javascript/test/pid_fuzzy.js

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