90 lines
2.4 KiB
Matlab
90 lines
2.4 KiB
Matlab
%% Satellite - Scenario 1 tune FZ-PI
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%
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% Assignment 1 in Fuzzy systems
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%
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% author:
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% Christos Choutouridis ΑΕΜ 8997
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% cchoutou@ece.auth.gr
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%
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%
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clear; clc; close all;
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s = tf('s');
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% Givens
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% -------------------------------------------------------
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Gp = 10/((s+1)*(s+9)); % given plant
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spec.Mp_max = 0.07; % 7% overshoot
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spec.Tr_max = 0.6; % 0.6sec rise time
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spec.SteadyStateValue = 1.0; % step of 1
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Ts = 0.01;
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% Configuration
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tEnd = 5;
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Ke = 1;
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fis = mkFIS();
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best = struct('cost',Inf);
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for Kde = 0.2:0.01:0.35
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for Kdu = 0.3:0.01:0.5
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% Convert Gp -> A,B,C,D (z)
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Gz = c2d(Gp, Ts, 'zoh');
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Gd = ss(Gz);
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Ad=Gd.A; Bd=Gd.B; Cd=Gd.C; Dd=Gd.D;
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%figure('Name','FLC surface'); gensurf(fis); grid on;
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t = 0:Ts:tEnd;
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r = ones(size(t));
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x = zeros(size(Ad,1),1);
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y = 0;
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% logs
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Y = zeros(size(t)); U = zeros(size(t)); E = zeros(size(t));
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clear satFZ_PI; % Init satFZ_PI
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for k = 1:numel(t)
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% calculate error
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e = r(k) - y;
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%evaluate controller
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u = satFZ_PI(fis, e, Ke, Kde, Kdu, Ts);
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% plant update (ZOH)
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x = Ad*x + Bd*u;
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y = Cd*x + Dd*u;
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% keep logs
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Y(k) = y; U(k) = u; E(k) = e;
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end
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info = stepinfo(Y, t, 1);
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% First check hard specs
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if info.Overshoot/100 <= spec.Mp_max && ...
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info.RiseTime <= spec.Tr_max
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%
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% Select the best CL based on a more appropriate cost function
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% (ITAE-like): integral of t*|e(t)| approximated by weights
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%
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cost = trapz(t, t.*abs(E));
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if cost < best.cost
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best.cost = cost;
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best.Kdu = Kdu;
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best.Kde = Kde;
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best.info = info;
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best.ess = E(end);
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end
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end
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end
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end
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fprintf('Best match: Kde=%.3g, Kdu=%.3g\n', best.Kde, best.Kdu);
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fprintf('Step response:\n');
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fprintf(' RiseTime : %.4g s\n', best.info.RiseTime);
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fprintf(' SettlingTime : %.4g s\n', best.info.SettlingTime);
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fprintf(' Overshoot : %.2f%%\n', best.info.Overshoot);
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fprintf(' Peak : %.4g\n', best.info.Peak);
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fprintf(' PeakTime : %.4g s\n', best.info.PeakTime);
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fprintf(' SS error : %.4g s\n', best.ess); |