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+import numpy as np
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+import skfuzzy as fuzz
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+import matplotlib.pyplot as plt
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+#from mpl_toolkit.mplot3d import Axes3D
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+from skfuzzy import control as ctrl
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+import math
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+
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+
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+class PIDController:
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+ def __init__(self, Kp, Ki, Kd):
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+ self.Kp = Kp
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+ self.Ki = Ki
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+ self.Kd = Kd
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+ self.last_error = 0
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+ self.integral = 0
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+
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+ def control(self, error):
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+ output = self.Kp * error + self.Ki * self.integral + self.Kd * (error - self.last_error)
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+ self.integral += error
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+ self.last_error = error
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+
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+ return output
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+
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+
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+class TemperatureSystem:
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+ def __init__(self, target_temp):
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+ self.target_temp = target_temp
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+ self.current_temp = 0
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+
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+ def update(self, control_singal):
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+ self.current_temp += control_singal * 1
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+ return self.current_temp
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+
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+ def get_error(self):
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+ return self.target_temp - self.current_temp
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+
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+
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+def train(controller,system, num_iterations):
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+ errors = []
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+ signal = []
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+ temp = []
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+ e = ctrl.Antecedent(np.arange(-80, 80, 1), 'e')
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+ del_e = ctrl.Antecedent(np.arange(-6, 6, 1), 'del_e')
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+ kp = ctrl.Consequent(np.arange(-0.8, 0.8, 0.01), 'kp')
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+ ki = ctrl.Consequent(np.arange(-0.1, 0.1, 0.005), 'ki')
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+ kd = ctrl.Consequent(np.arange(-0.1, 0.1, 0.005), 'kd')
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+
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+ e['NB'] = fuzz.trimf(e.universe, [-80, -80, -40])
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+ e['NS'] = fuzz.trimf(e.universe, [-80, -40, 0])
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+ e['ZO'] = fuzz.trimf(e.universe, [-40, 0, 40])
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+ e['PS'] = fuzz.trimf(e.universe, [0, 40, 80])
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+ e['PB'] = fuzz.trimf(e.universe, [40, 80, 80])
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+
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+ del_e['NB'] = fuzz.trimf(del_e.universe, [-6, -6, -3])
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+ del_e['NS'] = fuzz.trimf(del_e.universe, [-6, -3, 0])
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+ del_e['ZO'] = fuzz.trimf(del_e.universe, [-3, 0, 3])
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+ del_e['PS'] = fuzz.trimf(del_e.universe, [0, 3, 6])
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+ del_e['PB'] = fuzz.trimf(del_e.universe, [3, 6, 6])
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+
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+ kp['NB'] = fuzz.trimf(kp.universe, [-0.8, -0.8, -0.4])
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+ kp['NS'] = fuzz.trimf(kp.universe, [-0.8, -0.4, 0])
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+ kp['ZO'] = fuzz.trimf(kp.universe, [-0.4, 0, 0.4])
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+ kp['PS'] = fuzz.trimf(kp.universe, [0, 0.4, 0.8])
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+ kp['PB'] = fuzz.trimf(kp.universe, [0.4, 0.8, 0.8])
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+
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+ ki['NB'] = fuzz.trimf(ki.universe, [-0.02, -0.02, -0.01])
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+ ki['NS'] = fuzz.trimf(ki.universe, [-0.02, -0.01, 0])
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+ ki['ZO'] = fuzz.trimf(ki.universe, [-0.01, 0, 0.01])
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+ ki['PS'] = fuzz.trimf(ki.universe, [0, 0.01, 0.02])
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+ ki['PB'] = fuzz.trimf(ki.universe, [0.01, 0.02, 0.02])
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+
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+ kd['NB'] = fuzz.trimf(kd.universe, [-0.02, -0.02, -0.01])
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+ kd['NS'] = fuzz.trimf(kd.universe, [-0.02, -0.01, 0])
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+ kd['ZO'] = fuzz.trimf(kd.universe, [-0.01, 0, 0.01])
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+ kd['PS'] = fuzz.trimf(kd.universe, [0, 0.01, 0.02])
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+ kd['PB'] = fuzz.trimf(kd.universe, [0.01, 0.02, 0.02])
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+
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+ rule1 = ctrl.Rule((e['NB'] & del_e['NB']) | (e['PS'] & del_e['PB']), kp['PB'])
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+ rule2 = ctrl.Rule((e['NB'] & del_e['NS']) | (e['NB'] & del_e['ZO']) | (e['NB'] & del_e['PS']) | (e['NS'] & del_e['NS']) | (e['NS'] & del_e['ZO']) | (e['ZO'] & del_e['NS']) | (e['PB'] & del_e['NS']) | (e['PB'] & del_e['ZO']) | (e['PB'] & del_e['PS']), kp['NS'])
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+ rule3 = ctrl.Rule((e['NB'] & del_e['PB']) | (e['NS'] & del_e['PS']) | (e['ZO'] & del_e['ZO']) | (e['PS'] & del_e['NS']) | (e['PB'] & del_e['NB']), kp['ZO'])
