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Soft Computing
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parent
f1d5b0a38b
commit
2844eb60ec
72
Esiur.Analysis.Test/FMain.Designer.cs
generated
72
Esiur.Analysis.Test/FMain.Designer.cs
generated
@ -1,72 +0,0 @@
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namespace Esiur.Analysis.Test
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{
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partial class FMain
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{
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/// <summary>
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/// Required designer variable.
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/// </summary>
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private System.ComponentModel.IContainer components = null;
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/// <summary>
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/// Clean up any resources being used.
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/// </summary>
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/// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
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protected override void Dispose(bool disposing)
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{
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if (disposing && (components != null))
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{
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components.Dispose();
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}
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base.Dispose(disposing);
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}
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#region Windows Form Designer generated code
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/// <summary>
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/// Required method for Designer support - do not modify
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/// the contents of this method with the code editor.
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/// </summary>
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private void InitializeComponent()
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{
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this.formsPlot1 = new ScottPlot.FormsPlot();
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this.button1 = new System.Windows.Forms.Button();
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this.SuspendLayout();
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//
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// formsPlot1
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//
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this.formsPlot1.Location = new System.Drawing.Point(57, 47);
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this.formsPlot1.Margin = new System.Windows.Forms.Padding(5, 4, 5, 4);
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this.formsPlot1.Name = "formsPlot1";
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this.formsPlot1.Size = new System.Drawing.Size(1006, 576);
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this.formsPlot1.TabIndex = 0;
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//
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// button1
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//
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this.button1.Location = new System.Drawing.Point(12, 316);
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this.button1.Name = "button1";
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this.button1.Size = new System.Drawing.Size(85, 31);
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this.button1.TabIndex = 1;
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this.button1.Text = "button1";
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this.button1.UseVisualStyleBackColor = true;
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this.button1.Click += new System.EventHandler(this.button1_Click);
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//
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// FMain
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//
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this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 20F);
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this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
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this.ClientSize = new System.Drawing.Size(1175, 658);
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this.Controls.Add(this.button1);
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this.Controls.Add(this.formsPlot1);
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this.Name = "FMain";
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this.Text = "PID Controller with Fuzzy";
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this.Load += new System.EventHandler(this.FMain_Load);
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this.ResumeLayout(false);
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}
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#endregion
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private ScottPlot.FormsPlot formsPlot1;
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private Button button1;
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}
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}
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@ -1,345 +0,0 @@
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using Esiur.Analysis.DSP;
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using Esiur.Analysis.Fuzzy;
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using Esiur.Analysis.Optimization;
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using Esiur.Analysis.Signals;
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using Esiur.Analysis.Units;
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using Microsoft.VisualBasic.Logging;
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using ScottPlot;
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using ScottPlot.Drawing.Colormaps;
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using System.Security.Cryptography;
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using Esiur.Analysis.Statistics;
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using System.Diagnostics;
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namespace Esiur.Analysis.Test
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{
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public partial class FMain : Form
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{
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public FMain()
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{
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InitializeComponent();
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//var outage = Capacity.ComputeOutage(20000000, new Capacity.CSI[]
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//{
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// new Capacity.CSI(PowerUnit.FromDb(20), 0.1),
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// new Capacity.CSI(PowerUnit.FromDb(15), 0.15),
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// new Capacity.CSI(PowerUnit.FromDb(10), 0.25),
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// new Capacity.CSI(PowerUnit.FromDb(5), 0.25),
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// new Capacity.CSI(PowerUnit.FromDb(0), 0.15),
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// new Capacity.CSI(PowerUnit.FromDb(-5), 0.1),
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//});
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var outage = Capacity.ComputeOutage(1, new Capacity.CSI[]
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{
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new Capacity.CSI(PowerUnit.FromDb(30), 0.2),
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new Capacity.CSI(PowerUnit.FromDb(20), 0.3),
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new Capacity.CSI(PowerUnit.FromDb(10), 0.3),
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new Capacity.CSI(PowerUnit.FromDb(0), 0.2),
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});
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var low = new ContinuousSet(MembershipFunctions.Descending(20, 40));
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var mid = new ContinuousSet(MembershipFunctions.Triangular(20, 40, 60));
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var high = new ContinuousSet(MembershipFunctions.Ascending(40, 60));
