td_dat.m

来自「FISMAT accommodates different arithmetic」· M 代码 · 共 108 行

echo off
% td_dat.m
%
% Analysis of the fuzzy controller regulating a first order plant (T=1) and
% a dead time of two seconds. Sampling period equals one second.
% For details of plant and discrete PI controller design see Ogata: 
% 'Discrete-Time Control Systems', Prentice Hall, 1987, p.444
% The digital PI controller has the following pulse transfer function:
% G(z)=Kp+Ki/(1-z^-1). The controller is designed such that the dominant
% cloosed-loop poles have a damping ratio of 0.5 and the number of samples
% per cycle of damped sinusoidal oscillation is 10.
% From Ogata Ki=0.2088 and Kp=0.2982
%
% FSTB - Fuzzy Systems Toolbox for MATLAB
% Copyright (c) 1993-1996 by Olaf Wolkenhauer
% Control Systems Centre at UMIST
% Manchester M60 1QD, UK
%
% 10-May-1994
 
clear all
clear global
dec1='y';
Ae=[0]; Ade=Ae;
while dec1=='y',
  ERROR=[-1 0 1];
  RATE=[-1 0 1];
  DOUT=[-1 -0.1 0 0.1 1];
  global ERROR RATE DOUT
  ERROR,RATE,DOUT
  dec=input('Changing fuzzy sets ? y/n [n] : ','s');
  if dec=='y',
    disp('Type <return> to continue.');
    keyboard
  end;
  % initializing for single plant and PI controller:
  c1=0; u1=0; u2=0; u3=0; e1=0; ck=0; rk=1;
  % initializing for single plant and fuzzy PI controller:
  fc1=0; fu1=0; fu2=0; fu3=0; fe1=0; fck=0; 
  kv=0:1:20;
  ck=zeros(1,21); uk=ck; fuk=uk; fck=uk;
  dec=input('stepping throug run ? y/n [n] : ','s');
  if dec=='y',
    f1=figure;
    f2=figure;
  end;
  % Calculating the step response:
  for k=0:20,
    % Implementation of the plant for the PI controller:
    ck(k+1)=0.3679*c1+0.6321*u3;
    ek=rk-ck(k+1);
    % Implementation discrete PI-controller:
    uk(k+1)=u1+0.5070*ek-0.5070*0.5881*e1;
    c1=ck(k+1); u3=u2; u2=u1; u1=uk(k+1); e1=ek; 

    % Implementation of the fuzzy PI controller:
    fck(k+1)=0.3679*fc1+0.6321*fu3;
    fek=rk-fck(k+1);
    % Implementation of the fuzzy PI controller:
    e=[fek (fek-fe1)];
    x=[0]; ts=1;
    do=feval('td_dem_c',e,x,ts);
    fuk(k+1)=do+fu1;
    fc1=fck(k+1); fu3=fu2; fu2=fu1; fu1=fuk(k+1); fe1=fek;

    %disp([k,uk(k+1),ck(k+1),fuk(k+1),fck(k+1)])

    if dec=='y',
      % Plot current values:
      figure(f1);clf
      subplot(2,2,1);plot(kv,ck);title('conv. PI c(k)'); grid on
      subplot(2,2,2);plot(kv,uk);title('conv. PI u(k)'); grid on
      subplot(2,2,3);plot(kv,fck);title('fuzzy PI c(k)'); grid on
      subplot(2,2,4);plot(kv,fuk);title('fuzzy PI u(k)'); grid on
      figure(f2);clf
      subplot(3,1,1), plot_set(ERROR);title('ERROR :');hold on
      plot([fek fek],[0 1],'g'); ylabel(['error= ',num2str(fek)]);
      subplot(3,1,2), plot_set(RATE);title('RATE :');hold on
      plot([(fek-fe1) (fek-fe1)],[0 1],'g'); 
      ylabel(['rate= ',num2str((fek-fe1))]);
      subplot(3,1,3),plot(DOUT,zeros(1,length(DOUT)),'w');title('DOUT : ');
      hold on;line([DOUT;DOUT],[zeros(1,length(DOUT));ones(1,length(DOUT))]);
      plot([do do],[0 1],'g'); ylabel(['do= ',num2str(do)]);
      xlabel(['u(k)= ',num2str(fuk(k+1))]); hold off
      drawnow,pause
    end;
  end;

  dec=input('table ? y/n [n] : ','s');
  if dec=='y',
    disp([kv' uk' ck' fuk' fck'])
  end;

  dec=input('plots ? y/n [n] : ','s');
  if dec=='y',
    clf
    subplot(2,2,1);plot(kv,ck);title('conv. PI c(k) :');grid on
    subplot(2,2,2);plot(kv,uk);title('conv. PI u(k) :');grid on
    subplot(2,2,3);plot(kv,fck);title('fuzzy PI c(k) :');grid on
    subplot(2,2,4);plot(kv,fuk);title('fuzzy PI u(k) :');grid on
  end;
  dec1=input('Another run ? y/n [n] : ','s');
  if isempty(dec1); dec1='n';end;
end;
clear c1 c2 c3 c4 u3 u2 u1 uk e1 ek rk ck k
clear fc1 fc2 fc3 fu3 fu2 fu1 fuk fe1 fek fck dec fuk do x ts e kv dec1
clear Ae Ade f1 f2