From 1ff2384a9e1ecf92d0cc7bb98f0664c7c4f40634 Mon Sep 17 00:00:00 2001 From: Christos Choutouridis Date: Sun, 26 Oct 2025 19:08:38 +0200 Subject: [PATCH] HW1: Small changes on the report --- .gitmodules | 3 +++ Work 1/report/.gitignore | 2 ++ Work 1/report/Work1_report.pdf | Bin 1313257 -> 1312736 bytes Work 1/report/Work1_report.tex | 8 ++++---- Work 4/report/AUThReport | 1 + 5 files changed, 10 insertions(+), 4 deletions(-) create mode 160000 Work 4/report/AUThReport diff --git a/.gitmodules b/.gitmodules index 8cb1ff6..d61415f 100644 --- a/.gitmodules +++ b/.gitmodules @@ -7,3 +7,6 @@ [submodule "Work 3/report/AUThReport"] path = Work 3/report/AUThReport url = ssh://git@git.hoo2.net:222/hoo2/AUThReport.git +[submodule "Work 4/report/AUThReport"] + path = Work 4/report/AUThReport + url = ssh://git@git.hoo2.net:222/hoo2/AUThReport.git diff --git a/Work 1/report/.gitignore b/Work 1/report/.gitignore index 16091e6..62ca9b8 100644 --- a/Work 1/report/.gitignore +++ b/Work 1/report/.gitignore @@ -3,4 +3,6 @@ *.log *.out *.synctex.gz +_minted*/* + diff --git a/Work 1/report/Work1_report.pdf b/Work 1/report/Work1_report.pdf index 4d311ac6e323a2f246db74120afc9f3d02c3a0d1..8c2dfb3b8ed7e80ee4bb34249949941830ca4118 100644 GIT binary patch delta 27217 zcmZsiV{m6-x8;+L?R0G0wr$(C{ZGfXZQHhO+qRQVrr(*VntN;RhgEgz)cN%6r)vH7 z+WVX*D(uB7_y++8{R#pJ0&N0oCj+psF!S+2JG(fU8rnj8Y&2_0$C7X&^*mBPv^i7Q zzu8(#`wH|ya?nmii0smw3VrzwxQP^9JE^`#xh+YVs+A1Fj~+&bdVe;Y!`;c- z&)YDXBtN))N73^gJj=KLyez&P;y;xLnvQvWx@^LeQKzzHCyP$Vr}pCZZvkoyrs1l3 z{F}jVOH)DkaQc7sG>7$<2j1& zuiNEdSgP+m!1T6LmM4Wcvg>X8KXf=IJZ7JH``(XlbHAI~4OAr1*>zh@fLjgeY?}wn zw|A%?!xIDDlJ8z~Tj(>LI05I^03w{)zS8T*6Xdcpklwe|m(}Z2ZcM;>lrxoec7~Xd z3Y~x(&!%8$8NpdWF8WwvLIu;FPVLk+gSI&EzLC16QCfdK;1x+tsHCe zqGF;`<$59W1LnG~+v8rG^heZ*rUTQAG^ndXGhy9AH~#*jvHUWBU%;XeSW`qybm8?$5LE4YA%Dj@9Z^=hJA9&T+LU zb1D)}2HTyVuQo9gbF7D{4uPNi=a%YW$KkQUomkcJ#24xZS59@YhVDjts~$(MTc?Qw zCa1Z_|_g^_Re1#6~@}?b$rjL}tJPeEL09EsU-?7EGA0KO4NB zI@TQ${q9aXwr=pkq7Jtm$H6|;)^k`v_S!SUNu>*gH4~a~G@hGgq4GV3FIE}2-;J*s zC)@8YZ^q>eX25;p=E5ITwW*QLDfs9Ekz}6G&JK*|0*9^cKW0}~FWz}}SDA6vh!`v9 zdF?`MPuRkdok-gTh}W{kjMHe;z2*H#(>qW#-AJNln9gL!*=}zI^(jK5*5o5}+G(Cv z;Br3C4)GbV)#REz3(#lsN7DJPq?x>AXeFGB2&=h#O#sGn{6M7PPZ{Cwdqc)aL1HEA zoTI@3bH+}IgZk`?+aNQJT4d4Z_r+iqJCV%kK8NBsa*)emc?}9ilhJpwrqla;q7fqE zswZx%M9kmdtm1`ivr=XGLzY7I_uU9#jZ)3p z{jVFz6&T-<&+O;}-uDY%r@i`x`F^I{n`8fZ7l0uV-8s2pnScRfix~H5C>q3q%1eDV zdS%hLXQeqhWa(Q%ifV0Tp>}fmEym*mxJ8Pu%*Dd6bgCEG$*-6yqLTe-E4puFW8YG& z^?oX!