first

.gitignore

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+src/astron.m
+src/zigler_nichols.m
+src/relay.m
+*.m~
+*.asv
+survey
+src/easylife.m
+sim/
+dc fan/
+web fan/

LICENSE

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+MIT License
+
+Copyright (c) 2019 Pedro Martins
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

basic_set.m

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+%% read and press ctrl + enter for each block!
+return
+clear
+
+%% libraries (must be at current folder!)
+addpath('jsonlab-1.5')
+
+%% Triangular Pulse Input
+nlang = 3; %number of linguistic variables
+mixing = 0.5; %from 0 to 1, there are at most two variables (required)
+span = 400; %distance beetween edges (input span)
+
+b = linspace(-1.0, 1.0, nlang)';
+a = b - 1/(nlang - 1)*(1 + mixing)';
+c = b + 1/(nlang - 1)*(1 + mixing)';
+a(1) = -inf; c(end) = inf; %edges
+s = struct('params', mat2cell([a b c]*span/2, ones([1 nlang])),...
+    'type', 'triangularPulse');
+
+%% Triangular Pulse Output
+nlang = 5; %number of linguistic variables
+mixing = 0.5; %from 0 to 1, there are at most two variables (required)
+span = 100; %distance beetween edges (input span)
+
+b = linspace((1 + mixing)/(2*nlang), 1.0 - (1 + mixing)/(2*nlang), nlang)';
+a = b - (1 + mixing)/(2*nlang)';
+c = b + (1 + mixing)/(2*nlang)';
+s = struct('params', mat2cell([a b c]*span, ones([1 nlang])),...
+    'type', 'triangularPulse');
+
+%% other distributions @todo
+
+%% Save JSON
+json = savejson('', s);
+json([1:2 end-1:end]) = [];
+file = fopen('.\fuzzy\membership\fan\u.json', 'w');
+fprintf(file, json);
+fclose(file);

centroid_area.m

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+function out = centroid_area( params )
+%CENTROID x = centroid( params )
+switch params{end}
+    case 'triangularPulse'
+        [h, a, b, c, x] = params{:};
+        if isnan(x(1)) && isnan(x(2))
+            area = 0;
+            centroid = 0;
+        else
+            S(1) = (b - x(1))*h;
+            C(1) = (b + x(1))/2;
+            S(2) = (x(2) - b)*h;
+            C(2) = (b + x(2))/2;
+            S(3) = (x(1) - a)*h/2;
+            C(3) = (a + 2*x(1))/3;
+            S(4) = (c - x(2))*h/2;
+            C(4) = (c + 2*x(2))/3;
+            area = sum(S);
+            if area ~= 0
+                centroid = sum(C.*S)/area;
+            else
+                centroid = 0;
+            end
+        end
+end
+out = [centroid area];
+end

fuzzy/fan/README.txt

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+%fan fuzzy uses ../membership/fan json data
+%and K is the plant model dc gain
+
+u(k) = fuzzy(e(k), de(k)); %no model
+u(k) = (r(k)/K - 50) + fuzzy(e(k), de(k)); %with model
+
+Gz =
+
+    0.07751 z^-1 + 0.1716 z^-2
+  ------------------------------
+  1 - 0.8539 z^-1 - 0.02473 z^-2
+
+Sample time: 0.1 seconds
+Discrete-time transfer function.

fuzzy/fan1/README.txt

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+%fan1 fuzzy uses ../membership/fan1 json data
+%and K is the plant model dc gain
+
+u(k) = fuzzy(e(k), de(k)); %no model
+u(k) = (r(k)/K - 50) + fuzzy(e(k), de(k)); %with model
+
+Gz =
+
+    0.07751 z^-1 + 0.1716 z^-2
+  ------------------------------
+  1 - 0.8539 z^-1 - 0.02473 z^-2
+
+Sample time: 0.1 seconds
+Discrete-time transfer function.

fuzzy/membership/fan/de.json

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+[
+	{
+		"params": ["-_Inf_",-120,-10],
+		"type": "triangularPulse"
+	},
+	{
+		"params": [-30,0,30],
+		"type": "triangularPulse"
+	},
+	{
+		"params": [10,120,"_Inf_"],
+		"type": "triangularPulse"
+	}
+]

fuzzy/membership/fan/e.json

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+[
+	{
+		"params": ["-_Inf_",-50,-5],
+		"type": "triangularPulse"
+	},
+	{
+		"params": [-10,0,10],
+		"type": "triangularPulse"
+	},
+	{
+		"params": [5,50,"_Inf_"],
+		"type": "triangularPulse"
+	}
+]

fuzzy/membership/fan/u.json

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+[
+	{
+		"params": [0,15,30],
+		"type": "triangularPulse"
+	},
+	{
+		"params": [17.5,32.5,47.5],
+		"type": "triangularPulse"
+	},
+	{
+		"params": [35,50,65],
+		"type": "triangularPulse"
+	},
+	{
+		"params": [52.5,67.5,82.5],
+		"type": "triangularPulse"
+	},
+	{
+		"params": [70,85,100],
+		"type": "triangularPulse"
+	}
+]

fuzzy/membership/fan1/de.json

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+[
+	{
+		"params": ["-_Inf_",-250,-10],
+		"type": "triangularPulse"
+	},
+	{
+		"params": [-100,0,100],
+		"type": "triangularPulse"
+	},
+	{
+		"params": [10,250,"_Inf_"],
+		"type": "triangularPulse"
+	}
+]