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var bad = new ContinuousSet(MembershipFunctions.Descending(0, 30));
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var ok = new ContinuousSet(MembershipFunctions.Triangular(20, 50, 80));
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var excelent = new ContinuousSet(MembershipFunctions.Ascending(70, 100));
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var small = new ContinuousSet(MembershipFunctions.Descending(100, 200));
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var avg = new ContinuousSet(MembershipFunctions.Triangular(100, 200, 300));
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var big = new ContinuousSet(MembershipFunctions.Ascending(200, 300));
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//var speedIsLowThenSmall = new FuzzyRule("Low=>Small", low, small);
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double rating = 80;
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for (double temp = 60; temp < 100; temp++)
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{
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var v = MamdaniDefuzzifier.Evaluate(new INumericalSet<double>[]
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{
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temp.Is(low).And(rating.Is(bad)).Then(small),
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temp.Is(mid).And(rating.Is(ok)).Then(avg),
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temp.Is(high).And(rating.Is(excelent)).Then(big),
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}, MamdaniDefuzzifierMethod.CenterOfGravity, 100, 300, 1);
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}
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}
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private void FMain_Load(object sender, EventArgs e)
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{
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var lowErr = new ContinuousSet(MembershipFunctions.Descending(-5, 4.5));
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var midErr = new ContinuousSet(MembershipFunctions.Triangular(-4, 6.5, 16.5));
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var highErr = new ContinuousSet(MembershipFunctions.Ascending(8, 18));
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var lowAccErr = new ContinuousSet(MembershipFunctions.Descending(0, 0.02));
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var midAccErr = new ContinuousSet(MembershipFunctions.Triangular(0.02, 0.04, 0.06));
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var highAccErr = new ContinuousSet(MembershipFunctions.Ascending(0.04, 0.06));
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var small = new ContinuousSet(MembershipFunctions.Descending(0.1, 0.5));
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var avg = new ContinuousSet(MembershipFunctions.Triangular(0.1, 0.5, 1.1));
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var big = new ContinuousSet(MembershipFunctions.Ascending(-10, 1.1));
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var x = Enumerable.Range(0, 1000).Select(x => x * 0.01).ToArray();
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var step = Enumerable.Repeat(1, 1000).Select(x => (double)x).ToArray();
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step[0] = 0;
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var motor = new TransferFunction(new double[] { 1, 2 }, new double[] { 1, 1, 2 }, 0.01);
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var motorPID = new TransferFunction(new double[] { 1, 2 }, new double[] { 1, 1, 2 }, 0.01);
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var motorFuzzyPID = new TransferFunction(new double[] { 1, 2 }, new double[] { 1, 1, 2 }, 0.01);
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//double Kp = 2, Ki = 0.4, Kd = 0.4;
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double Ki = -1.9181372, Kp = 18.625, Kd = 0.38281253;
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var pid = new TransferFunction(new double[] { Kd, Kp, Ki }, new double[] { 1, 1 }, 0.01);
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var fuzzyPID = new TransferFunction(new double[] { Kd, Kp, Ki }, new double[] { 1, 1 }, 0.01);
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var sysOut = new double[step.Length];
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var sysOutFuzzyPID = new double[step.Length];
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var sysOutPID = new double[step.Length];
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var pidOut = new double[step.Length];
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var pidOutFuzzy = new double[step.Length];
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var errorOutPID = new double[step.Length];
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var errOut = new double[step.Length];
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var errAccOut = new double[step.Length];
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//var errorAccOut = new double[step.Length];
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var errorOutFuzzy = new double[step.Length];
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var errorOutAccFuzzy = new double[step.Length];
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for (var i = 0; i < step.Length; i++)
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{
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sysOut[i] = motor.Evaluate(step[i]);
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errOut[i] = step[i] - sysOut[i];
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errAccOut[i] = errOut[i] - (i == 0 ? 0 : errOut[i - 1]);
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sysOutPID[i] = motorPID.Evaluate(step[i] + (i == 0 ? 0 : pidOut[i - 1]));
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sysOutFuzzyPID[i] = motorFuzzyPID.Evaluate(step[i] + (i == 0 ? 0 : pidOutFuzzy[i - 1]));
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errorOutPID[i] = (step[i] - sysOutPID[i]);
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errorOutFuzzy[i] = (step[i] - sysOutFuzzyPID[i]);
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errorOutAccFuzzy[i] = (errorOutFuzzy[i] - (i == 0 ? 0 : errorOutFuzzy[i - 1]));
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pidOut[i] = pid.Evaluate(errorOutPID[i]);
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pidOutFuzzy[i] = fuzzyPID.Evaluate(errorOutFuzzy[i]);
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var k = MamdaniDefuzzifier.Evaluate(new INumericalSet<double>[]
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{
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errorOutFuzzy[i].Is(lowErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(small),
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errorOutFuzzy[i].Is(lowErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(small),
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errorOutFuzzy[i].Is(lowErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(avg),
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errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(small),
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errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(avg),
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errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(big),
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errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(avg),
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errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(big),
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errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(big),
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}, MamdaniDefuzzifierMethod.CenterOfGravity, 0, 1, 0.05);
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fuzzyPID.InputCoefficients[1] = k;
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fuzzyPID.InputCoefficients[1] = k;
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fuzzyPID.InputCoefficients[1] = k;
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}
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Debug.WriteLine($"Error Values Min: {errOut.Min()} Max: {errOut.Max()} ");
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Debug.WriteLine($"Error Acc Values Min: {errAccOut.Min()} Max: {errAccOut.Max()} ");
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formsPlot1.Plot.AddScatter(x, sysOut, Color.Red);
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formsPlot1.Plot.AddScatter(x, sysOutPID, Color.Blue);
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formsPlot1.Plot.AddScatter(x, sysOutFuzzyPID, Color.Green);
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formsPlot1.Refresh();
