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PID

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This commit is contained in:
Ahmed Zamil
2022-11-12 15:57:16 +03:00
parent 1637f453fb
commit 68d0ca1873
4 changed files with 52 additions and 34 deletions
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58
Esiur.Analysis.Test/FSoft.cs
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@@ -17,7 +17,7 @@ namespace Esiur.Analysis.Test
private double[] num = new double[] { 10 };
private double[] denum = new double[] { 1, 1, 0.1 };
private int interval = 3000;
private int interval = 8000;
private double stability = 100;
public FSoft()
@@ -101,11 +101,11 @@ namespace Esiur.Analysis.Test
//public sbyte KiOutputScale;
public sbyte KiStart;
public sbyte KiLength;
public byte KiLength;
public sbyte KdStart;
public sbyte KdLength;
public byte KdLength;
public sbyte KpStart;
public sbyte KpLength;
public byte KpLength;
public override string ToString()
{
@@ -159,7 +159,7 @@ namespace Esiur.Analysis.Test
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]));
@@ -174,9 +174,9 @@ namespace Esiur.Analysis.Test
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),
errorOutFuzzy[i].Is(highErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kiAvg),
errorOutFuzzy[i].Is(highErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kiBig),
errorOutFuzzy[i].Is(highErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kiBig),
}, MamdaniDefuzzifierMethod.CenterOfGravity, config.KiStart * 0.1, (config.KiStart + config.KiLength) * 0.1, 0.5);
if (double.IsNaN(ki))
@@ -190,9 +190,9 @@ namespace Esiur.Analysis.Test
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),
errorOutFuzzy[i].Is(highErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kpAvg),
errorOutFuzzy[i].Is(highErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kpBig),
errorOutFuzzy[i].Is(highErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kpBig),
}, MamdaniDefuzzifierMethod.CenterOfGravity, config.KpStart * 0.1, (config.KpStart + config.KpLength) * 0.1, 0.5);
if (double.IsNaN(kp))
@@ -206,9 +206,9 @@ namespace Esiur.Analysis.Test
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),
errorOutFuzzy[i].Is(highErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kdAvg),
errorOutFuzzy[i].Is(highErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kdBig),
errorOutFuzzy[i].Is(highErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kdBig),
}, MamdaniDefuzzifierMethod.CenterOfGravity, config.KdStart * 0.1, (config.KdStart + config.KdLength) * 0.1, 0.5);
if (double.IsNaN(kd))
@@ -269,7 +269,11 @@ namespace Esiur.Analysis.Test
}
//Debug.WriteLine("ERR " + errorOutFuzzy.Max() + " " + errorOutFuzzy.Min());
return errorOutFuzzy.RMS();
var r = errorOutFuzzy.Sum(x => Math.Abs((decimal)x));// .RMS();
//if (decimal.IsNaN(r) || decimal.IsInfinity(r))
// Console.WriteLine();
return (double) r;
}
@@ -317,12 +321,18 @@ namespace Esiur.Analysis.Test
formsPlot1.Refresh();
}
return errorOutPID.RMS();
var r = errorOutPID.Sum(x => Math.Abs(x));// .RMS();
if (double.IsPositiveInfinity(r))
return double.MaxValue;
else if (double.IsNegativeInfinity(r))
return double.MinValue;
return r;// errorOutPID.RMS();
}
private void button1_Click(object sender, EventArgs e)
{
var genetic = new Genetic<FuzzyChromosome>(10, k =>
var genetic = new Genetic<FuzzyChromosome>(100, k =>
{
if (float.IsNaN(k.KiStart)
|| float.IsNaN(k.KiLength)
@@ -332,10 +342,9 @@ namespace Esiur.Analysis.Test
|| 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);
//var r = CalculateFuzzyPIDStepError(k, -50, 50, -50, 50, false, null);
if (double.IsNaN(r))
Console.WriteLine();
return r;
@@ -352,10 +361,9 @@ namespace Esiur.Analysis.Test
|| float.IsNaN(k.KiLength))
continue;
if (k.KiLength < 0 || k.KpLength < 0 || k.KdLength < 0)// k.KiStart > k.KiEnd || k.KpStart > k.KpEnd || k.KdStart > k.KdEnd)
continue;
CalculateFuzzyPIDStepError(k, -(stability / 2), stability / 2, -(stability / 2), stability / 2, true, $"Fuzzy PID: Generation {generation} Fitness {fitness}\r\n{k}");
CalculateFuzzyPIDStepError(k, -(stability / 2), stability / 2, -(stability / 2), stability / 2, true, $"Fuzzy PID: Generation {generation} Fitness {Math.Round( fitness)} {k}");
// CalculateFuzzyPIDStepError(k, -50, 50, -50, 50, true, $"Fuzzy PID: Generation {generation} Fitness {fitness}\r\n{k}");
}
// Console.WriteLine(best);
@@ -376,7 +384,7 @@ namespace Esiur.Analysis.Test
});
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}");
CalculatePIDStepError(k.Kd, k.Kp, k.Ki, true, $"PID: Generation {generation} Fitness {Math.Round( fitness)} {k}");
}