fuzzy/membership/fan1/e.json

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+[
+	{
+		"params": ["-_Inf_",-200,-5],
+		"type": "triangularPulse"
+	},
+	{
+		"params": [-25,0,25],
+		"type": "triangularPulse"
+	},
+	{
+		"params": [5,200,"_Inf_"],
+		"type": "triangularPulse"
+	}
+]

fuzzy/membership/fan1/u.json

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+[
+	{
+		"params": [0,15,30],
+		"type": "triangularPulse"
+	},
+	{
+		"params": [17.5,32.5,47.5],
+		"type": "triangularPulse"
+	},
+	{
+		"params": [35,50,65],
+		"type": "triangularPulse"
+	},
+	{
+		"params": [52.5,67.5,82.5],
+		"type": "triangularPulse"
+	},
+	{
+		"params": [70,85,100],
+		"type": "triangularPulse"
+	}
+]

fuzzy_fan.m

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+%1. Right-click the editor's tab and select "Change current folder to..."
+%2. Run the code either with Command Window, F5 or Ctrl+Enter
+%3. Modify the configuration and repeat from (2)
+clc
+clear
+format shortg
+addpath(genpath('src'))
+global t y r e u pwm k
+
+% Adicione o nome de variáveis que queira salvar
+salvar = {'t', 'y', 'r', 'e', 'u', 'pwm', 'ping', 'o', 'k', 'n', 'T'};
+
+T = 0.1;            %tempo de amostragens
+n = 300;            %numero de amostras
+o = 3;              %início de amostragem
+t = (0:(n-1))*T;    %vetor  de tempo
+
+%% I/O
+%tenta conectar com a planta, simula caso aconteça algum erro
+z = tf('z', T, 'variable', 'z^-1');
+Gz = z^-1*(0.077508 + 0.17161*z^-1)/(1 - 0.8539*z^-1 - 0.02473*z^-2);
+
+%ajuste a COM e o baud rate de 19200, em Gerenciador de Dispositivos
+[termina, leitura, escrita, planta] = startcom('COM20', Gz);
+
+%% CONFIGURACAO
+pasta = planta*'pratica' + ~planta*'teorica';
+salvar_em = ['ventilador/' pasta '/fuzzy'];
+saturacao = 100;
+referencia = 100;
+escala = 200;
+
+%ESTADO INCIAL
+[r, y, e, u, pwm] = deal(zeros(n, 1)); 
+ping = nan(n, 1);
+t0 = tic;
+
+%% FUZZY UZI
+addpath('.\jsonlab-1.5')
+pasta_fuzzy = '.\fuzzy\membership\fan1\';
+mfe = membership(loadjson([pasta_fuzzy 'e.json']));
+mfde = membership(loadjson([pasta_fuzzy 'de.json']));
+mfu = membership(loadjson([pasta_fuzzy 'u.json']));
+
+AND = @(x1, x2) min(x1, x2);
+OR = @(x1, x2) max(x1, x2);
+IF = @(y, member) centroid_area([y member(y)]);
+
+% AND min
+% OR max
+% IF centroid
+% -e & -de = --u
+% -e & +de | 0e & -de = -u
+% -e & 0de | +e & 0de | 0e & 0de = 0u
+% 0e & +de | +e & -de = +u
+% +e & +de = ++u
+
+%% CONTROL LOOP
+K = dcgain(Gz);
+dr = (escala - referencia)/4;
+
+for k = 3:n
+    %MEDIR SENSOR
+    time = tic;
+    y(k) = leitura();
+
+    %REFERÊNCIA
+    r(k) = referencia + dr*(-1*(k>n/5) + 2*(k>2*n/5) - 3*(k>3*n/5) + 4*(k>4*n/5));
+    e(k) = r(k) - y(k);
+
+    %CONTROLE
+    %fuzzification
+    fe = mfe.fx(e(k));
+    fde = mfde.fx((y(k) - y(k-1))/T);
+    [ne, ze, pe] = fe{:};
+    [nde, zde, pde] = fde{:};
+    [nnu, nu, zu, pu, ppu] = mfu.fy{:};
+    %rule system
+    rules = ...
+    [
+    IF(AND(ne, nde), nnu);
+    IF(OR(OR(AND(ne, pde), AND(ne, zde)), AND(ze, nde)), nu);
+    IF(AND(ze, zde), zu);
+    IF(OR(OR(AND(pe, nde), AND(pe, zde)), AND(ze, pde)), pu);
+    IF(AND(pe, pde), ppu);
+    ];
+    %defuzzification
+%     u(k) = sum(rules(:,1).*rules(:,2))/sum(rules(:,2));
+    u(k) = (r(k)/K - 50) + sum(rules(:,1).*rules(:,2))/sum(rules(:,2));
+
+    %ATUAÇÃO E SATURAÇÃO
+    pwm(k) = min(max(u(k), 0), saturacao);
+
+    escrita(pwm(k));
+    ping(k) = toc(time);
+
+    %DELAY
+    if planta
+        while toc(time) < T
+        end
+    end
+end
+termina();
+fprintf('Tempo: %f segundos\n\n', toc(t0) - toc(time));
+
+%% PLOT & SALVE
+fig = plotudo(t(o:k), y, r, e, u, pwm, 0, 0, 0);
+if ~exist(salvar_em, 'dir')
+    mkdir(salvar_em);
+end
+date = datestr(datetime('now'));
+date(date == '-' | date == ':') = '_';
+path = [salvar_em '/' date];
+save([path '.mat'], salvar{:})
+saveas(fig, [path '.fig'])
+disp(['Plant: ' salvar_em ' Saved at: ' path])