java/test/_pid_fuzzy.java

   1 import liba.mf;
   2 import liba.pid_fuzzy;
   3
   4 class _pid_fuzzy {
   5     public static void main(String[] args) {
   6         int NL = -3;
   7         int NM = -2;
   8         int NS = -1;
   9         int ZO = 0;
  10         int PS = +1;
  11         int PM = +2;
  12         int PL = +3;
  13         double[][] me = {
  14                 { mf.TRI, NL, NL, NM },
  15                 { mf.TRI, NL, NM, NS },
  16                 { mf.TRI, NM, NS, ZO },
  17                 { mf.TRI, NS, ZO, PS },
  18                 { mf.TRI, ZO, PS, PM },
  19                 { mf.TRI, PS, PM, PL },
  20                 { mf.TRI, PM, PL, PL },
  21         };
  22         NL = -6;
  23         NM = -4;
  24         NS = -2;
  25         ZO = 0;
  26         PS = +2;
  27         PM = +4;
  28         PL = +6;
  29         double[][] mec = {
  30                 { mf.TRI, NL, NL, NM },
  31                 { mf.TRI, NL, NM, NS },
  32                 { mf.TRI, NM, NS, ZO },
  33                 { mf.TRI, NS, ZO, PS },
  34                 { mf.TRI, ZO, PS, PM },
  35                 { mf.TRI, PS, PM, PL },
  36                 { mf.TRI, PM, PL, PL },
  37         };
  38         NL = -15;
  39         NM = -10;
  40         NS = -5;
  41         ZO = 0;
  42         PS = +5;
  43         PM = +10;
  44         PL = +15;
  45         double[][] mkp = {
  46                 { NL, NL, NM, NM, NS, ZO, ZO },
  47                 { NL, NL, NM, NS, NS, ZO, PS },
  48                 { NM, NM, NM, NS, ZO, PS, PS },
  49                 { NM, NM, NS, ZO, PS, PM, PM },
  50                 { NS, NS, ZO, PS, PS, PM, PM },
  51                 { NS, ZO, PS, PM, PM, PM, PL },
  52                 { ZO, ZO, PM, PM, PM, PL, PL },
  53         };
  54         NL = -3;
  55         NM = -2;
  56         NS = -1;
  57         ZO = 0;
  58         PS = +1;
  59         PM = +2;
  60         PL = +3;
  61         double[][] mki = {
  62                 { PL, PL, PM, PM, PS, ZO, ZO },
  63                 { PL, PL, PM, PS, PS, ZO, ZO },
  64                 { PL, PM, PS, PS, ZO, NS, NS },
  65                 { PM, PM, PS, ZO, NS, NM, NM },
  66                 { PM, PS, ZO, NS, NS, NM, NL },
  67                 { ZO, ZO, NS, NS, NM, NL, NL },
  68                 { ZO, ZO, NS, NM, NM, NL, NL },
  69         };
  70         double[][] mkd = {
  71                 { NS, PS, PL, PL, PL, PM, NS },
  72                 { NS, PS, PL, PM, PM, PS, ZO },
  73                 { ZO, PS, PM, PM, PS, PS, ZO },
  74                 { ZO, PS, PS, PS, PS, PS, ZO },
  75                 { ZO, ZO, ZO, ZO, ZO, ZO, ZO },
  76                 { NL, NS, NS, NS, NS, NS, NL },
  77                 { NL, NM, NM, NM, NS, NS, NL },
  78         };
  79         pid_fuzzy obj = new pid_fuzzy();
  80         obj.rule(me, mec, mkp, mki, mkd).block(2);
  81         obj.kpid(10, 0.1, 1);
  82         System.out.print(obj.zero().pos(1, 0) + " ");
  83         System.out.print(obj.zero().inc(1, 0) + " ");
  84         System.out.println(obj.run(1, 0));
  85         obj.kp(obj.kp());
  86         obj.ki(obj.ki());
  87         obj.kd(obj.kd());
  88         obj.summax(obj.summax());
  89         obj.summin(obj.summin());
  90         obj.sum();
  91         obj.outmax(obj.outmax());
  92         obj.outmin(obj.outmin());
  93         obj.out();
  94         obj.fdb();
  95         obj.err();
  96         obj.order();
  97         obj.block(obj.block());
  98     }
  99 }