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https://github.com/esiur/esiur-dotnet.git
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PID
This commit is contained in:
parent
1637f453fb
commit
68d0ca1873
6
Esiur.Analysis.Test/FSoft.Designer.cs
generated
6
Esiur.Analysis.Test/FSoft.Designer.cs
generated
@ -89,7 +89,7 @@
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this.button2.Name = "button2";
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this.button2.Size = new System.Drawing.Size(193, 31);
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this.button2.TabIndex = 5;
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this.button2.Text = "Fuzzy PID";
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this.button2.Text = "Genetic PID";
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this.button2.UseVisualStyleBackColor = true;
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this.button2.Click += new System.EventHandler(this.button2_Click);
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//
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@ -130,7 +130,7 @@
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this.textBox2.Text = "100";
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this.textBox2.TextChanged += new System.EventHandler(this.textBox2_TextChanged);
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//
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// FMain
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// FSoft
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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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@ -145,7 +145,7 @@
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this.Controls.Add(this.formsPlot2);
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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.Name = "FSoft";
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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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@ -17,7 +17,7 @@ namespace Esiur.Analysis.Test
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private double[] num = new double[] { 10 };
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private double[] denum = new double[] { 1, 1, 0.1 };
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private int interval = 3000;
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private int interval = 8000;
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private double stability = 100;
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public FSoft()
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@ -101,11 +101,11 @@ namespace Esiur.Analysis.Test
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//public sbyte KiOutputScale;
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public sbyte KiStart;
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public sbyte KiLength;
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public byte KiLength;
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public sbyte KdStart;
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public sbyte KdLength;
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public byte KdLength;
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public sbyte KpStart;
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public sbyte KpLength;
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public byte KpLength;
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public override string ToString()
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{
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@ -159,7 +159,7 @@ namespace Esiur.Analysis.Test
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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] = (stability - sysOutFuzzyPID[i]);
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errorOutAccFuzzy[i] = (errorOutFuzzy[i] - (i == 0 ? 0 : errorOutFuzzy[i - 1]));
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@ -174,9 +174,9 @@ namespace Esiur.Analysis.Test
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errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kiSmall),
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errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kiAvg),
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errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kiBig),
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errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kiAvg),
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errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kiBig),
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errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kiBig),
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errorOutFuzzy[i].Is(highErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kiAvg),
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errorOutFuzzy[i].Is(highErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kiBig),
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errorOutFuzzy[i].Is(highErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kiBig),
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}, MamdaniDefuzzifierMethod.CenterOfGravity, config.KiStart * 0.1, (config.KiStart + config.KiLength) * 0.1, 0.5);
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if (double.IsNaN(ki))
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@ -190,9 +190,9 @@ namespace Esiur.Analysis.Test
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errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kpSmall),
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errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kpAvg),
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errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kpBig),
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errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kpAvg),
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errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kpBig),
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errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kpBig),
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errorOutFuzzy[i].Is(highErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kpAvg),
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errorOutFuzzy[i].Is(highErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kpBig),
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errorOutFuzzy[i].Is(highErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kpBig),
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}, MamdaniDefuzzifierMethod.CenterOfGravity, config.KpStart * 0.1, (config.KpStart + config.KpLength) * 0.1, 0.5);
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if (double.IsNaN(kp))
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@ -206,9 +206,9 @@ namespace Esiur.Analysis.Test
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errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kdSmall),
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errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kdAvg),
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errorOutFuzzy[i].Is(midErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kdBig),
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errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kdAvg),
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errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kdBig),
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errorOutFuzzy[i].Is(highAccErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kdBig),
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errorOutFuzzy[i].Is(highErr).And(errorOutAccFuzzy[i].Is(lowAccErr)).Then(kdAvg),
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errorOutFuzzy[i].Is(highErr).And(errorOutAccFuzzy[i].Is(midAccErr)).Then(kdBig),
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errorOutFuzzy[i].Is(highErr).And(errorOutAccFuzzy[i].Is(highAccErr)).Then(kdBig),
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}, MamdaniDefuzzifierMethod.CenterOfGravity, config.KdStart * 0.1, (config.KdStart + config.KdLength) * 0.1, 0.5);
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if (double.IsNaN(kd))
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@ -269,7 +269,11 @@ namespace Esiur.Analysis.Test
