include/a/pid_neuro.h

   1 /*!
   2  @file pid_neuro.h
   3  @brief single neuron proportional integral derivative controller
   4  @details
   5  \f{cases}{
   6   x_i=e(k)\\
   7   x_p=e(k)-e(k-1)\\
   8   x_d=e(k)-2e(k-1)+e(k-2)
   9  \f}
  10  \f{cases}{
  11   \omega_{p}(k)=\omega_{p}(k-1)+\eta_{p}e(k)u(k)x_{p}(k)\\
  12   \omega_{i}(k)=\omega_{i}(k-1)+\eta_{i}e(k)u(k)x_{i}(k)\\
  13   \omega_{d}(k)=\omega_{d}(k-1)+\eta_{d}e(k)u(k)x_{d}(k)
  14  \f}
  15  \f[
  16   u(k)=u(k-1)+K\frac{w_{p}(k)x_{p}(k)+w_{i}(k)x_{i}(k)+w_{d}(k)x_{d}(k)}
  17                     {|\omega_{p}(k)|+|\omega_{i}(k)|+|\omega_{d}(k)|}
  18  \f]
  19 */
  20
  21 #ifndef LIBA_PID_NEURO_H
  22 #define LIBA_PID_NEURO_H
  23
  24 #include "pid.h"
  25
  26 /*!
  27  @ingroup A
  28  @addtogroup A_PID_NEURO single neuron proportional integral derivative controller
  29  @{
  30 */
  31
  32 typedef struct a_pid_neuro a_pid_neuro;
  33
  34 #if defined(__cplusplus)
  35 extern "C" {
  36 #endif /* __cplusplus */
  37
  38 /*!
  39  @brief initialize for single neuron PID controller
  40  @param[in,out] ctx points to an instance of single neuron PID controller
  41 */
  42 #define a_pid_neuro_init(ctx) a_pid_neuro_zero(ctx)
  43
  44 /*!
  45  @brief set proportional integral derivative constant for single neuron PID controller
  46  @param[in,out] ctx points to an instance of single neuron PID controller
  47  @param[in] k proportional output coefficient
  48  @param[in] kp proportional learning constant
  49  @param[in] ki integral learning constant
  50  @param[in] kd derivative learning constant
  51 */
  52 A_EXTERN void a_pid_neuro_kpid(a_pid_neuro *ctx, a_float k, a_float kp, a_float ki, a_float kd);
  53
  54 /*!
  55  @brief set proportional integral derivative weight for single neuron PID controller
  56  @param[in,out] ctx points to an instance of single neuron PID controller
  57  @param[in] wp proportional weight
  58  @param[in] wi integral weight
  59  @param[in] wd derivative lweight
  60 */
  61 A_EXTERN void a_pid_neuro_wpid(a_pid_neuro *ctx, a_float wp, a_float wi, a_float wd);
  62
  63 /*!
  64  @brief calculate for single neuron PID controller
  65  @param[in,out] ctx points to an instance of single neuron PID controller
  66  @param[in] set setpoint value
  67  @param[in] fdb feedback value
  68  @return setpoint value
  69 */
  70 A_EXTERN a_float a_pid_neuro_run(a_pid_neuro *ctx, a_float set, a_float fdb);
  71
  72 /*!
  73  @brief calculate for incremental single neuron PID controller
  74  @param[in,out] ctx points to an instance of single neuron PID controller
  75  @param[in] set setpoint value
  76  @param[in] fdb feedback value
  77  @return output value
  78 */
  79 A_EXTERN a_float a_pid_neuro_inc(a_pid_neuro *ctx, a_float set, a_float fdb);
  80
  81 /*!
  82  @brief zeroing for single neuron PID controller
  83  @param[in,out] ctx points to an instance of single neuron PID controller
  84 */
  85 A_EXTERN void a_pid_neuro_zero(a_pid_neuro *ctx);
  86
  87 #if defined(__cplusplus)
  88 } /* extern "C" */
  89 namespace a
  90 {
  91 typedef struct a_pid_neuro pid_neuro;
  92 } /* namespace a */
  93 #endif /* __cplusplus */
  94
  95 /*!
  96  @brief instance structure for single neuron PID controller
  97 */
  98 struct a_pid_neuro
  99 {
 100     a_pid pid; //!< instance structure for PID controller
 101     a_float k; //!< proportional output coefficient
 102     a_float wp; //!< proportional weight
 103     a_float wi; //!< integral weight
 104     a_float wd; //!< derivative weight
 105     a_float ec; //!< error change
 106 #if defined(__cplusplus)
 107     A_INLINE void init() { a_pid_neuro_init(this); }
 108     A_INLINE void kpid(a_float _k, a_float kp, a_float ki, a_float kd)
 109     {
 110         a_pid_neuro_kpid(this, _k, kp, ki, kd);
 111     }
 112     A_INLINE void wpid(a_float _wp, a_float _wi, a_float _wd)
 113     {
 114         a_pid_neuro_wpid(this, _wp, _wi, _wd);
 115     }
 116     A_INLINE a_float run(a_float set, a_float fdb)
 117     {
 118         return a_pid_neuro_run(this, set, fdb);
 119     }
 120     A_INLINE a_float inc(a_float set, a_float fdb)
 121     {
 122         return a_pid_neuro_inc(this, set, fdb);
 123     }
 124     A_INLINE void zero() { a_pid_neuro_zero(this); }
 125 #endif /* __cplusplus */
 126 };
 127
 128 /*! @} A_PID_NEURO */
 129
 130 #endif /* a/pid_neuro.h */