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pi_param.m
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% PI_PARAM
%
% Sluzi na vypocet parametrov PI regulatora pomocou vybranej experimentalnej
% metody
% METODY:
%
%-----------------------------------------------
%
% ZIEGLER-NICHOLS
if typy_ns==1
z_r =((0.9/K)*(Tn/Tu));
t_i=(3.33*Tu);
t_d=0;
close
simul_param;
%-------------------------------------------------------------------------
% STREJC
elseif typy_ns==2
% Testovanie vhodnosti radu, aby sa predislo deleniu nulou
if (n<2)
pth_fig = ptg_error('reg_v',ptg_string(11,9,ptv_str_lang),ptv_str_lang);
else
z_r =(1/K)*((n+2)/(4*(n-1)));
t_i =T*((n+2)/3);
t_d=0;
close
simul_param
end
%-----------------------------------------------------------------------
% COHEN-COON
elseif typy_ns==3
z_r =(1/K)*(Tn/Tu)*(0.9+((1/12)*(Tu/Tn)));
t_i =Tu*((30+3*(Tu/Tn))/(9+20*(Tu/Tn)));
t_d=0;
close
simul_param
%--------------------------------------------------------------------------
% METODA PRIAMEJ SYNTEZY REGULATORA
elseif typy_ns==4
% Pomocna premenna ic3 pre kontrolu zadania Turo
ic3=zeros(1,1);
% Pomocna premenna ic4 pre kontrolu spravneho zadania Turo
ic4=0;
QTuro='???';
% close
fig = figure('Color','blue',...
'Resize','off',...
'Menubar',ptv_fig_menubar,...
'Numbertitle','off',...
'name',ptg_string(1,2,ptv_str_lang), ...
'position',[100 200 215 200]);
navrh_text= uicontrol(gcf,...
'Style','text',...
'position',[15 85 185 105],...
'Fontsize',[12],...
'ForegroundColor','black',...
'BackgroundColor',[fgcolor],...
'Fontweight','bold',...
'HorizontalAlignment','center',...
'String',ptg_string(11,11,ptv_str_lang));
Turo_text= uicontrol(gcf,...
'Style','text',...
'position',[15 50 90 25],...
'Fontsize',[12],...
'ForegroundColor','black',...
'BackgroundColor',[fgcolor],...
'Fontweight','bold',...
'HorizontalAlignment','center',...
'String',ptg_string(11,12,ptv_str_lang));
QTuro = uicontrol(gcf,...
'Style','edit',...
'ForegroundColor','black',...
'Fontsize',[11],...
'BackgroundColor',[1 1 1],...
'String',num2str(QTuro),...
'Position',[108 50 90 25],...
'CallBack',['QTuro=str2num(get(gco,''String''));ic3(1,1)=1;']);
%------------------------------- Tn ---------------------------------------
Tn_text = uicontrol(gcf,...
'Style','text',...
'ForegroundColor','black',...
'Fontweight','bold',...
'Fontsize',[12],...
'BackgroundColor','white',...
'Position',[20 100 85 25],...
'String',ptg_string(8,6,ptv_str_lang));
Tn_text2 = uicontrol(gcf,...
'Style','text',...
'ForegroundColor','black',...
'Fontweight','bold',...
'Fontsize',[12],...
'BackgroundColor','white',...
'Position',[108 100 85 25],...
'String',num2str(Tn));
%----SPAT-----%
navrat = uicontrol(gcf,...
'Style','push',...
'Position',[15 15 60 25],...
'Fontweight','bold',...
'Fontsize',[12],...
'String',ptg_string(3,2,ptv_str_lang),...
'ForegroundColor','black',...
'Callback','close,reg_v');
potvrdenie = uicontrol(gcf,...
'Style','push',...
'Position',[100 15 100 25],...
'Fontweight','bold',...
'String',ptg_string(3,1,ptv_str_lang),...
'Fontsize',[11],...
'ForegroundColor','red',...
