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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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6
Esiur.Analysis.Test/FSoft.Designer.cs generated
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@ -89,7 +89,7 @@
this.button2.Name = "button2"; this.button2.Name = "button2";
this.button2.Size = new System.Drawing.Size(193, 31); this.button2.Size = new System.Drawing.Size(193, 31);
this.button2.TabIndex = 5; this.button2.TabIndex = 5;
this.button2.Text = "Fuzzy PID"; this.button2.Text = "Genetic PID";
this.button2.UseVisualStyleBackColor = true; this.button2.UseVisualStyleBackColor = true;
this.button2.Click += new System.EventHandler(this.button2_Click); this.button2.Click += new System.EventHandler(this.button2_Click);
// //
@ -130,7 +130,7 @@
this.textBox2.Text = "100"; this.textBox2.Text = "100";
this.textBox2.TextChanged += new System.EventHandler(this.textBox2_TextChanged); this.textBox2.TextChanged += new System.EventHandler(this.textBox2_TextChanged);
// //
// FMain // FSoft
// //
this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 20F); this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 20F);
this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font; this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
@ -145,7 +145,7 @@
this.Controls.Add(this.formsPlot2); this.Controls.Add(this.formsPlot2);
this.Controls.Add(this.button1); this.Controls.Add(this.button1);
this.Controls.Add(this.formsPlot1); this.Controls.Add(this.formsPlot1);
this.Name = "FMain"; this.Name = "FSoft";
this.Text = "PID Controller with Fuzzy"; this.Text = "PID Controller with Fuzzy";
this.Load += new System.EventHandler(this.FMain_Load); this.Load += new System.EventHandler(this.FMain_Load);
this.ResumeLayout(false); this.ResumeLayout(false);

52
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[] num = new double[] { 10 };
private double[] denum = new double[] { 1, 1, 0.1 }; private double[] denum = new double[] { 1, 1, 0.1 };
private int interval = 3000; private int interval = 8000;
private double stability = 100; private double stability = 100;
public FSoft() public FSoft()
@ -101,11 +101,11 @@ namespace Esiur.Analysis.Test
//public sbyte KiOutputScale; //public sbyte KiOutputScale;
public sbyte KiStart; public sbyte KiStart;
public sbyte KiLength; public byte KiLength;
public sbyte KdStart; public sbyte KdStart;
public sbyte KdLength; public byte KdLength;
public sbyte KpStart; public sbyte KpStart;
public sbyte KpLength; public byte KpLength;
public override string ToString() public override string ToString()
{ {
@ -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(lowAccErr)).Then(kiSmall),
errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kiAvg), 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(midErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kiBig),
errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kiAvg), errorOutFuzzy[i].Is(highErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kiAvg),
errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kiBig), errorOutFuzzy[i].Is(highErr).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(highAccErr)).Then(kiBig),
}, MamdaniDefuzzifierMethod.CenterOfGravity, config.KiStart * 0.1, (config.KiStart + config.KiLength) * 0.1, 0.5); }, MamdaniDefuzzifierMethod.CenterOfGravity, config.KiStart * 0.1, (config.KiStart + config.KiLength) * 0.1, 0.5);
if (double.IsNaN(ki)) 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(lowAccErr)).Then(kpSmall),
errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kpAvg), 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(midErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kpBig),
errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kpAvg), errorOutFuzzy[i].Is(highErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kpAvg),
errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kpBig), errorOutFuzzy[i].Is(highErr).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(highAccErr)).Then(kpBig),
}, MamdaniDefuzzifierMethod.CenterOfGravity, config.KpStart * 0.1, (config.KpStart + config.KpLength) * 0.1, 0.5); }, MamdaniDefuzzifierMethod.CenterOfGravity, config.KpStart * 0.1, (config.KpStart + config.KpLength) * 0.1, 0.5);
if (double.IsNaN(kp)) 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(lowAccErr)).Then(kdSmall),
errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kdAvg), 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(midErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kdBig),
errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kdAvg), errorOutFuzzy[i].Is(highErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kdAvg),
errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kdBig), errorOutFuzzy[i].Is(highErr).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(highAccErr)).Then(kdBig),
}, MamdaniDefuzzifierMethod.CenterOfGravity, config.KdStart * 0.1, (config.KdStart + config.KdLength) * 0.1, 0.5); }, MamdaniDefuzzifierMethod.CenterOfGravity, config.KdStart * 0.1, (config.KdStart + config.KdLength) * 0.1, 0.5);
if (double.IsNaN(kd)) if (double.IsNaN(kd))
@ -269,7 +269,11 @@ namespace Esiur.Analysis.Test
} }
//Debug.WriteLine("ERR " + errorOutFuzzy.Max() + " " + errorOutFuzzy.Min()); //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(); 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) 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) if (float.IsNaN(k.KiStart)
|| float.IsNaN(k.KiLength) || float.IsNaN(k.KiLength)
@ -332,10 +342,9 @@ namespace Esiur.Analysis.Test
|| float.IsNaN(k.KiLength)) || float.IsNaN(k.KiLength))
return (double.MaxValue); 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, -(stability / 2), stability / 2, -(stability / 2), stability / 2, false, null);
//var r = CalculateFuzzyPIDStepError(k, -50, 50, -50, 50, false, null);
if (double.IsNaN(r)) if (double.IsNaN(r))
Console.WriteLine(); Console.WriteLine();
return r; return r;
@ -352,10 +361,9 @@ namespace Esiur.Analysis.Test
|| float.IsNaN(k.KiLength)) || float.IsNaN(k.KiLength))
continue; 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); // Console.WriteLine(best);
@ -376,7 +384,7 @@ namespace Esiur.Analysis.Test
}); });
foreach (var (generation, fitness, k) in gen.Evaluate(100)) 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}");
} }