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}
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//Debug.WriteLine("ERR " + errorOutFuzzy.Max() + " " + errorOutFuzzy.Min());
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return errorOutFuzzy.RMS();
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var r = errorOutFuzzy.Sum(x => Math.Abs((decimal)x));// .RMS();
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//if (decimal.IsNaN(r) || decimal.IsInfinity(r))
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// Console.WriteLine();
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return (double) r;
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}
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@ -317,12 +321,18 @@ namespace Esiur.Analysis.Test
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formsPlot1.Refresh();
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}
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return errorOutPID.RMS();
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var r = errorOutPID.Sum(x => Math.Abs(x));// .RMS();
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if (double.IsPositiveInfinity(r))
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return double.MaxValue;
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else if (double.IsNegativeInfinity(r))
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return double.MinValue;
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return r;// errorOutPID.RMS();
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}
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private void button1_Click(object sender, EventArgs e)
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{
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var genetic = new Genetic<FuzzyChromosome>(10, k =>
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var genetic = new Genetic<FuzzyChromosome>(100, k =>
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{
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if (float.IsNaN(k.KiStart)
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|| float.IsNaN(k.KiLength)
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@ -332,10 +342,9 @@ namespace Esiur.Analysis.Test
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|| float.IsNaN(k.KiLength))
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return (double.MaxValue);
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if (k.KiLength < 0 || k.KpLength < 0 || k.KdLength < 0)// k.KiStart > k.KiEnd || k.KpStart > k.KpEnd || k.KdStart > k.KdEnd)
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return (double.MaxValue);
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var r = CalculateFuzzyPIDStepError(k, -(stability / 2), stability / 2, -(stability / 2), stability / 2, false, null);
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//var r = CalculateFuzzyPIDStepError(k, -50, 50, -50, 50, false, null);
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if (double.IsNaN(r))
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Console.WriteLine();
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return r;
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@ -352,10 +361,9 @@ namespace Esiur.Analysis.Test
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|| float.IsNaN(k.KiLength))
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continue;
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if (k.KiLength < 0 || k.KpLength < 0 || k.KdLength < 0)// k.KiStart > k.KiEnd || k.KpStart > k.KpEnd || k.KdStart > k.KdEnd)
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continue;
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CalculateFuzzyPIDStepError(k, -(stability / 2), stability / 2, -(stability / 2), stability / 2, true, $"Fuzzy PID: Generation {generation} Fitness {fitness}\r\n{k}");
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CalculateFuzzyPIDStepError(k, -(stability / 2), stability / 2, -(stability / 2), stability / 2, true, $"Fuzzy PID: Generation {generation} Fitness {Math.Round( fitness)} {k}");
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// CalculateFuzzyPIDStepError(k, -50, 50, -50, 50, true, $"Fuzzy PID: Generation {generation} Fitness {fitness}\r\n{k}");
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}
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// Console.WriteLine(best);
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@ -376,7 +384,7 @@ namespace Esiur.Analysis.Test
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});
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foreach (var (generation, fitness, k) in gen.Evaluate(100))
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CalculatePIDStepError(k.Kd, k.Kp, k.Ki, true, $"PID: Generation {generation} Fitness {fitness}\r\n {k}");
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CalculatePIDStepError(k.Kd, k.Kp, k.Ki, true, $"PID: Generation {generation} Fitness {Math.Round( fitness)} {k}");
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}
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@ -1,12 +1,14 @@
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using Esiur.Data;
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using Esiur.Resource;
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using System;
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using System.Collections.Concurrent;
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using System.Collections.Generic;
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using System.Diagnostics;
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using System.Linq;
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using System.Reflection;
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using System.Security.Cryptography.X509Certificates;
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using System.Text;
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using System.Threading.Tasks;
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namespace Esiur.Analysis.Optimization
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{
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@ -57,10 +59,18 @@ namespace Esiur.Analysis.Optimization
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KeyValuePair<T, double>[] GetFitness()
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{
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var rt = new List<KeyValuePair<T, double>>();
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//var rt = new List<KeyValuePair<T, double>>();
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var rt = new ConcurrentBag<KeyValuePair<T, double>>();
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foreach (var record in Population)
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rt.Add(new KeyValuePair<T, double>( record, FitnessFunction(record)));
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Parallel.ForEach(Population, record =>
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{
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rt.Add(new KeyValuePair<T, double>(record, FitnessFunction(record)));
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});
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//foreach (var record in Population)
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// rt.Add(new KeyValuePair<T, double>( record, FitnessFunction(record)));
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return rt.ToArray();
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}
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@ -35,9 +35,9 @@ namespace Esiur.Analysis.Statistics
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public static double RMS(this double[] x)
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{
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var r = Math.Sqrt(x.Sum(x => x * x) / x.Length);
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if (double.IsNaN(r))
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Console.WriteLine();
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var r = Math.Sqrt(x.Sum(x =>(float) x * (float) x) / x.Length);
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//if (double.IsNaN(r) || double.IsInfinity(r))
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// Console.WriteLine();
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return r;
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}
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