'CallBack','close,naspat=''pi_param'';testturo;if(ic4==1),z_r =(Tn/(K*(Turo+D)));t_i =Tn;t_d=0;simul_param,end');
%--------------------------------------------------------------------------
% HAALMAN
elseif typy_ns==5
z_r =((2*Tn)/(3*K*Tu));
t_i =Tn;
t_d=0;
close
simul_param
%--------------------------------------------------------------------------
% CHIEN,HRONES,RESWICK (0% PREREGULOVANIE)
elseif typy_ns==6
figure('Color','blue',...
'Resize','off',...
'Numbertitle','off',...
'Menubar',ptv_fig_menubar,...
'Name',ptg_string(1,2,ptv_str_lang), ...
'Position',[120 200 360 150]);
sposob_navrhu= uicontrol(gcf,...
'Style','push',...
'Position',[30 100 300 30],...
'String',ptg_string(11,13,ptv_str_lang),...
'Fontsize',[11],...
'Fontweight','bold',...
'ForegroundColor','black',...
'CallBack','close,z_r =(0.35*Tn)/(K*Tu); t_i =1.17*Tn;t_d=0;simul_param');
sposob_navrhu= uicontrol(gcf,...
'Style','push',...
'Position',[30 60 300 30],...
'String',ptg_string(11,14,ptv_str_lang),...
'Fontsize',[11],...
'Fontweight','bold',...
'ForegroundColor','black',...
'CallBack','close,z_r =(0.6*Tn)/(K*Tu); t_i =(0.8*Tu+0.5*Tn);t_d=0;simul_param');
navrat = uicontrol(gcf,...
'Style','push',...
'Position',[30 15 60 30],...
'Fontweight','bold',...
'Fontsize',[12],...
'String',ptg_string(3,2,ptv_str_lang),...
'ForegroundColor','black',...
'Callback','close,reg_v');
%--------------------------------------------------------------------------
% CHIEN,HRONES,RESWICK (20% PREREGULOVANIE)
elseif typy_ns==7
figure('Color','blue',...
'Resize','off',...
'Numbertitle','off',...
'Menubar',ptv_fig_menubar,...
'Name',ptg_string(1,2,ptv_str_lang), ...
'Position',[120 200 360 150]);
sposob_navrhu= uicontrol(gcf,...
'Style','push',...
'Position',[30 100 300 30],...
'String',ptg_string(11,13,ptv_str_lang),...
'Fontsize',[11],...
'Fontweight','bold',...
'ForegroundColor','black',...
'CallBack','close,z_r =(0.6*Tn)/(K*Tu);t_i =Tn;t_d=0;simul_param');
sposob_navrhu= uicontrol(gcf,...
'Style','push',...
'Position',[30 60 300 30],...
'String',ptg_string(11,14,ptv_str_lang),...
'Fontsize',[11],...
'Fontweight','bold',...
'ForegroundColor','black',...
'CallBack','close,z_r =(0.7*Tn)/(K*Tu);t_i =(Tu+0.3*Tn);t_d=0;simul_param');
navrat = uicontrol(gcf,...
'Style','push',...
'Position',[30 15 60 30],...
'Fontweight','bold',...
'Fontsize',[12],...
'String',ptg_string(3,2,ptv_str_lang),...
'ForegroundColor','black',...
'Callback','close,reg_v');
%-----------------------------------------------
%
% HALF DAMPPING METHOD
elseif typy_ns == 8
[z_r, t_i, t_d] = pte_hdm(2,K,Tu,Tn);
close
simul_param;
%--------------------------------------------------------------------------
% RIVERA,MORARI
elseif typy_ns==9
close
% Pomocna premenna ic3 pre kontrolu zadania Turo
ic3=zeros(1,1);
% Pomocna premenna ic4 pre kontrolu spravneho zadania Turo
ic4=0;
QTuro='???';
fig = figure('Color','blue',...
'Resize','off',...
'Numbertitle','off',...
'Menubar',ptv_fig_menubar,...
'Name',ptg_string(1,2,ptv_str_lang), ...
'position',[100 200 215 255]);
navrh_text= uicontrol(gcf,...