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}
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struct KK
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{
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public float Ki;
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public float Kp;
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public float Kd;
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public override string ToString()
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{
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return $"Ki {Ki} Kp {Kp} Kd {Kd}";
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}
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}
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struct FuzzyChromosome
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{
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public sbyte KiInputErrPosition;
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public sbyte KiInputErrScale;
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public sbyte KiInputErrAccPosition;
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public sbyte KiInputErrAccScale;
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public sbyte KiOutputPosition;
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public sbyte KiOutputScale;
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}
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private double CalculateFuzzyPIDStepError(FuzzyChromosome config, double errStart, double errEnd)
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{
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var errPos = config.KiInputErrPosition * 0.1;
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var errScale = config.KiInputErrPosition * 0.1;
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var lowErr = new ContinuousSet(MembershipFunctions.Descending(config.KiInputErrPosition * 0.1, config.kiLowStart * 0.1 + Math.Abs(config.kiLowEnd * 0.1)));
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var midErr = new ContinuousSet(MembershipFunctions.Triangular(config.KiInputErrPosition * 0.1, config.kiMidStart * 0.1 + Math.Abs(config.kiMidMid * 0.1), config.kiMidStart * 0.1 + Math.Abs(config.kiMidMid * 0.1) + Math.Abs(config.kiMidEnd * 0.1)));
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var highErr = new ContinuousSet(MembershipFunctions.Ascending(config.KiInputErrPosition * 0.1, config.kiHiStart * 0.1 + Math.Abs(config.kiHiEnd * 0.1)));
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var lowAccErr = new ContinuousSet(MembershipFunctions.Descending(config.KiInputErrAccPosition * 0.1, Math.Abs(config.kiLowAccStart * 0.1) + Math.Abs(config.kiLowAccEnd * 0.1)));
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var midAccErr = new ContinuousSet(MembershipFunctions.Triangular(config.KiInputErrAccPosition * 0.1, Math.Abs(config.kiMidAccStart * 0.1) + Math.Abs(config.kiMidAccMid * 0.1), config.kiMidAccStart * 0.1 + Math.Abs(config.kiMidAccMid * 0.1) + Math.Abs(config.kiMidAccEnd * 0.1)));
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var highAccErr = new ContinuousSet(MembershipFunctions.Ascending(config.KiInputErrAccPosition * 0.1, config.kiHiAccStart * 0.1 + Math.Abs(config.kiHiAccEnd * 0.1)));
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var small = new ContinuousSet(MembershipFunctions.Descending(config.kiSmallStart * 0.1, config.kiSmallStart * 0.1 + Math.Abs(config.kiSmallEnd * 0.1)));
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var avg = new ContinuousSet(MembershipFunctions.Triangular(config.kiAvgStart * 0.1, config.kiAvgStart * 0.1 + Math.Abs(config.kiAvgMid * 0.1), config.kiAvgStart * 0.1 + Math.Abs(config.kiAvgMid * 0.1) + Math.Abs(config.kiAvgEnd * 0.1)));
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var big = new ContinuousSet(MembershipFunctions.Ascending(config.kiBigStart * 0.1, config.kiBigStart * 0.1 + Math.Abs(config.kiBigEnd * 0.1)));
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double Ki = -1.9181372, Kp = 18.625, Kd = 0.38281253;
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var step = Enumerable.Repeat(1, 1000).Select(x => (double)x).ToArray();
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step[0] = 0;
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var motor = new TransferFunction(new double[] { 1, 2 }, new double[] { 1, 1, 2 }, 0.01);
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var fuzzyPID = new TransferFunction(new double[] { Kd, Kp, Ki }, new double[] { 1, 1 }, 0.01);
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var sysOutFuzzyPID = new double[step.Length];
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var pidOut = new double[step.Length];
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var pidOutFuzzy = new double[step.Length];
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var errorOutFuzzy = new double[step.Length];
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var errorOutAccFuzzy = new double[step.Length];
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for (var i = 0; i < step.Length; i++)
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{
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sysOutFuzzyPID[i] = motor.Evaluate(step[i] + (i == 0 ? 0 : pidOutFuzzy[i - 1]));
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errorOutFuzzy[i] = (step[i] - sysOutFuzzyPID[i]);
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errorOutAccFuzzy[i] = (errorOutFuzzy[i] - (i == 0 ? 0 : errorOutFuzzy[i - 1]));
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pidOutFuzzy[i] = fuzzyPID.Evaluate(errorOutFuzzy[i]);
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var k = MamdaniDefuzzifier.Evaluate(new INumericalSet<double>[]
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{
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errorOutFuzzy[i].Is(lowErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(small),
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errorOutFuzzy[i].Is(lowErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(small),
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errorOutFuzzy[i].Is(lowErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(avg),
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errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(small),
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errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(avg),
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errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(big),
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errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(avg),
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errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(big),
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errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(big),
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}, MamdaniDefuzzifierMethod.CenterOfGravity, -100, 100, 0.5);
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fuzzyPID.InputCoefficients[1] = k;
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|
||||||
//fuzzyPID.InputCoefficients[1] = k;
|
|
||||||
//fuzzyPID.InputCoefficients[1] = k;
|
|
||||||
}
|
|
||||||
|
|
||||||
return errorOutFuzzy.RMS();
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
private double CalculatePIDStepError(double Kd, double Kp, double Ki)
|
|
||||||
{
|
|
||||||
var step = Enumerable.Repeat(1, 1000).Select(x => (double)x).ToArray();
|
|
||||||
step[0] = 0;
|
|
||||||
|
|
||||||
var motor = new TransferFunction(new double[] { 1, 2 }, new double[] { 1, 1, 2 }, 0.01);
|
|
||||||
|
|
||||||
var sysOutPID = new double[step.Length];
|
|
||||||
|
|
||||||
var pidOut = new double[step.Length];
|
|
||||||
var errorOutPID = new double[step.Length];
|
|
||||||
var pid = new TransferFunction(new double[] { Kd, Kp, Ki }, new double[] { 1, 1 }, 0.01);
|
|
||||||
|
|
||||||
for (var i = 0; i < step.Length; i++)
|
|
||||||
{
|
|
||||||
sysOutPID[i] = motor.Evaluate(step[i] + (i == 0 ? 0 : pidOut[i - 1]));
|
|
||||||
|
|
||||||
if (double.IsInfinity(sysOutPID[i]))
|
|
||||||
Console.WriteLine();
|
|
||||||
|
|
||||||
errorOutPID[i] = (step[i] - sysOutPID[i]);
|
|
||||||
|
|
||||||
if (double.IsNaN(errorOutPID[i]))
|
|
||||||
Console.WriteLine();
|
|
||||||
|
|
||||||
pidOut[i] = pid.Evaluate(errorOutPID[i]);
|
|
||||||
|
|
||||||
if (double.IsInfinity(pidOut[i]))
|
|
||||||
Console.WriteLine();
|
|
||||||
|
|
||||||
}
|
|
||||||
|
|
||||||
return errorOutPID.RMS();
|
|
||||||
}
|
|
||||||
|
|
||||||
private void button1_Click(object sender, EventArgs e)
|
|
||||||
{
|
|
||||||
|
|
||||||
//var gen = new Genetic<KK>(100, k =>
|
|
||||||
//{
|
|
||||||
// if (float.IsNaN(k.Ki) || float.IsNaN(k.Kp) || float.IsNaN(k.Kd))
|
|
||||||
// return (double.MaxValue);