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+ rule4 = ctrl.Rule((e['NS'] & del_e['NB']) | (e['NS'] & del_e['PB']) | (e['ZO'] & del_e['NB']) | (e['ZO'] & del_e['PS']) | (e['ZO'] & del_e['PB']) | (e['PS'] & del_e['NB']) | (e['PS'] & del_e['ZO']) | (e['PS'] & del_e['PS']), kp['PS'])
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+ rule5 = ctrl.Rule((e['PB'] & del_e['PB']), kp['NB'])
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+
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+ rule6 = ctrl.Rule((e['PS'] & del_e['PB']) | (e['PB'] & del_e['PB']), ki['PB'])
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+ rule7 = ctrl.Rule((e['NB'] & del_e['NS']) | (e['NB'] & del_e['ZO']) | (e['NB'] & del_e['PS']) | (e['NS'] & del_e['NS']) | (e['NS'] & del_e['ZO'])| (e['ZO'] & del_e['NB']) | (e['ZO'] & del_e['NS']) | (e['PS'] & del_e['NB']), ki['NS'])
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+ rule8 = ctrl.Rule((e['NB'] & del_e['PB']) | (e['NS'] & del_e['PS']) | (e['ZO'] & del_e['ZO']) | (e['PS'] & del_e['NS']) | (e['PB'] & del_e['NB']), ki['ZO'])
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+ rule9 = ctrl.Rule((e['NS'] & del_e['PB']) | (e['ZO'] & del_e['PS']) | (e['ZO'] & del_e['PB']) | (e['PS'] & del_e['ZO']) | (e['PS'] & del_e['PS']) | (e['PB'] & del_e['NS']) | (e['PB'] & del_e['ZO'])| (e['PB'] & del_e['PS']), ki['PS'])
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+ rule10 = ctrl.Rule((e['NB'] & del_e['NB'])|(e['NS'] & del_e['NB']), ki['NB'])
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+
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+ rule11 = ctrl.Rule((e['PB'] & del_e['NB']) | (e['PB'] & del_e['PB']), kd['PB'])
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+ rule12 = ctrl.Rule((e['NS'] & del_e['NS']) | (e['NS'] & del_e['ZO']) | (e['NS'] & del_e['PS']) | (e['ZO'] & del_e['NS']) | (e['ZO'] & del_e['ZO'])| (e['ZO'] & del_e['PS']), kd['NS'])
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+ rule13 = ctrl.Rule((e['NS'] & del_e['NB']) | (e['NS'] & del_e['PB']) | (e['ZO'] & del_e['NB'])| (e['ZO'] & del_e['PB']) | (e['PS'] & del_e['NB']) | (e['PS'] & del_e['NS'])| (e['PS'] & del_e['ZO'])| (e['PS'] & del_e['PS'])| (e['PS'] & del_e['PB']), kd['ZO'])
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+ rule14 = ctrl.Rule((e['NS'] & del_e['PB']) | (e['ZO'] & del_e['PS']) | (e['ZO'] & del_e['PB']) | (e['PS'] & del_e['ZO']) | (e['PS'] & del_e['PS']) | (e['PB'] & del_e['NS']) | (e['PB'] & del_e['ZO'])| (e['PB'] & del_e['PS']), kd['PS'])
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+ rule15 = ctrl.Rule((e['NB'] & del_e['NS'])|(e['NB'] & del_e['ZO'])|(e['NB'] & del_e['PS']), kd['NB'])
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+
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+ sys = ctrl.ControlSystem([rule1, rule2, rule3, rule4, rule5,rule6, rule7, rule8, rule9, rule10, rule11, rule12, rule13, rule14, rule15])
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+ fu = ctrl.ControlSystemSimulation(sys)
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+
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+ for _ in range(num_iterations):
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+ error = system.get_error()
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+ fu.input['e']=error
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+ fu.input['del_e']= error-controller.last_error
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+ fu.compute()
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+ controller.Kp += fu.output['kp']
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+ controller.Ki += fu.output['ki']
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+ controller.Kd += fu.output['kd']
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+ print("KP:",controller.Kp,"KI:",controller.Ki,"KD:",controller.Kd,"error:",error,"del_error:",error-controller.last_error)
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+ control_signal = controller.control(error)
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+ # system.update(control_signal)
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+ temp.append(system.update(control_signal))
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+ errors.append(error)
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+ signal.append(control_signal)
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+ return temp
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+
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+#controller.input['e']=20
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+#controller.input['del_e']=2
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+#controller.compute()
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+#p=controller.output['kp']
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+#print(p)
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+
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+#upsampled = np.linspace(-10,10,21)
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+#x,y=np.meshgrid(upsampled,upsampled)
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+#z=np.zeros_like(x)
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+#pp=[]
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+#for i in range(0,10):
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+# for j in range(-10,10):
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+# controller.input['e']=x[i,j]
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+# controller.input['del_e']=y[i,j]
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+# controller.compute()
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+# z[i,j]=controller.output['kp']
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+# pp.append(z[i,j])
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+
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+#fig = plt.figure(figsize=(10,10))
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+#ax = fig.add_subplot(111,projection='3d')
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+#surf = ax.plot_surface(x,y,z,rstride=1,cstride=1,cmap='viridis',linewidth=0.4,antialiased=True)
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+#ax.view_init(30,200)
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+#plt.show()
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+
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+
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+
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+target_temp = 30
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+pid_controller = PIDController(0.4,0,0)
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+temperature_system = TemperatureSystem(target_temp)
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+temp = train(pid_controller,temperature_system, 10)
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+plt.plot(temp, 'ro--', linewidth=2, markersize=6, label="fuzzy") # 簡化後的程式碼
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+plt.xlabel('Time')
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+plt.ylabel('temp')
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+plt.title('ML PID control')
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+plt.legend()
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+plt.show()
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