'Style','text',...
'position',[15 85 185 155],...
'Fontsize',[12],...
'ForegroundColor','black',...
'BackgroundColor',[fgcolor],...
'Fontweight','bold',...
'HorizontalAlignment','center',...
'String',ptg_string(11,15,ptv_str_lang));
Turo_text= uicontrol(gcf,...
'Style','text',...
'position',[15 50 90 25],...
'Fontsize',[12],...
'ForegroundColor','black',...
'BackgroundColor',[fgcolor],...
'Fontweight','bold',...
'HorizontalAlignment','center',...
'String',ptg_string(11,12,ptv_str_lang));
QTuro = uicontrol(gcf,...
'Style','edit',...
'ForegroundColor','black',...
'Fontsize',[11],...
'BackgroundColor',[1 1 1],...
'String',num2str(QTuro),...
'Position',[108 50 90 25],...
'CallBack',['QTuro=str2num(get(gco,''String''));ic3(1,1)=1;']);
%------------------------------- Tn ---------------------------------------
Tn_text = uicontrol(gcf,...
'Style','text',...
'ForegroundColor','black',...
'Fontweight','bold',...
'Fontsize',[12],...
'BackgroundColor','white',...
'Position',[20 130 85 25],...
'String',ptg_string(8,6,ptv_str_lang));
Tn_text2 = uicontrol(gcf,...
'Style','text',...
'ForegroundColor','black',...
'Fontweight','bold',...
'Fontsize',[12],...
'BackgroundColor','white',...
'Position',[108 130 85 25],...
'String',num2str(Tn));
%------------------------------- Tu ---------------------------------------
Tu_text = uicontrol(gcf,...
'Style','text',...
'ForegroundColor','black',...
'Fontweight','bold',...
'Fontsize',[12],...
'BackgroundColor','white',...
'Position',[20 100 85 25],...
'String',ptg_string(8,5,ptv_str_lang));
Tu_text2 = uicontrol(gcf,...
'Style','text',...
'ForegroundColor','black',...
'Fontweight','bold',...
'Fontsize',[12],...
'BackgroundColor','white',...
'Position',[108 100 85 25],...
'String',num2str(Tu));
%----SPAT-----%
navrat = uicontrol(gcf,...
'Style','push',...
'Position',[15 15 60 25],...
'Fontweight','bold',...
'Fontsize',[12],...
'String',ptg_string(3,2,ptv_str_lang),...
'ForegroundColor','black',...
'Callback','close,reg_v');
potvrdenie = uicontrol(gcf,...
'Style','push',...
'Position',[100 15 100 25],...
'Fontweight','bold',...
'String',ptg_string(3,1,ptv_str_lang),...
'Fontsize',[11],...
'ForegroundColor','red',...
'CallBack','close,naspat=''pi_param'';testturo;if(ic4==1),z_r =(Tn/(K*Turo)); t_i =Tn;t_d=0;simul_param,end');
%--------------------------------------------------------------------------
% RIVERA,MORARI (SPRESNENY)
elseif typy_ns==10
close
% Pomocna premenna ic3 pre kontrolu zadania Turo
ic3=zeros(1,1);
% Pomocna premenna ic4 pre kontrolu spravneho zadania Turo
ic4=0;
QTuro='???';
fig = figure('Color','blue',...
'Resize','off',...
'Numbertitle','off',...
'Menubar',ptv_fig_menubar,...
'Name',ptg_string(1,2,ptv_str_lang), ...
'position',[100 200 215 255]);
navrh_text= uicontrol(gcf,...
'Style','text',...
'position',[15 85 185 155],...
'Fontsize',[12],...
'ForegroundColor','black',...
'BackgroundColor',[fgcolor],...
'Fontweight','bold',...
'HorizontalAlignment','center',...
'String',ptg_string(11,15,ptv_str_lang));
Turo_text= uicontrol(gcf,...
'Style','text',...
'position',[15 50 90 25],...
'Fontsize',[12],...
'ForegroundColor','black',...
'BackgroundColor',[fgcolor],...