|
|
||||||
|
|
||||||
|
|
||||||
// var r = CalculatePIDStepError(k.Kd, k.Kp, k.Ki);
|
|
||||||
// if (double.IsNaN(r))
|
|
||||||
// Console.WriteLine();
|
|
||||||
// return r;
|
|
||||||
//});
|
|
||||||
|
|
||||||
var gen = new Genetic<KKFF>(100, k =>
|
|
||||||
{
|
|
||||||
if (float.IsNaN(k.kiAvgEnd)
|
|
||||||
|| float.IsNaN(k.kiAvgMid)
|
|
||||||
|| float.IsNaN(k.kiAvgStart)
|
|
||||||
|| float.IsNaN(k.kiBigEnd)
|
|
||||||
|| float.IsNaN(k.kiBigStart)
|
|
||||||
|| float.IsNaN(k.kiHiAccEnd)
|
|
||||||
|| float.IsNaN(k.kiHiAccStart)
|
|
||||||
|| float.IsNaN(k.kiHiEnd)
|
|
||||||
|| float.IsNaN(k.kiHiStart)
|
|
||||||
|| float.IsNaN(k.kiLowAccEnd)
|
|
||||||
|| float.IsNaN(k.kiLowAccStart)
|
|
||||||
|| float.IsNaN(k.kiLowEnd)
|
|
||||||
|| float.IsNaN(k.kiLowStart)
|
|
||||||
|| float.IsNaN(k.kiMidAccEnd)
|
|
||||||
|| float.IsNaN(k.kiMidAccMid)
|
|
||||||
|| float.IsNaN(k.kiMidAccStart)
|
|
||||||
|| float.IsNaN(k.kiMidEnd)
|
|
||||||
|| float.IsNaN(k.kiMidMid)
|
|
||||||
|| float.IsNaN(k.kiMidStart)
|
|
||||||
|| float.IsNaN(k.kiSmallEnd)
|
|
||||||
|| float.IsNaN(k.kiSmallStart))
|
|
||||||
return (double.MaxValue);
|
|
||||||
|
|
||||||
|
|
||||||
var r = CalculateFuzzyPIDStepError(k);
|
|
||||||
if (double.IsNaN(r))
|
|
||||||
Console.WriteLine();
|
|
||||||
return r;
|
|
||||||
});
|
|
||||||
|
|
||||||
|
|
||||||
var ev = gen.Evaluate(1000);
|
|
||||||
|
|
||||||
Console.WriteLine(ev);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
}
|
|
||||||
169
Esiur.Analysis.Test/FSoft.Designer.cs
generated
Normal file
169
Esiur.Analysis.Test/FSoft.Designer.cs
generated
Normal file
@ -0,0 +1,169 @@
|
|||||||
|
namespace Esiur.Analysis.Test
|
||||||
|
{
|
||||||
|
partial class FSoft
|
||||||
|
{
|
||||||
|
/// <summary>
|
||||||
|
/// Required designer variable.
|
||||||
|
/// </summary>
|
||||||
|
private System.ComponentModel.IContainer components = null;
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// Clean up any resources being used.
|
||||||
|
/// </summary>
|
||||||
|
/// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
|
||||||
|
protected override void Dispose(bool disposing)
|
||||||
|
{
|
||||||
|
if (disposing && (components != null))
|
||||||
|
{
|
||||||
|
components.Dispose();
|
||||||
|
}
|
||||||
|
base.Dispose(disposing);
|
||||||
|
}
|
||||||
|
|
||||||
|
#region Windows Form Designer generated code
|
||||||
|
|
||||||
|
/// <summary>
|
||||||
|
/// Required method for Designer support - do not modify
|
||||||
|
/// the contents of this method with the code editor.
|
||||||
|
/// </summary>
|
||||||
|
private void InitializeComponent()
|
||||||
|
{
|
||||||
|
this.formsPlot1 = new ScottPlot.FormsPlot();
|
||||||
|
this.button1 = new System.Windows.Forms.Button();
|
||||||
|
this.formsPlot2 = new ScottPlot.FormsPlot();
|
||||||
|
this.formsPlot3 = new ScottPlot.FormsPlot();
|
||||||
|
this.formsPlot4 = new ScottPlot.FormsPlot();
|
||||||
|
this.button2 = new System.Windows.Forms.Button();
|
||||||
|
this.textBox1 = new System.Windows.Forms.TextBox();
|
||||||
|
this.button3 = new System.Windows.Forms.Button();
|
||||||
|
this.button4 = new System.Windows.Forms.Button();
|
||||||
|
this.textBox2 = new System.Windows.Forms.TextBox();
|
||||||
|
this.SuspendLayout();
|
||||||
|
//
|
||||||
|
// formsPlot1
|
||||||
|
//
|
||||||
|
this.formsPlot1.Location = new System.Drawing.Point(14, 47);
|
||||||
|
this.formsPlot1.Margin = new System.Windows.Forms.Padding(5, 4, 5, 4);
|
||||||
|
this.formsPlot1.Name = "formsPlot1";
|
||||||
|
this.formsPlot1.Size = new System.Drawing.Size(901, 703);
|
||||||
|
this.formsPlot1.TabIndex = 0;
|
||||||
|
this.formsPlot1.Load += new System.EventHandler(this.formsPlot1_Load);
|
||||||
|
//
|
||||||
|
// button1
|
||||||
|
//
|
||||||
|
this.button1.Location = new System.Drawing.Point(545, 753);
|
||||||
|
this.button1.Name = "button1";
|
||||||
|
this.button1.Size = new System.Drawing.Size(183, 31);
|
||||||
|
this.button1.TabIndex = 1;
|
||||||
|
this.button1.Text = "Genetic Fuzzy PID";
|
||||||
|
this.button1.UseVisualStyleBackColor = true;
|
||||||
|
this.button1.Click += new System.EventHandler(this.button1_Click);
|
||||||
|
//
|
||||||
|
// formsPlot2
|
||||||
|
//
|
||||||
|
this.formsPlot2.Location = new System.Drawing.Point(908, 47);
|
||||||
|
this.formsPlot2.Margin = new System.Windows.Forms.Padding(5, 4, 5, 4);
|
||||||
|
this.formsPlot2.Name = "formsPlot2";
|
||||||
|
this.formsPlot2.Size = new System.Drawing.Size(369, 243);
|
||||||
|
this.formsPlot2.TabIndex = 2;
|
||||||
|
//
|
||||||
|
// formsPlot3
|
||||||
|
//
|
||||||
|
this.formsPlot3.Location = new System.Drawing.Point(908, 273);
|
||||||
|
this.formsPlot3.Margin = new System.Windows.Forms.Padding(5, 4, 5, 4);
|
||||||
|
this.formsPlot3.Name = "formsPlot3";
|
||||||
|
this.formsPlot3.Size = new System.Drawing.Size(369, 241);
|
||||||
|
this.formsPlot3.TabIndex = 3;
|
||||||
|
//
|
||||||
|
// formsPlot4
|
||||||
|
//
|
||||||
|
this.formsPlot4.Location = new System.Drawing.Point(908, 522);
|
||||||
|
this.formsPlot4.Margin = new System.Windows.Forms.Padding(5, 4, 5, 4);
|
||||||
|
this.formsPlot4.Name = "formsPlot4";
|
||||||
|
this.formsPlot4.Size = new System.Drawing.Size(369, 241);
|
||||||
|
this.formsPlot4.TabIndex = 4;
|
||||||
|
//
|
||||||
|
// button2
|
||||||
|
//
|
||||||
|
this.button2.Location = new System.Drawing.Point(734, 753);
|
||||||
|
this.button2.Name = "button2";
|
||||||
|
this.button2.Size = new System.Drawing.Size(193, 31);
|
||||||
|
this.button2.TabIndex = 5;
|
||||||
|
this.button2.Text = "Fuzzy PID";
|
||||||
|
this.button2.UseVisualStyleBackColor = true;
|
||||||
|
this.button2.Click += new System.EventHandler(this.button2_Click);
|
||||||
|
//
|
||||||
|
// textBox1
|
||||||
|
//
|
||||||
|
this.textBox1.Location = new System.Drawing.Point(116, 753);
|
||||||
|
this.textBox1.Name = "textBox1";
|
||||||
|
this.textBox1.Size = new System.Drawing.Size(176, 27);
|
||||||
|
this.textBox1.TabIndex = 6;
|
||||||
|
this.textBox1.Text = "10 / 1 1 0.1";
|
||||||
|
//
|
||||||
|
// button3
|
||||||
|
//
|
||||||
|
this.button3.Location = new System.Drawing.Point(314, 753);
|
||||||
|
this.button3.Name = "button3";
|
||||||
|
this.button3.Size = new System.Drawing.Size(143, 31);
|
||||||
|
this.button3.TabIndex = 7;
|
||||||
|
this.button3.Text = "System";
|
||||||
|
this.button3.UseVisualStyleBackColor = true;
|
||||||
|
this.button3.Click += new System.EventHandler(this.button3_Click);
|
||||||
|
//
|
||||||
|
// button4
|
||||||
|
//
|
||||||
|
this.button4.Location = new System.Drawing.Point(757, 33);
|
||||||
|
this.button4.Name = "button4";
|
||||||
|
this.button4.Size = new System.Drawing.Size(143, 31);
|
||||||
|
this.button4.TabIndex = 8;
|
||||||
|
this.button4.Text = "Clear";
|
||||||
|
this.button4.UseVisualStyleBackColor = true;
|
||||||
|
this.button4.Click += new System.EventHandler(this.button4_Click);
|
||||||
|
//
|
||||||
|
// textBox2
|
||||||
|
//
|
||||||
|
this.textBox2.Location = new System.Drawing.Point(472, 755);
|
||||||
|
this.textBox2.Name = "textBox2";
|
||||||
|
this.textBox2.Size = new System.Drawing.Size(67, 27);
|
||||||
|
this.textBox2.TabIndex = 9;
|
||||||
|
this.textBox2.Text = "100";
|
||||||
|
this.textBox2.TextChanged += new System.EventHandler(this.textBox2_TextChanged);
|
||||||
|
//
|
||||||
|
// FMain
|
||||||
|
//
|
||||||
|
this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 20F);
|
||||||
|
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
|
||||||
|
this.ClientSize = new System.Drawing.Size(1291, 828);
|
||||||
|
this.Controls.Add(this.textBox2);
|
||||||
|
this.Controls.Add(this.button4);
|
||||||
|
this.Controls.Add(this.button3);
|
||||||
|
this.Controls.Add(this.textBox1);
|
||||||
|
this.Controls.Add(this.button2);
|
||||||
|
this.Controls.Add(this.formsPlot4);
|
||||||
|
this.Controls.Add(this.formsPlot3);
|
||||||
|
this.Controls.Add(this.formsPlot2);
|
||||||
|
this.Controls.Add(this.button1);
|
||||||
|
this.Controls.Add(this.formsPlot1);
|
||||||
|
this.Name = "FMain";
|
||||||
|
this.Text = "PID Controller with Fuzzy";
|
||||||
|
this.Load += new System.EventHandler(this.FMain_Load);
|
||||||
|
this.ResumeLayout(false);
|
||||||
|
this.PerformLayout();
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
#endregion
|
||||||
|
|
||||||
|
private ScottPlot.FormsPlot formsPlot1;
|
||||||
|
private Button button1;
|
||||||
|
private ScottPlot.FormsPlot formsPlot2;
|
||||||
|
private ScottPlot.FormsPlot formsPlot3;
|
||||||
|
private ScottPlot.FormsPlot formsPlot4;
|
||||||
|
private Button button2;
|
||||||
|
private TextBox textBox1;
|
||||||
|
private Button button3;
|
||||||
|
private Button button4;
|
||||||
|
private TextBox textBox2;
|
||||||
|
}
|
||||||
|
}
|
||||||
564
Esiur.Analysis.Test/FSoft.cs
Normal file
564
Esiur.Analysis.Test/FSoft.cs
Normal file
@ -0,0 +1,564 @@
|
|||||||
|
using Esiur.Analysis.DSP;
|
||||||
|
using Esiur.Analysis.Fuzzy;
|
||||||
