javascript/test/pid_fuzzy.js

   1 #!/usr/bin/env node
   2 const liba = require("../liba");
   3 function assert(expr) {
   4     if (!eval(expr)) {
   5         throw Error(expr);
   6     }
   7 }
   8 function do_leak_check() {
   9     for (const arg of arguments) {
  10         arg.delete();
  11     }
  12     if (liba.do_leak_check) {
  13         liba.do_leak_check();
  14     }
  15 }
  16 var NL = -3;
  17 var NM = -2;
  18 var NS = -1;
  19 var ZO = 0;
  20 var PS = +1;
  21 var PM = +2;
  22 var PL = +3;
  23 var me = [
  24     [liba.mf.TRI, NL, NL, NM],
  25     [liba.mf.TRI, NL, NM, NS],
  26     [liba.mf.TRI, NM, NS, ZO],
  27     [liba.mf.TRI, NS, ZO, PS],
  28     [liba.mf.TRI, ZO, PS, PM],
  29     [liba.mf.TRI, PS, PM, PL],
  30     [liba.mf.TRI, PM, PL, PL],
  31 ];
  32 var NL = -6;
  33 var NM = -4;
  34 var NS = -2;
  35 var ZO = 0;
  36 var PS = +2;
  37 var PM = +4;
  38 var PL = +6;
  39 var mec = [
  40     [liba.mf.TRI, NL, NL, NM],
  41     [liba.mf.TRI, NL, NM, NS],
  42     [liba.mf.TRI, NM, NS, ZO],
  43     [liba.mf.TRI, NS, ZO, PS],
  44     [liba.mf.TRI, ZO, PS, PM],
  45     [liba.mf.TRI, PS, PM, PL],
  46     [liba.mf.TRI, PM, PL, PL],
  47 ];
  48 var NL = -15;
  49 var NM = -10;
  50 var NS = -5;
  51 var ZO = 0;
  52 var PS = +5;
  53 var PM = +10;
  54 var PL = +15;
  55 var mkp = [
  56     [NL, NL, NM, NM, NS, ZO, ZO],
  57     [NL, NL, NM, NS, NS, ZO, PS],
  58     [NM, NM, NM, NS, ZO, PS, PS],
  59     [NM, NM, NS, ZO, PS, PM, PM],
  60     [NS, NS, ZO, PS, PS, PM, PM],
  61     [NS, ZO, PS, PM, PM, PM, PL],
  62     [ZO, ZO, PM, PM, PM, PL, PL],
  63 ];
  64 var NL = -3;
  65 var NM = -2;
  66 var NS = -1;
  67 var ZO = 0;
  68 var PS = +1;
  69 var PM = +2;
  70 var PL = +3;
  71 var mki = [
  72     [PL, PL, PM, PM, PS, ZO, ZO],
  73     [PL, PL, PM, PS, PS, ZO, ZO],
  74     [PL, PM, PS, PS, ZO, NS, NS],
  75     [PM, PM, PS, ZO, NS, NM, NM],
  76     [PM, PS, ZO, NS, NS, NM, NL],
  77     [ZO, ZO, NS, NS, NM, NL, NL],
  78     [ZO, ZO, NS, NM, NM, NL, NL],
  79 ];
  80 var mkd = [
  81     [NS, PS, PL, PL, PL, PM, NS],
  82     [NS, PS, PL, PM, PM, PS, ZO],
  83     [ZO, PS, PM, PM, PS, PS, ZO],
  84     [ZO, PS, PS, PS, PS, PS, ZO],
  85     [ZO, ZO, ZO, ZO, ZO, ZO, ZO],
  86     [NL, NS, NS, NS, NS, NS, NL],
  87     [NL, NM, NM, NM, NS, NS, NL],
  88 ];
  89 var ctx = new liba.pid_fuzzy();
  90 ctx.set_rule(me, mec, mkp, mki, mkd).set_nfuzz(2);
  91 ctx.set_kpid(10, 0.1, 1).set_opr(liba.pid_fuzzy.EQU);
  92 console.log(ctx.zero().run(10, 0));
  93 console.log(ctx.zero().pos(10, 0));
  94 console.log(ctx.zero().inc(10, 0));
  95 assert("ctx.kp != undefined");
  96 assert("ctx.ki != undefined");
  97 assert("ctx.kd != undefined");
  98 assert("ctx.summax != undefined");
  99 assert("ctx.summin != undefined");
 100 assert("ctx.sum != undefined");
 101 assert("ctx.outmax != undefined");
 102 assert("ctx.outmin != undefined");
 103 assert("ctx.out != undefined");
 104 assert("ctx.fdb != undefined");
 105 assert("ctx.err != undefined");
 106 assert("ctx.nrule != undefined");
 107 assert("ctx.nfuzz != undefined");
 108 ctx.kp = 0;
 109 ctx.ki = 0;
 110 ctx.kd = 0;
 111 ctx.summax = 0;
 112 ctx.summin = 0;
 113 ctx.outmax = 0;
 114 ctx.outmin = 0;
 115 ctx.nfuzz = 0;
 116 do_leak_check(ctx);