'Fontweight','bold',...
'HorizontalAlignment','center',...
'String',ptg_string(11,12,ptv_str_lang));
QTuro = uicontrol(gcf,...
'Style','edit',...
'ForegroundColor','black',...
'Fontsize',[11],...
'BackgroundColor',[1 1 1],...
'String',num2str(QTuro),...
'Position',[108 50 90 25],...
'CallBack',['QTuro=str2num(get(gco,''String''));ic3(1,1)=1;']);
%------------------------------- Tn ---------------------------------------
Tn_text = uicontrol(gcf,...
'Style','text',...
'ForegroundColor','black',...
'Fontweight','bold',...
'Fontsize',[12],...
'BackgroundColor','white',...
'Position',[20 130 85 25],...
'String',ptg_string(8,6,ptv_str_lang));
Tn_text2 = uicontrol(gcf,...
'Style','text',...
'ForegroundColor','black',...
'Fontweight','bold',...
'Fontsize',[12],...
'BackgroundColor','white',...
'Position',[108 130 85 25],...
'String',num2str(Tn));
%------------------------------- Tu ---------------------------------------
Tu_text = uicontrol(gcf,...
'Style','text',...
'ForegroundColor','black',...
'Fontweight','bold',...
'Fontsize',[12],...
'BackgroundColor','white',...
'Position',[20 100 85 25],...
'String',ptg_string(8,5,ptv_str_lang));
Tu_text2 = uicontrol(gcf,...
'Style','text',...
'ForegroundColor','black',...
'Fontweight','bold',...
'Fontsize',[12],...
'BackgroundColor','white',...
'Position',[108 100 85 25],...
'String',num2str(Tu));
%----SPAT-----%
navrat = uicontrol(gcf,...
'Style','push',...
'Position',[15 15 60 25],...
'Fontweight','bold',...
'Fontsize',[12],...
'String',ptg_string(3,2,ptv_str_lang),...
'ForegroundColor','black',...
'Callback','close,reg_v');
potvrdenie = uicontrol(gcf,...
'Style','push',...
'Position',[100 15 100 25],...
'Fontweight','bold',...
'String',ptg_string(3,1,ptv_str_lang),...
'Fontsize',[11],...
'ForegroundColor','red',...
'CallBack','close,testturo;if(ic4==1),z_r =((2*Tn)+Tu)/(2*K*Turo);t_i =Tn+(Tu/2);t_d=0;simul_param,end');
% ----------------------------------------- %
%
% ASTROM - HAGGLUND METHOD, Ms = 1.4
elseif typy_ns == 11
if(Tu <= 0)
pth_fig = ptg_error('reg_v',ptg_string(11,44,ptv_str_lang),ptv_str_lang);
else
[z_r,t_i,t_d,b_w] = pte_ahm(2,K,Tu,Tn,1.4);
close
simul_param;
end
% ----------------------------------------- %
%
% ASTROM - HAGGLUND METHOD, Ms = 2.0
elseif typy_ns == 12
if(Tu <= 0)
pth_fig = ptg_error('reg_v',ptg_string(11,44,ptv_str_lang),ptv_str_lang);
else
[z_r,t_i,t_d,b_w] = pte_ahm(2,K,Tu,Tn,2);
close
simul_param;
end
%-----------------------------------------------
%
% ISE METHOD
elseif typy_ns == 13
figure('Color','blue',...
'Resize','off',...
'Numbertitle','off',...
'Menubar',ptv_fig_menubar,...
'Name',ptg_string(1,2,ptv_str_lang), ...
'Position',[120 200 360 150]);
sposob_navrhu= uicontrol(gcf,...
'Style','push',...
'Position',[30 100 300 30],...
'String',ptg_string(11,13,ptv_str_lang),...
'Fontsize',[11],...
'Fontweight','bold',...
'ForegroundColor','black',...
'CallBack','close,[z_r, t_i, t_d] = pte_opcm(2,K,Tu,Tn,1,1);simul_param');
sposob_navrhu= uicontrol(gcf,...