|
using Esiur.Analysis.Optimization;
|
||||||
|
using Esiur.Analysis.Signals;
|
||||||
|
using Esiur.Analysis.Units;
|
||||||
|
using Microsoft.VisualBasic.Logging;
|
||||||
|
using ScottPlot;
|
||||||
|
using ScottPlot.Drawing.Colormaps;
|
||||||
|
using System.Security.Cryptography;
|
||||||
|
using Esiur.Analysis.Statistics;
|
||||||
|
using System.Diagnostics;
|
||||||
|
|
||||||
|
namespace Esiur.Analysis.Test
|
||||||
|
{
|
||||||
|
public partial class FSoft : Form
|
||||||
|
{
|
||||||
|
|
||||||
|
private double[] num = new double[] { 10 };
|
||||||
|
private double[] denum = new double[] { 1, 1, 0.1 };
|
||||||
|
private int interval = 3000;
|
||||||
|
private double stability = 100;
|
||||||
|
|
||||||
|
public FSoft()
|
||||||
|
{
|
||||||
|
InitializeComponent();
|
||||||
|
|
||||||
|
//var outage = Capacity.ComputeOutage(20000000, new Capacity.CSI[]
|
||||||
|
//{
|
||||||
|
// new Capacity.CSI(PowerUnit.FromDb(20), 0.1),
|
||||||
|
// new Capacity.CSI(PowerUnit.FromDb(15), 0.15),
|
||||||
|
// new Capacity.CSI(PowerUnit.FromDb(10), 0.25),
|
||||||
|
// new Capacity.CSI(PowerUnit.FromDb(5), 0.25),
|
||||||
|
// new Capacity.CSI(PowerUnit.FromDb(0), 0.15),
|
||||||
|
// new Capacity.CSI(PowerUnit.FromDb(-5), 0.1),
|
||||||
|
//});
|
||||||
|
var outage = Capacity.ComputeOutage(1, new Capacity.CSI[]
|
||||||
|
{
|
||||||
|
new Capacity.CSI(PowerUnit.FromDb(30), 0.2),
|
||||||
|
new Capacity.CSI(PowerUnit.FromDb(20), 0.3),
|
||||||
|
new Capacity.CSI(PowerUnit.FromDb(10), 0.3),
|
||||||
|
new Capacity.CSI(PowerUnit.FromDb(0), 0.2),
|
||||||
|
});
|
||||||
|
|
||||||
|
|
||||||
|
var low = new ContinuousSet(MembershipFunctions.Descending(20, 40));
|
||||||
|
var mid = new ContinuousSet(MembershipFunctions.Triangular(20, 40, 60));
|
||||||
|
var high = new ContinuousSet(MembershipFunctions.Ascending(40, 60));
|
||||||
|
|
||||||
|
var bad = new ContinuousSet(MembershipFunctions.Descending(0, 30));
|
||||||
|
var ok = new ContinuousSet(MembershipFunctions.Triangular(20, 50, 80));
|
||||||
|
var excelent = new ContinuousSet(MembershipFunctions.Ascending(70, 100));
|
||||||
|
|
||||||
|
var small = new ContinuousSet(MembershipFunctions.Descending(100, 200));
|
||||||
|
var avg = new ContinuousSet(MembershipFunctions.Triangular(100, 200, 300));
|
||||||
|
var big = new ContinuousSet(MembershipFunctions.Ascending(200, 300));
|
||||||
|
|
||||||
|
//var speedIsLowThenSmall = new FuzzyRule("Low=>Small", low, small);
|
||||||
|
|
||||||
|
double rating = 80;
|
||||||
|
|
||||||
|
for (double temp = 60; temp < 100; temp++)
|
||||||
|
{
|
||||||
|
var v = MamdaniDefuzzifier.Evaluate(new INumericalSet<double>[]
|
||||||
|
{
|
||||||
|
temp.Is(low).And(rating.Is(bad)).Then(small),
|
||||||
|
temp.Is(mid).And(rating.Is(ok)).Then(avg),
|
||||||
|
temp.Is(high).And(rating.Is(excelent)).Then(big),
|
||||||
|
}, MamdaniDefuzzifierMethod.CenterOfGravity, 100, 300, 1);
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
private void FMain_Load(object sender, EventArgs e)
|
||||||
|
{
|
||||||
|
//Ki -29:69 Kp -54:121 Kd 29:112
|
||||||
|
var config = new FuzzyChromosome() { KiStart = -29, KiLength = 69, KpStart = -54, KpLength = 121, KdStart = 29, KdLength = 112 };
|
||||||
|
|
||||||
|
double errStart = -0.412312, errEnd = 1, errAccStart = 0.011, errAccEnd = 0.1;
|
||||||
|
|
||||||
|
var lowErr = new ContinuousSet(MembershipFunctions.Descending(errStart, errEnd / 2.0));
|
||||||
|
var midErr = new ContinuousSet(MembershipFunctions.Triangular(errStart, errEnd / 2, errEnd));
|
||||||
|
var highErr = new ContinuousSet(MembershipFunctions.Ascending(errEnd / 2.0, errEnd));
|
||||||
|
|
||||||
|
var lowAccErr = new ContinuousSet(MembershipFunctions.Descending(errAccStart, errAccEnd / 2.0));
|
||||||
|
var midAccErr = new ContinuousSet(MembershipFunctions.Triangular(errAccStart, errAccEnd / 2.0, errAccEnd));
|
||||||
|
var highAccErr = new ContinuousSet(MembershipFunctions.Ascending(errEnd / 2.0, errAccEnd));
|
||||||
|
|
||||||
|
|
||||||
|
var kiSmall = new ContinuousSet(MembershipFunctions.Descending(config.KiStart * 0.1, (config.KiStart + (config.KiLength * 0.5)) * 0.1));
|
||||||
|
var kiAvg = new ContinuousSet(MembershipFunctions.Triangular(config.KiStart * 0.1, (config.KiStart + (config.KiLength * 0.5)) * 0.1, (config.KiStart + config.KiLength) * 0.1));
|
||||||
|
var kiBig = new ContinuousSet(MembershipFunctions.Ascending((config.KiStart + (config.KiLength * 0.5)) * 0.1, (config.KiStart + config.KiLength) * 0.1));
|
||||||
|
|
||||||
|
var kdSmall = new ContinuousSet(MembershipFunctions.Descending(config.KdStart * 0.1, (config.KdStart + (config.KdLength * 0.5)) * 0.1));
|
||||||
|
var kdAvg = new ContinuousSet(MembershipFunctions.Triangular(config.KdStart * 0.1, (config.KdStart + (config.KdLength * 0.5)) * 0.1, (config.KdStart + config.KdLength) * 0.1));
|
||||||
|
var kdBig = new ContinuousSet(MembershipFunctions.Ascending((config.KdStart + (config.KdLength * 0.5)) * 0.1, (config.KdStart + config.KdLength) * 0.1));
|
||||||
|
|
||||||
|
var kpSmall = new ContinuousSet(MembershipFunctions.Descending(config.KpStart * 0.1, (config.KpStart + (config.KpLength * 0.5)) * 0.1));
|
||||||
|
var kpAvg = new ContinuousSet(MembershipFunctions.Triangular(config.KpStart * 0.1, (config.KpStart + (config.KpLength * 0.5)) * 0.1, (config.KpStart + config.KpLength) * 0.1));
|
||||||
|
var kpBig = new ContinuousSet(MembershipFunctions.Ascending((config.KpStart + (config.KpLength * 0.5)) * 0.1, (config.KpStart + config.KpLength) * 0.1));
|
||||||
|
|
||||||
|
|
||||||
|
var x = Enumerable.Range(0, interval).Select(x => x * 0.01).ToArray();
|
||||||
|
|
||||||
|
|
||||||
|
var step = Enumerable.Repeat(1, interval).Select(x => (double)x).ToArray();
|
||||||
|
step[0] = 0;
|
||||||
|
|
||||||
|
var motor = new TransferFunction(num, denum, 0.01);
|
||||||
|
var motorPID = new TransferFunction(num, denum, 0.01);
|
||||||
|
var motorFuzzyPID = new TransferFunction(num, denum, 0.01);
|
||||||
|
|
||||||
|
//double Kp = 2, Ki = 0.4, Kd = 0.4;
|
||||||
|
|
||||||
|
double Ki = -1.9181372, Kp = 18.625, Kd = 0.38281253;
|
||||||
|
|
||||||
|
|
||||||
|
var pid = new TransferFunction(new double[] { Kd, Kp, Ki }, new double[] { 1, 1 }, 0.01);
|
||||||
|
var fuzzyPID = new TransferFunction(new double[] { Kd, Kp, Ki }, new double[] { 1, 1 }, 0.01);
|
||||||
|
|
||||||
|
|
||||||
|
var sysOut = new double[step.Length];
|
||||||
|
var sysOutFuzzyPID = new double[step.Length];
|
||||||
|
var sysOutPID = new double[step.Length];
|
||||||
|
|
||||||
|
var pidOut = new double[step.Length];
|
||||||
|
var pidOutFuzzy = new double[step.Length];
|
||||||
|
var errorOutPID = new double[step.Length];
|
||||||
|
|
||||||
|
var errOut = new double[step.Length];
|
||||||
|
var errAccOut = new double[step.Length];
|
||||||
|
|
||||||
|
//var errorAccOut = new double[step.Length];
|
||||||
|
|
||||||
|
var errorOutFuzzy = new double[step.Length];
|
||||||
|
var errorOutAccFuzzy = new double[step.Length];
|
||||||
|
|
||||||
|
for (var i = 0; i < step.Length; i++)
|
||||||
|
{
|
||||||
|
sysOut[i] = motor.Evaluate(step[i]);
|
||||||
|
errOut[i] = stability - sysOut[i];
|
||||||
|
errAccOut[i] = errOut[i] - (i == 0 ? 0 : errOut[i - 1]);
|
||||||
|
|
||||||
|
sysOutPID[i] = motorPID.Evaluate(step[i] + (i == 0 ? 0 : pidOut[i - 1]));
|
||||||
|
sysOutFuzzyPID[i] = motorFuzzyPID.Evaluate(step[i] + (i == 0 ? 0 : pidOutFuzzy[i - 1]));
|
||||||
|
|
||||||
|
|
||||||
|
errorOutPID[i] = (stability - sysOutPID[i]);
|
||||||
|
errorOutFuzzy[i] = (stability - sysOutFuzzyPID[i]);
|
||||||
|
errorOutAccFuzzy[i] = (errorOutFuzzy[i] - (i == 0 ? 0 : errorOutFuzzy[i - 1]));
|
||||||
|
|
||||||
|
pidOut[i] = pid.Evaluate(errorOutPID[i]);
|
||||||
|
pidOutFuzzy[i] = fuzzyPID.Evaluate(errorOutFuzzy[i]);
|
||||||
|
|
||||||
|
|
||||||
|
var ki = MamdaniDefuzzifier.Evaluate(new INumericalSet<double>[]
|
||||||
|
{
|
||||||
|
errorOutFuzzy[i].Is(lowErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kiSmall),
|
||||||
|
errorOutFuzzy[i].Is(lowErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kiSmall),
|
||||||
|
errorOutFuzzy[i].Is(lowErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kiAvg),
|
||||||
|
errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kiSmall),
|
||||||
|
errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kiAvg),
|
||||||
|
errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kiBig),
|
||||||
|
errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kiAvg),
|
||||||
|
errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kiBig),
|
||||||
|
errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kiBig),
|
||||||
|
}, MamdaniDefuzzifierMethod.CenterOfGravity, -20, 20, 0.5);
|
||||||
|
|
||||||
|
var kp = MamdaniDefuzzifier.Evaluate(new INumericalSet<double>[]
|
||||||
|
{
|
||||||
|
errorOutFuzzy[i].Is(lowErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kpSmall),
|
||||||
|
errorOutFuzzy[i].Is(lowErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kpSmall),
