy PID controller userdata
• set number setpoint value
• fdb number feedback value

Returns:

number output value

zero (ctx)

zeroing for fuzzy PID controller

Parameters:

• ctx a.pid_fuzzy fuzzy PID controller userdata

Returns:

a.pid_fuzzy fuzzy PID controller userdata

Tables

op

enumeration for fuzzy relational operator

Fields:

• CAP min(a,b)
• CAP_ALGEBRA a*b
• CAP_BOUNDED max(a+b-1,0)
• CUP max(a,b)
• CUP_ALGEBRA a+b-a*b
• CUP_BOUNDED min(a+b,1)
• EQU sqrt(a,b)*sqrt(1-(1-a)*(1-b))