#j1=w8TmqrKQ4^&j;S6sBZ|w=C?^qN1~s-XcNYTE(K4IA&K?a1u3lOY?3fm# z&jBK$2p0xe^O3q1EUGulTAe<1)zpG~3Dwuu*_QT>wcpRO70g(g)h*WsSgWDWzOgut zSj|NsEtA)apA|3(x2{PcjFTkg$_3`QJDws)nahy_B6~)PPdBK`NSg1@w4IiQWVo+w z0{Yxj?&vutdNVVW)YVqU+8w)YNN~ccaDX*(J#+XUmQAPUPnNvsl&GY?vM;0rs*{Vq zabr+%pXtI|%(qV?et8)E>LzI?5eb)4?0T6NtlGit6kE(5(d^lo%t}7}&{p!9B~DY1 z7xCWI20h#~WjCUl&sYnHVfcGv+4*njR=9JJOvp-enj;FtaV*lN-rEydF`Q5DXTbK}a3 z`W@q5xZ9ZeK{y%r$dUeJ)I)XLlm@s-?qWR4Ys+44Hp4F!wiuuS<5!MI8rJ?g`qLUh zjTT;Hy5t?_8Pb1!xkvoM2+r=!q_Hc?y^eB|VX>&^4On=<}>@2^^!* zv5BE2we5^Ozu}r631gb2@mxEgt?@ucDRX(wzkd&0z)bEHOX!})a}0P?dlT(B5w)PQDsrqfea7hwX&-uzW zV%=0h4$yo)rYSx{7&?)F)c}O;EbHd3wvn_qZ(Vmm9=b1d1eM5~>;5u>EwqUy6D#Dg zg7LEE5=od_rHxXWAG9ERoDT|y)@3PhH>CtPQH^Lo=%*-?p(SpGlT74(Db9`Y7XOw&pVJA}YqOn??DdWuGKVbdMJe`o$2|H(aps)Kc zB3%mM>_#Du+XRR$vd-m(O^E4+N#q|(Vr%O>Ll9D@xUtTb1olX%*UOz!hH?VNwjAPI z@k-$nPtVrc{1zlf!~vHt%6IkSMm_m~GA7n7p%nz(mDAjIW9G?So`4R0l%|ontRu4U zP(ynmw7eq}QX___b2ajGLA4g!7E%W~;=7}Iq&wMsbt!@0yL=m(P_O|Dba8!rIrw?G zcnY5QICtmx3hrtVwxY8hFWgc&CQKi_$sGUzCcluXwt)14%G@BA)hh? 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zFy(0;UCzeF7B3PiYSUs>@Klyrv}-WuOmO!RMhP1LY{s}_khQ0aaIhz~FxoGkpJIOSxy|?PFE3d#~LNOu{`aPdZqN z=R58#PrzU0PBjw5x)>IGd(vh#DIYM2M(wF7n;RSIn;NcUKGG(mWYDQhO=zg0D=**O z>;w6q5BClZ4x%HGQ6wd1XT#T=aWucnNJ-EbVHXnjhj`-)UgMLB0aYJ&tInCE)K`%- ziil^&vo3Fb`FyeN=f!#p zK!4Yx#hx_yv>uPmj3C`iZkNCQ50~S#_j_BKh+>lv(v&jxyY8s<%?467lXD}j{9k4K z%FOO?=bjxcMlSCKYoKuNH&`cIFkj9$GZ*5;ZSR~Q4L%II-{v{d&Ds%j&e%%B1blFZ zJ3IkiNm~-OpGX^*Ov58y=c#KIwyNK)2OfD=uySD3*r*$|j z+q5Vm*nf~f-@EcR{XX|Jw`|n(fq0C%yM8o?hg|X-1(sKz%>%cUYyVCqooaek#)#b0 zxcnM(^caokPTgp3kT!UhH=0eTKGOg_AIndld60oGziMfixxrm%fzGc5SLhZy>I@8e zdU`r^o&M01s_h($ diff --git a/Work 1/report/Work1_report.tex b/Work 1/report/Work1_report.tex index a30368f..63fa677 100644 --- a/Work 1/report/Work1_report.tex +++ b/Work 1/report/Work1_report.tex @@ -146,14 +146,14 @@ G_c(s) = K_p + \frac{K_i}{s} = K_p \frac{s+c}{s} Για τη σχεδίαση του ασαφούς ελεγκτή υλοποιήσαμε τις παρακάτω βασικές συναρτήσεις. \begin{itemize} \item \textit{mkFIS()}: Όπου δηλώσαμε το fuzzy controller καθώς και της συναρτήσεις συμμετοχής και τους κανόνες. - Ο ελεγκτής μας δέχεται 2 εισόδους, το σφάλμα και την πρώτη χρονική του παράγωγο ($e, \dot{e}$) και επιστρέφει την πρώτη παράγωγο του σήματος ελέγχου $\dot{u}$. + Ο ελεγκτής μας δέχεται 2 εισόδους, το σφάλμα και την πρώτη χρονική του παράγωγο ($e, \dot{e}$) και επιστρέφει την διαφορά του σήματος ελέγχου $\Delta u$. Οι συναρτήσεις συμμετοχής δηλώθηκαν με βάση το σχήμα \ref{fig:member_functions}. \InsertFigure{!ht}{0.7}{fig:member_functions}{img/MemberFunctions.png}{Συναρτήσεις συμμετοχής.