|
||||||
|
errorOutFuzzy[i].Is(lowErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kpAvg),
|
||||||
|
errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kpSmall),
|
||||||
|
errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kpAvg),
|
||||||
|
errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kpBig),
|
||||||
|
errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kpAvg),
|
||||||
|
errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kpBig),
|
||||||
|
errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kpBig),
|
||||||
|
}, MamdaniDefuzzifierMethod.CenterOfGravity, -20, 20, 0.5);
|
||||||
|
|
||||||
|
var kd = MamdaniDefuzzifier.Evaluate(new INumericalSet<double>[]
|
||||||
|
{
|
||||||
|
errorOutFuzzy[i].Is(lowErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kdSmall),
|
||||||
|
errorOutFuzzy[i].Is(lowErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kdSmall),
|
||||||
|
errorOutFuzzy[i].Is(lowErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kdAvg),
|
||||||
|
errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kdSmall),
|
||||||
|
errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kdAvg),
|
||||||
|
errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kdBig),
|
||||||
|
errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kdAvg),
|
||||||
|
errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kdBig),
|
||||||
|
errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kdBig),
|
||||||
|
}, MamdaniDefuzzifierMethod.CenterOfGravity, -20, 20, 0.5);
|
||||||
|
|
||||||
|
fuzzyPID.InputCoefficients[0] = ki;
|
||||||
|
fuzzyPID.InputCoefficients[1] = kp;
|
||||||
|
fuzzyPID.InputCoefficients[1] = kd;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
Debug.WriteLine($"Error Values Min: {errOut.Min()} Max: {errOut.Max()} ");
|
||||||
|
Debug.WriteLine($"Error Acc Values Min: {errAccOut.Min()} Max: {errAccOut.Max()} ");
|
||||||
|
|
||||||
|
formsPlot1.Plot.AddScatter(x, sysOut, Color.Red);
|
||||||
|
formsPlot1.Plot.AddScatter(x, sysOutPID, Color.Blue);
|
||||||
|
formsPlot1.Plot.AddScatter(x, sysOutFuzzyPID, Color.Green);
|
||||||
|
|
||||||
|
formsPlot1.Refresh();
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
struct KK
|
||||||
|
{
|
||||||
|
public float Ki;
|
||||||
|
public float Kp;
|
||||||
|
public float Kd;
|
||||||
|
|
||||||
|
public override string ToString()
|
||||||
|
{
|
||||||
|
return $"Ki {Ki} Kp {Kp} Kd {Kd}";
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
struct FuzzyChromosome
|
||||||
|
{
|
||||||
|
////public sbyte KiInputErrPosition;
|
||||||
|
//public sbyte KiInputErrScale;
|
||||||
|
|
||||||
|
////public sbyte KiInputErrAccPosition;
|
||||||
|
//public sbyte KiInputErrAccScale;
|
||||||
|
|
||||||
|
////public sbyte KiOutputPosition;
|
||||||
|
//public sbyte KiOutputScale;
|
||||||
|
|
||||||
|
public sbyte KiStart;
|
||||||
|
public sbyte KiLength;
|
||||||
|
public sbyte KdStart;
|
||||||
|
public sbyte KdLength;
|
||||||
|
public sbyte KpStart;
|
||||||
|
public sbyte KpLength;
|
||||||
|
|
||||||
|
public override string ToString()
|
||||||
|
{
|
||||||
|
return $"Ki {KiStart}:{KiLength} Kp {KpStart}:{KpLength} Kd {KdStart}:{KdLength}";
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
private double CalculateFuzzyPIDStepError(FuzzyChromosome config, double errStart, double errEnd, double errAccStart, double errAccEnd, bool draw, string label)
|
||||||
|
{
|
||||||
|
|
||||||
|
var lowErr = new ContinuousSet(MembershipFunctions.Descending(errStart, errStart + (errEnd - errStart) * 0.5));
|
||||||
|
var midErr = new ContinuousSet(MembershipFunctions.Triangular(errStart, errStart + (errEnd - errStart) * 0.5, errEnd));
|
||||||
|
var highErr = new ContinuousSet(MembershipFunctions.Ascending(errStart + (errEnd - errStart) * 0.5, errEnd));
|
||||||
|
|
||||||
|
var lowAccErr = new ContinuousSet(MembershipFunctions.Descending(errAccStart, errAccStart + (errAccEnd - errAccStart) * 0.5));
|
||||||
|
var midAccErr = new ContinuousSet(MembershipFunctions.Triangular(errAccStart, errAccStart + (errAccEnd - errAccStart) * 0.5, errAccEnd));
|
||||||
|
var highAccErr = new ContinuousSet(MembershipFunctions.Ascending(errAccStart + (errAccEnd - errAccStart) * 0.5, errAccEnd));
|
||||||
|
|
||||||
|
|
||||||
|
var kiSmall = new ContinuousSet(MembershipFunctions.Descending(config.KiStart * 0.1, (config.KiStart + (config.KiLength * 0.5)) * 0.1));
|
||||||
|
var kiAvg = new ContinuousSet(MembershipFunctions.Triangular(config.KiStart * 0.1, (config.KiStart + (config.KiLength * 0.5)) * 0.1, (config.KiStart + config.KiLength) * 0.1));
|
||||||
|
var kiBig = new ContinuousSet(MembershipFunctions.Ascending((config.KiStart + (config.KiLength * 0.5)) * 0.1, (config.KiStart + config.KiLength) * 0.1));
|
||||||
|
|
||||||
|
var kdSmall = new ContinuousSet(MembershipFunctions.Descending(config.KdStart * 0.1, (config.KdStart + (config.KdLength * 0.5)) * 0.1));
|
||||||
|
var kdAvg = new ContinuousSet(MembershipFunctions.Triangular(config.KdStart * 0.1, (config.KdStart + (config.KdLength * 0.5)) * 0.1, (config.KdStart + config.KdLength) * 0.1));
|
||||||
|
var kdBig = new ContinuousSet(MembershipFunctions.Ascending((config.KdStart + (config.KdLength * 0.5)) * 0.1, (config.KdStart + config.KdLength) * 0.1));
|
||||||
|
|
||||||
|
var kpSmall = new ContinuousSet(MembershipFunctions.Descending(config.KpStart * 0.1, (config.KpStart + (config.KpLength * 0.5)) * 0.1));
|
||||||
|
var kpAvg = new ContinuousSet(MembershipFunctions.Triangular(config.KpStart * 0.1, (config.KpStart + (config.KpLength * 0.5)) * 0.1, (config.KpStart + config.KpLength) * 0.1));
|
||||||
|
var kpBig = new ContinuousSet(MembershipFunctions.Ascending((config.KpStart + (config.KpLength * 0.5)) * 0.1, (config.KpStart + config.KpLength) * 0.1));
|
||||||
|
|
||||||
|
|
||||||
|
double Ki = -1.9181372, Kp = 18.625, Kd = 0.38281253;
|
||||||
|
//double Ki = 1, Kp = 1, Kd = 1;
|
||||||
|
|
||||||
|
var step = Enumerable.Repeat(1, interval).Select(x => (double)x).ToArray();
|
||||||
|
step[0] = 0;
|
||||||
|
|
||||||
|
var motor = new TransferFunction(num, denum, 0.01);
|
||||||
|
|
||||||
|
var fuzzyPID = new TransferFunction(new double[] { Kd, Kp, Ki }, new double[] { 1, 1 }, 0.01);
|
||||||
|
|
||||||
|
var sysOutFuzzyPID = new double[step.Length];
|
||||||
|
|
||||||
|
|
||||||
|
var pidOutFuzzy = new double[step.Length];
|
||||||
|
|
||||||
|
var errorOutFuzzy = new double[step.Length];
|
||||||
|
var errorOutAccFuzzy = new double[step.Length];
|
||||||
|
|
||||||
|
for (var i = 0; i < step.Length; i++)
|
||||||
|
{
|
||||||
|
sysOutFuzzyPID[i] = motor.Evaluate(step[i] + (i == 0 ? 0 : pidOutFuzzy[i - 1]));
|
||||||
|
|
||||||
|
|
||||||
|
errorOutFuzzy[i] = (stability - sysOutFuzzyPID[i]);
|
||||||
|
errorOutAccFuzzy[i] = (errorOutFuzzy[i] - (i == 0 ? 0 : errorOutFuzzy[i - 1]));
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
var ki = MamdaniDefuzzifier.Evaluate(new INumericalSet<double>[]
|
||||||
|
{
|
||||||
|
errorOutFuzzy[i].Is(lowErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kiSmall),
|
||||||
|
errorOutFuzzy[i].Is(lowErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kiSmall),
|
||||||
|
errorOutFuzzy[i].Is(lowErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kiAvg),
|
||||||
|
errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kiSmall),
|
||||||
|
errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kiAvg),
|
||||||
|
errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kiBig),
|
||||||
|
errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kiAvg),
|
||||||
|
errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kiBig),
|
||||||
|
errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kiBig),
|
||||||
|
}, MamdaniDefuzzifierMethod.CenterOfGravity, -20, 20, 0.5);
|
||||||
|
|
||||||
|
if (double.IsNaN(ki))
|
||||||
|
return double.MaxValue;
|
||||||
|
|
||||||
|
var kp = MamdaniDefuzzifier.Evaluate(new INumericalSet<double>[]
|
||||||
|
{
|
||||||
|
errorOutFuzzy[i].Is(lowErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kpSmall),
|
||||||
|
errorOutFuzzy[i].Is(lowErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kpSmall),
|
||||||
|
errorOutFuzzy[i].Is(lowErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kpAvg),
|
||||||
|
errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kpSmall),
|
||||||
|
errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kpAvg),
|
||||||
|
errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kpBig),
|
||||||
|
errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kpAvg),
|
||||||
|
errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kpBig),
|
||||||
|
errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kpBig),
|
||||||
|
}, MamdaniDefuzzifierMethod.CenterOfGravity, -20, 20, 0.5);
|
||||||
|
|
||||||
|
if (double.IsNaN(kp))
|
||||||
|
return double.MaxValue;
|
||||||
|
|
||||||
|