16
Esiur.Analysis/Optimization/Genetic.cs
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@ -1,12 +1,14 @@
using Esiur.Data; using Esiur.Data;
using Esiur.Resource; using Esiur.Resource;
using System; using System;
using System.Collections.Concurrent;
using System.Collections.Generic; using System.Collections.Generic;
using System.Diagnostics; using System.Diagnostics;
using System.Linq; using System.Linq;
using System.Reflection; using System.Reflection;
using System.Security.Cryptography.X509Certificates; using System.Security.Cryptography.X509Certificates;
using System.Text; using System.Text;
using System.Threading.Tasks;
namespace Esiur.Analysis.Optimization namespace Esiur.Analysis.Optimization
{ {
@ -57,10 +59,18 @@ namespace Esiur.Analysis.Optimization
KeyValuePair<T, double>[] GetFitness() KeyValuePair<T, double>[] GetFitness()
{ {
var rt = new List<KeyValuePair<T, double>>(); //var rt = new List<KeyValuePair<T, double>>();
var rt = new ConcurrentBag<KeyValuePair<T, double>>();
foreach (var record in Population)
rt.Add(new KeyValuePair<T, double>( record, FitnessFunction(record))); Parallel.ForEach(Population, record =>
{
rt.Add(new KeyValuePair<T, double>(record, FitnessFunction(record)));
});
//foreach (var record in Population)
// rt.Add(new KeyValuePair<T, double>( record, FitnessFunction(record)));
return rt.ToArray(); return rt.ToArray();
} }

6
Esiur.Analysis/Statistics/StatisticalFunctions.cs
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@ -35,9 +35,9 @@ namespace Esiur.Analysis.Statistics
public static double RMS(this double[] x) public static double RMS(this double[] x)
{ {
var r = Math.Sqrt(x.Sum(x => x * x) / x.Length); var r = Math.Sqrt(x.Sum(x =>(float) x * (float) x) / x.Length);
if (double.IsNaN(r)) //if (double.IsNaN(r) || double.IsInfinity(r))
Console.WriteLine(); // Console.WriteLine();
return r; return r;
} }