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

## 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; } ```