var kd = MamdaniDefuzzifier.Evaluate(new INumericalSet<double>[]
|
||||||
|
{
|
||||||
|
errorOutFuzzy[i].Is(lowErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kdSmall),
|
||||||
|
errorOutFuzzy[i].Is(lowErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kdSmall),
|
||||||
|
errorOutFuzzy[i].Is(lowErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kdAvg),
|
||||||
|
errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kdSmall),
|
||||||
|
errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kdAvg),
|
||||||
|
errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kdBig),
|
||||||
|
errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kdAvg),
|
||||||
|
errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kdBig),
|
||||||
|
errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kdBig),
|
||||||
|
}, MamdaniDefuzzifierMethod.CenterOfGravity, -20, 20, 0.5);
|
||||||
|
|
||||||
|
if (double.IsNaN(kd))
|
||||||
|
return double.MaxValue;
|
||||||
|
|
||||||
|
fuzzyPID.InputCoefficients[0] = ki;
|
||||||
|
fuzzyPID.InputCoefficients[1] = kp;
|
||||||
|
fuzzyPID.InputCoefficients[1] = kd;
|
||||||
|
|
||||||
|
pidOutFuzzy[i] = fuzzyPID.Evaluate(errorOutFuzzy[i]);
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
if (draw)
|
||||||
|
{
|
||||||
|
formsPlot1.Plot.Clear();
|
||||||
|
var x = Enumerable.Range(0, interval).Select(x => x * 0.01).ToArray();
|
||||||
|
|
||||||
|
formsPlot1.Plot.AddScatter(x, sysOutFuzzyPID, Color.Green);
|
||||||
|
|
||||||
|
formsPlot1.Plot.AddText(label, 0, 1.5, 24, Color.DarkOrange);
|
||||||
|
|
||||||
|
formsPlot1.Refresh();
|
||||||
|
|
||||||
|
formsPlot2.Plot.Clear();
|
||||||
|
var range = FuzzyExtensions.Range(config.KiStart * 0.1, (config.KiStart + config.KiLength) * 0.1, 0.1);
|
||||||
|
|
||||||
|
formsPlot2.Plot.AddScatter(range, kiSmall.Sample(range));
|
||||||
|
formsPlot2.Plot.AddScatter(range, kiAvg.Sample(range));
|
||||||
|
formsPlot2.Plot.AddScatter(range, kiBig.Sample(range));
|
||||||
|
//formsPlot2.Plot.AddText("Ki", 0, 0, 20);
|
||||||
|
|
||||||
|
formsPlot2.Refresh();
|
||||||
|
|
||||||
|
formsPlot3.Plot.Clear();
|
||||||
|
|
||||||
|
range = FuzzyExtensions.Range(config.KpStart * 0.1, (config.KpStart + config.KpLength) * 0.1, 0.1);
|
||||||
|
|
||||||
|
formsPlot3.Plot.AddScatter(range, kpSmall.Sample(range));
|
||||||
|
formsPlot3.Plot.AddScatter(range, kpAvg.Sample(range));
|
||||||
|
formsPlot3.Plot.AddScatter(range, kpBig.Sample(range));
|
||||||
|
//formsPlot2.Plot.AddText("Kp", 0, 0, 20);
|
||||||
|
|
||||||
|
formsPlot3.Refresh();
|
||||||
|
|
||||||
|
formsPlot4.Plot.Clear();
|
||||||
|
|
||||||
|
range = FuzzyExtensions.Range(config.KdStart * 0.1, (config.KdStart + config.KdLength) * 0.1, 0.1);
|
||||||
|
|
||||||
|
formsPlot4.Plot.AddScatter(range, kdSmall.Sample(range));
|
||||||
|
formsPlot4.Plot.AddScatter(range, kdAvg.Sample(range));
|
||||||
|
formsPlot4.Plot.AddScatter(range, kdBig.Sample(range));
|
||||||
|
//formsPlot2.Plot.AddText("Kd", 0, 0, 20);
|
||||||
|
|
||||||
|
formsPlot4.Refresh();
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
//Debug.WriteLine("ERR " + errorOutFuzzy.Max() + " " + errorOutFuzzy.Min());
|
||||||
|
return errorOutFuzzy.RMS();
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
private double CalculatePIDStepError(double Kd, double Kp, double Ki, bool draw, string label)
|
||||||
|
{
|
||||||
|
var step = Enumerable.Repeat(1, interval).Select(x => (double)x).ToArray();
|
||||||
|
step[0] = 0;
|
||||||
|
|
||||||
|
var motor = new TransferFunction(num, denum, 0.01);
|
||||||
|
|
||||||
|
var sysOutPID = new double[step.Length];
|
||||||
|
|
||||||
|
var pidOut = new double[step.Length];
|
||||||
|
var errorOutPID = new double[step.Length];
|
||||||
|
var pid = new TransferFunction(new double[] { Kd, Kp, Ki }, new double[] { 1, 1 }, 0.01);
|
||||||
|
|
||||||
|
for (var i = 0; i < step.Length; i++)
|
||||||
|
{
|
||||||
|
sysOutPID[i] = motor.Evaluate(step[i] + (i == 0 ? 0 : pidOut[i - 1]));
|
||||||
|
|
||||||
|
if (double.IsInfinity(sysOutPID[i]))
|
||||||
|
Console.WriteLine();
|
||||||
|
|
||||||
|
errorOutPID[i] = (stability - sysOutPID[i]);
|
||||||
|
|
||||||
|
if (double.IsNaN(errorOutPID[i]))
|
||||||
|
Console.WriteLine();
|
||||||
|
|
||||||
|
pidOut[i] = pid.Evaluate(errorOutPID[i]);
|
||||||
|
|
||||||
|
if (double.IsInfinity(pidOut[i]))
|
||||||
|
Console.WriteLine();
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
if (draw)
|
||||||
|
{
|
||||||
|
formsPlot1.Plot.Clear();
|
||||||
|
var x = Enumerable.Range(0, interval).Select(x => x * 0.01).ToArray();
|
||||||
|
formsPlot1.Plot.AddText(label, 0, 1.5, 24, Color.DarkOliveGreen);
|
||||||
|
formsPlot1.Plot.AddScatter(x, sysOutPID, Color.DeepSkyBlue);
|
||||||
|
formsPlot1.Refresh();
|
||||||
|
}
|
||||||
|
|
||||||
|
return errorOutPID.RMS();
|
||||||
|
}
|
||||||
|
|
||||||
|
private void button1_Click(object sender, EventArgs e)
|
||||||
|
{
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
var genetic = new Genetic<FuzzyChromosome>(100, k =>
|
||||||
|
{
|
||||||
|
if (float.IsNaN(k.KiStart)
|
||||||
|
|| float.IsNaN(k.KiLength)
|
||||||
|
|| float.IsNaN(k.KpStart)
|
||||||
|
|| float.IsNaN(k.KiLength)
|
||||||
|
|| float.IsNaN(k.KdStart)
|
||||||
|
|| float.IsNaN(k.KiLength))
|
||||||
|
return (double.MaxValue);
|
||||||
|
|
||||||
|
if (k.KiLength < 0 || k.KpLength < 0 || k.KdLength < 0)// k.KiStart > k.KiEnd || k.KpStart > k.KpEnd || k.KdStart > k.KdEnd)
|
||||||
|
return (double.MaxValue);
|
||||||
|
|
||||||
|
var r = CalculateFuzzyPIDStepError(k, -(stability / 2), stability / 2, -(stability / 2), stability / 2, false, null);
|
||||||
|
if (double.IsNaN(r))
|
||||||
|
Console.WriteLine();
|
||||||
|
return r;
|
||||||
|
});
|
||||||
|
|
||||||
|
|
||||||
|
foreach (var (generation, fitness, k) in genetic.Evaluate(100))
|
||||||
|
CalculateFuzzyPIDStepError(k, -(stability / 2), stability / 2, -(stability / 2), stability / 2, true, $"Fuzzy PID: Generation {generation} Fitness {fitness}\r\n{k}");
|
||||||
|
|
||||||
|
|
||||||
|
// Console.WriteLine(best);
|
||||||
|
}
|
||||||
|
|
||||||
|
private void button2_Click(object sender, EventArgs e)
|
||||||
|
{
|
||||||
|
var gen = new Genetic<KK>(100, k =>
|
||||||
|
{
|
||||||
|
if (float.IsNaN(k.Ki) || float.IsNaN(k.Kp) || float.IsNaN(k.Kd))
|
||||||
|
return (double.MaxValue);
|
||||||
|
|
||||||
|
|
||||||
|
var r = CalculatePIDStepError(k.Kd, k.Kp, k.Ki, false, null);
|
||||||
|
if (double.IsNaN(r))
|
||||||
|
Console.WriteLine();
|
||||||
|
return r;
|
||||||
|
});
|
||||||
|
|
||||||
|
foreach (var (generation, fitness, k) in gen.Evaluate(100))
|
||||||
|
CalculatePIDStepError(k.Kd, k.Kp, k.Ki, true, $"PID: Generation {generation} Fitness {fitness}\r\n {k}");
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
private void button3_Click(object sender, EventArgs e)
|
||||||
|
{
|
||||||
|
|
||||||
|
num = textBox1.Text.Split("/").First().Trim().Split(" ").Select(x=>Convert.ToDouble(x)).ToArray();
|
||||||
|
denum = textBox1.Text.Split("/").Last().Trim().Split(" ").Select(x=>Convert.ToDouble(x)).ToArray();
|
||||||
|
|
||||||
|
var x = Enumerable.Range(0, interval).Select(x => x * 0.01).ToArray();
|
||||||
|
|
||||||
|
var step = Enumerable.Repeat(1, interval).Select(x => (double)x).ToArray();
|
||||||
|
step[0] = 0;
|
||||||
|
|
||||||
|
var motor = new TransferFunction(num, denum, 0.01);
|
||||||
|
|
||||||
|
var sysOut = new double[step.Length];
|
||||||
|
|
||||||
|
var errOut = new double[step.Length];
|
||||||
|
var errAccOut = new double[step.Length];
|
||||||
|
|
||||||
|
|
||||||
|
for (var i = 0; i < step.Length; i++)
|
||||||
|
{
|
||||||
|
sysOut[i] = motor.Evaluate(step[i]);
|
||||||
|
errOut[i] = stability - sysOut[i];
|
||||||
|
errAccOut[i] = errOut[i] - (i == 0 ? 0 : errOut[i - 1]);
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
Debug.WriteLine($"Error Values Min: {errOut.Min()} Max: {errOut.Max()} ");
|
||||||
|
Debug.WriteLine($"Error Acc Values Min: {errAccOut.Min()} Max: {errAccOut.Max()} ");
|
||||||
|
|
||||||
|
formsPlot1.Plot.AddScatter(x, sysOut, Color.Red);
|
||||||
|
|
||||||
|
formsPlot1.Refresh();
|
||||||
|
}
|
||||||
|
|
||||||
|
private void button4_Click(object sender, EventArgs e)
|
||||||
|
{
|
||||||
|
formsPlot1.Plot.Clear();
|
||||||
|
formsPlot1.Refresh();
|
||||||
|
}
|
||||||
|
|
||||||
|
private void formsPlot1_Load(object sender, EventArgs e)
|
||||||
|
{
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
private void textBox2_TextChanged(object sender, EventArgs e)
|
||||||
|
{
|
||||||
|
double s;
|
||||||
|
if (double.TryParse(textBox2.Text, out s))
|
||||||
|
stability = s;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -11,7 +11,7 @@ namespace Esiur.Analysis.Test
|
|||||||
// To customize application configuration such as set high DPI settings or default font,
|
// To customize application configuration such as set high DPI settings or default font,
|
||||||
// see https://aka.ms/applicationconfiguration.