'Style','push',...
'Position',[30 60 300 30],...
'String',ptg_string(11,14,ptv_str_lang),...
'Fontsize',[11],...
'Fontweight','bold',...
'ForegroundColor','black',...
'CallBack','close,[z_r, t_i, t_d] = pte_opcm(2,K,Tu,Tn,2,1);simul_param');
navrat = uicontrol(gcf,...
'Style','push',...
'Position',[30 15 60 30],...
'Fontweight','bold',...
'Fontsize',[12],...
'String',ptg_string(3,2,ptv_str_lang),...
'ForegroundColor','black',...
'Callback','close,reg_v');
%-----------------------------------------------
%
% ITSE METHOD
elseif typy_ns == 14
figure('Color','blue',...
'Resize','off',...
'Numbertitle','off',...
'Menubar',ptv_fig_menubar,...
'Name',ptg_string(1,2,ptv_str_lang), ...
'Position',[120 200 360 150]);
sposob_navrhu= uicontrol(gcf,...
'Style','push',...
'Position',[30 100 300 30],...
'String',ptg_string(11,13,ptv_str_lang),...
'Fontsize',[11],...
'Fontweight','bold',...
'ForegroundColor','black',...
'CallBack','close,[z_r, t_i, t_d] = pte_opcm(2,K,Tu,Tn,1,2);simul_param');
sposob_navrhu= uicontrol(gcf,...
'Style','push',...
'Position',[30 60 300 30],...
'String',ptg_string(11,14,ptv_str_lang),...
'Fontsize',[11],...
'Fontweight','bold',...
'ForegroundColor','black',...
'CallBack','close,[z_r, t_i, t_d] = pte_opcm(2,K,Tu,Tn,2,2);simul_param');
navrat = uicontrol(gcf,...
'Style','push',...
'Position',[30 15 60 30],...
'Fontweight','bold',...
'Fontsize',[12],...
'String',ptg_string(3,2,ptv_str_lang),...
'ForegroundColor','black',...
'Callback','close,reg_v');
%-----------------------------------------------
%
% ISTSE METHOD
elseif typy_ns == 15
figure('Color','blue',...
'Resize','off',...
'Numbertitle','off',...
'Menubar',ptv_fig_menubar,...
'Name',ptg_string(1,2,ptv_str_lang), ...
'Position',[120 200 360 150]);
sposob_navrhu= uicontrol(gcf,...
'Style','push',...
'Position',[30 100 300 30],...
'String',ptg_string(11,13,ptv_str_lang),...
'Fontsize',[11],...
'Fontweight','bold',...
'ForegroundColor','black',...
'CallBack','close,[z_r, t_i, t_d] = pte_opcm(2,K,Tu,Tn,1,3);simul_param');
sposob_navrhu= uicontrol(gcf,...
'Style','push',...
'Position',[30 60 300 30],...
'String',ptg_string(11,14,ptv_str_lang),...
'Fontsize',[11],...
'Fontweight','bold',...
'ForegroundColor','black',...
'CallBack','close,[z_r, t_i, t_d] = pte_opcm(2,K,Tu,Tn,2,3);simul_param');
navrat = uicontrol(gcf,...
'Style','push',...
'Position',[30 15 60 30],...
'Fontweight','bold',...
'Fontsize',[12],...
'String',ptg_string(3,2,ptv_str_lang),...
'ForegroundColor','black',...
'Callback','close,reg_v');
% ----------------------------------------- %
%
% IAE METHOD
elseif typy_ns == 16
[z_r, t_i, t_d] = pte_iaem(2,K,Tu,Tn);
close
simul_param;
% ----------------------------------------- %
%
% ITAE METHOD
elseif typy_ns == 17
figure('Color','blue',...
'Resize','off',...
'Numbertitle','off',...
'Menubar',ptv_fig_menubar,...
'Name',ptg_string(1,2,ptv_str_lang), ...
'Position',[120 200 360 150]);
sposob_navrhu= uicontrol(gcf,...
'Style','push',...
'Position',[30 100 300 30],...