} Η βάση κανόνων σχεδιάστηκε εμπειρικά. Αν και δεν μπορούμε να αναγάγουμε τους εαυτούς μας σε ειδικούς, για την παρούσα εργασία δεν είχαμε άλλη επιλογή. Η λογική που χρησιμοποιήσαμε βασίζεται στην παρατήριση πως, όταν το σφάλμα και η μεταβολή του σφάλματος έχουν αντίθετο πρόσημο, τότε το σύστημα τείνει προς ισορροπία. - Επομένως, δεν αλλάζουνε το σήμα ελέγχου $\dot{u}$. + Επομένως, δεν αλλάζουνε το σήμα ελέγχου $\Delta u$. Αυτό δημιουργεί μια διαγώνιο με τη λεκτική τιμή "ZR", όπως φαίνεται στον πίνακα \ref{tab:ruleTable}. Επιπροσθέτως, όταν το σφάλμα αυξάνεται και είναι ήδη θετικό, ή μειώνεται και είναι ήδη αρνητικό, τότε εντείνουμε την έξοδο με θετικές και αρνητικές τιμές αντίστοιχα. \begin{table}[!ht] @@ -175,7 +175,7 @@ G_c(s) = K_p + \frac{K_i}{s} = K_p \frac{s+c}{s} PL & NS & ZR & PS & PM & PL & PV & PV & PV & PV \\ % e = PL PV & ZR & PS & PM & PL & PV & PV & PV & PV & PV % e = PV \end{tabular} - \caption{Βάση κανόνων (9$\times$9) για $e$ και $\dot{e}$ με έξοδο $ \dot{u}$.} + \caption{Βάση κανόνων (9$\times$9) για $e$ και $\dot{e}$ με έξοδο $\Delta u$.} \label{tab:ruleTable} \end{table} @@ -244,7 +244,7 @@ Step response: \section {Συμπεράσματα} Στην εργασία συγκρίναμε έναν κλασικό PI με έναν ασαφή Fuzzy–PI για το δορυφορικό μοντέλο. Ο PI, με $c=1$ και βέλτιστο $K$, ικανοποίησε τις προδιαγραφές και έδωσε γρήγορη άνοδο, αλλά με υπερύψωση κοντά στο όριο (10\%). -Ο Fuzzy–PI υλοποιήθηκε ως Mamdani με δύο εισόδους $(e,\dot e)$, έξοδο $\Delta u$, κανόνες 9$\times$9 και εξωτερική κλιμακοποίηση σε $[-1,1]$. +Ο Fuzzy–PI υλοποιήθηκε ως Mamdani με δύο εισόδους $(e,\dot e)$, έξοδο $\Delta u$, κανόνες $9\times9$ και εξωτερική κλιμακοποίηση σε $[-1,1]$. Ο συντονισμός των $K_{de},K_u$ έγινε με αναζήτηση και κριτήριο ITAE, καταλήγοντας σε πολύ μικρή υπερύψωση (1.2\%) και ήπια απόσβεση, με ελαφρώς αργότερο $T_r$/$T_s$. Πρακτικά, ο PI αποδείχτηκε απλός και αποτελεσματικός για γρήγορη απόκριση, αλλά πιο «επιθετικός». diff --git a/Work 4/report/AUThReport b/Work 4/report/AUThReport new file mode 160000 index 0000000..74ec4b5 --- /dev/null +++ b/Work 4/report/AUThReport @@ -0,0 +1 @@ +Subproject commit 74ec4b5f6c66382e5f1b6d2e6930897e4ed53ea6