|
// see https://aka.ms/applicationconfiguration.
|
||||||
ApplicationConfiguration.Initialize();
|
ApplicationConfiguration.Initialize();
|
||||||
Application.Run(new FMain());
|
Application.Run(new FSoft());
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@ -15,7 +15,6 @@ namespace Esiur.Analysis.DSP
|
|||||||
|
|
||||||
return rt;
|
return rt;
|
||||||
}
|
}
|
||||||
|
|
||||||
public static double[] Convolve(this double[] signal, double[] filter)
|
public static double[] Convolve(this double[] signal, double[] filter)
|
||||||
{
|
{
|
||||||
var length = signal.Length + filter.Length - 1;
|
var length = signal.Length + filter.Length - 1;
|
||||||
|
|||||||
@ -66,7 +66,11 @@ namespace Esiur.Analysis.Fuzzy
|
|||||||
{
|
{
|
||||||
var r = vector.Where(x => x.Key >= from && x.Key <= to).ToArray();
|
var r = vector.Where(x => x.Key >= from && x.Key <= to).ToArray();
|
||||||
|
|
||||||
return r.Sum(x => x.Key * x.Value ) / r.Sum(x=>x.Value);
|
var total = r.Sum(x => x.Value);
|
||||||
|
if (total == 0)
|
||||||
|
return 0;
|
||||||
|
else
|
||||||
|
return r.Sum(x => x.Key * x.Value ) / total;
|
||||||
}
|
}
|
||||||
|
|
||||||
public KeyValuePair<double, double>[] Minimas
|
public KeyValuePair<double, double>[] Minimas
|
||||||
@ -78,6 +82,6 @@ namespace Esiur.Analysis.Fuzzy
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
public double[] ToArray() => vector.Values.ToArray();
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@ -41,5 +41,42 @@ namespace Esiur.Analysis.Fuzzy
|
|||||||
|
|
||||||
return rt;
|
return rt;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
public static double[] Sample(this INumericalSet<double> set, double[] time)
|
||||||
|
{
|
||||||
|
var rt = new double[time.Length];
|
||||||
|
for (var i = 0; i < time.Length; i++)
|
||||||
|
rt[i] = set[time[i]];
|
||||||
|
return rt;
|
||||||
|
}
|
||||||
|
|
||||||
|
public static double[] Sample(this INumericalSet<double> set, double from, double to, double step)
|
||||||
|
{
|
||||||
|
var size = (int)((to - from) / step);
|
||||||
|
|
||||||
|
var rt = new double[size];
|
||||||
|
var s = 0;
|
||||||
|
for (var i = from; i < to && s < size; i+=step)
|
||||||
|
rt[s++] = set[i];
|
||||||
|
return rt;
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
public static double[] Range(double from, double to, double step)
|
||||||
|
{
|
||||||
|
var size = (int)((to - from) / step);
|
||||||
|
|
||||||
|
if (size == 0)
|
||||||
|
return new double[] { from };
|
||||||
|
|
||||||
|
var rt = new double[size];
|
||||||
|
var s = 0;
|
||||||
|
for (var i = from; i < to && s < size; i += step)
|
||||||
|
rt[s++] = i;
|
||||||
|
return rt;
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@ -23,7 +23,7 @@ namespace Esiur.Analysis.Fuzzy
|
|||||||
{
|
{
|
||||||
return new MembershipFunction(x =>
|
return new MembershipFunction(x =>
|
||||||
{
|
{
|
||||||
if (x <= peak) return 1;
|
if (x <= peak) return 0;
|
||||||
if (x > peak && x < end) return (end - x) / (end - peak);
|
if (x > peak && x < end) return (end - x) / (end - peak);
|
||||||
return 0;
|
return 0;
|
||||||
});
|
});
|
||||||
@ -33,7 +33,7 @@ namespace Esiur.Analysis.Fuzzy
|
|||||||
{
|
{
|
||||||
return new MembershipFunction(x =>
|
return new MembershipFunction(x =>
|
||||||
{
|
{
|
||||||
if (x >= peak) return 1;
|
if (x >= peak) return 0;
|
||||||
if (x < peak && x > start) return (x - start) / (peak - start);
|
if (x < peak && x > start) return (x - start) / (peak - start);
|
||||||
return 0;
|
return 0;
|
||||||
});
|
});
|
||||||
|
|||||||
@ -88,23 +88,25 @@ namespace Esiur.Analysis.Optimization
|
|||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
public T Evaluate(int maxIterations)
|
public IEnumerable<(int, double, T)> Evaluate(int maxIterations)
|
||||||
{
|
{
|
||||||
GeneratePopultation();
|
GeneratePopultation();
|
||||||
|
|
||||||
var generation = 0;
|
var generation = 0;
|
||||||
|
|
||||||
T best;
|
KeyValuePair<T, double> best;
|
||||||
|
|
||||||
do
|
do
|
||||||
{
|
{
|
||||||
var ordered = GetFitness().OrderBy(x => x.Value).ToArray();
|
var ordered = GetFitness().OrderBy(x => x.Value).ToArray();
|
||||||
|
|
||||||
best = ordered[0].Key;
|
best = ordered[0];
|
||||||
|
|
||||||
if (ordered[0].Value == 0)
|
if (best.Value == 0)
|
||||||
break;
|
break;
|
||||||
|
|
||||||
|
yield return (generation, best.Value, best.Key);
|
||||||
|
|
||||||
// Elitism selection ( 10% of fittest population )
|
// Elitism selection ( 10% of fittest population )
|
||||||
|
|
||||||
var eliteCount = (int)(ordered.Length * 0.1);
|
var eliteCount = (int)(ordered.Length * 0.1);
|
||||||
@ -124,12 +126,14 @@ namespace Esiur.Analysis.Optimization
|
|||||||
Population = newGeneration;
|
Population = newGeneration;
|
||||||
|
|
||||||
Debug.WriteLine($"Gen {generation} Fittest: {ordered.First().Value} {ordered.First().Key.ToString()} ");
|
Debug.WriteLine($"Gen {generation} Fittest: {ordered.First().Value} {ordered.First().Key.ToString()} ");
|
||||||
|
|
||||||
|
|
||||||
} while (generation++ < maxIterations);
|
} while (generation++ < maxIterations);
|
||||||
|
|
||||||
Debug.WriteLine($"Gen {generation} Best: {best.ToString()} ");
|
Debug.WriteLine($"Gen {generation} Best: {best.ToString()} ");
|
||||||
|
|
||||||
return best;
|
yield return (generation, best.Value, best.Key);
|
||||||
}
|
}
|
||||||
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user