'String',ptg_string(11,13,ptv_str_lang),...
'Fontsize',[11],...
'Fontweight','bold',...
'ForegroundColor','black',...
'CallBack','close,[z_r, t_i, t_d] = pte_itaem(2,K,Tu,Tn,1);simul_param');
sposob_navrhu= uicontrol(gcf,...
'Style','push',...
'Position',[30 60 300 30],...
'String',ptg_string(11,14,ptv_str_lang),...
'Fontsize',[11],...
'Fontweight','bold',...
'ForegroundColor','black',...
'CallBack','close,[z_r, t_i, t_d] = pte_itaem(2,K,Tu,Tn,2);simul_param');
navrat = uicontrol(gcf,...
'Style','push',...
'Position',[30 15 60 30],...
'Fontweight','bold',...
'Fontsize',[12],...
'String',ptg_string(3,2,ptv_str_lang),...
'ForegroundColor','black',...
'Callback','close,reg_v');
% ----------------------------------------- %
%
% LOPEZ IAE-ISE METHOD
elseif typy_ns == 18
[z_r,t_i,t_d] = pte_iaeisem(2,K,Tu,Tn);
close
simul_param;
% ----------------------------------------- %
%
% LIPTAK METHOD
elseif typy_ns == 19
[z_r,t_i,t_d] = pte_lip(2,2,K,Tn,Tu);
close
simul_param;
% ----------------------------------------- %
%
% St.CLAIR METHOD
elseif typy_ns == 20
[z_r,t_i,t_d] = pte_stc(2,2,K,Tn,Tu);
close
simul_param;
% ----------------------------------------- %
%
% SHINKEY METHOD
elseif typy_ns == 21
[z_r,t_i,t_d] = pte_shi(2,2,K,Tn,Tu);
close
simul_param;
% ----------------------------------------- %
%
% McMILLAN METHOD
elseif typy_ns == 22
[z_r,t_i,t_d] = pte_mcm(2,2,K,Tn,Tu);
close
simul_param;
% ----------------------------------------- %
%
% HAZENBROEK AND VAN DER WAERDEN METHOD
elseif typy_ns == 23
[z_r,t_i,t_d] = pte_hvw(2,2,K,Tn,Tu);
close
simul_param;
% ----------------------------------------- %
%
% FERTIK AND SHARPE METHOD
elseif typy_ns == 24
[z_r,t_i,t_d] = pte_fsh(2,2,K,Tn,Tu);
close
simul_param;
% ----------------------------------------- %
%
% PARR METHOD
elseif typy_ns == 25
[z_r,t_i,t_d] = pte_par(2,2,K,Tn,Tu);
close
simul_param;
% ----------------------------------------- %
%
% KLEIN ET AL. METHOD
elseif typy_ns == 26
[z_r,t_i,t_d] = pte_kle(2,2,K,Tn,Tu);
close
simul_param;
% ----------------------------------------- %
%
% BORRESEN AND GRINDAL METHOD
elseif typy_ns == 27
[z_r,t_i,t_d] = pte_bgr(2,2,K,Tn,Tu);
close
simul_param;
% ----------------------------------------- %
%
% ZIEGLER-NICHOLS IMPROVED
elseif typy_ns == 28
[z_r,t_i,t_d] = pte_zni(2,2,K,Tn,Tu);
close
simul_param;
% ----------------------------------------- %
%
% ZIEGLER-NICHOLS ULITIMATE CYCLE METHOD
elseif typy_ns == 29
[z_r,t_i,t_d] = pte_znu(2,2,K,Tn,Tu);
close
simul_param;
%
% ----------------------------------------- %
%
% SUYAMA
elseif typy_ns == 30
[z_r,t_i,t_d] = pte_suy(2,2,K,Tn,Tu);
close
simul_param;
%
% ----------------------------------------- %
%
% KUHN T-SUM METHOD
%
elseif typy_ns == 31
[z_r,t_i,t_d] = pte_tsm(2,2,n,K,T);
close
simul_param;
% ----------------------------------------- %
end