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pid_param.m
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% PID_PARAM
%
% Sluzi na vypocet parametrov PID regulatora pomocou vybranej experimentalnej
% metody
% METODY:
%
% ZIEGLER-NICHOLS
if typy_ns==1
z_r=(1.2/K)*(Tn/Tu);
t_i=(2*Tu);
t_d=(0.5*Tu);
close
simul_param
%--------------------------------------------------------------------------
% STREJC
elseif typy_ns==2
% Testovanie vhodnosti radu, aby sa predislo deleniu nulou
if (n<3)
pth_fig = ptg_error('reg_v',ptg_string(11,10,ptv_str_lang),ptv_str_lang);
else
z_r=(1/K)*(((7*n)+16)/(16*(n-2)));
t_i=T*(((7*n)+16)/15);
t_d=T*(((n+1)*(n+3))/((7*n)+16));
close
simul_param
end
%--------------------------------------------------------------------------
% COHEN-COON
elseif typy_ns==3
z_r=(1/K)*(Tn/Tu)*((4/3)+((1/4)*(Tu/Tn)));
t_i=Tu*((32+(6*(Tu/Tn)))/(13+(8*(Tu/Tn))));
t_d=Tu*(4/(11+(2*(Tu/Tn))));
simul_param
%--------------------------------------------------------------------------
% METODA PRIAMEJ SYNTEYZ 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=''pid_param'';testturo;if(ic4==1),z_r=((2*Tn)+Tu)/(2*K*(Turo+Tu));t_i=(Tn+(Tu/2));t_d=(Tu/2)*(Turo/(Turo+Tu));simul_param,end');
%--------------------------------------------------------------------------
% CHIEN,HRONES,RESWICK (0% PREREGULOVANIE)
elseif typy_ns==5
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=0.5*Tu;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=(0.95*Tn)/(K*Tu);t_i=2.4*Tu;t_d=0.4*Tu;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==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=(0.95*Tn)/(K*Tu);t_i=1.36*Tn;t_d=0.64*Tu;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=(1.2*Tn)/(K*Tu); t_i=2*Tu;t_d=0.4*Tu;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 == 7
[z_r, t_i, t_d] = pte_hdm(3,K,Tu,Tn);
close
simul_param;
%--------------------------------------------------------------------------
% RIVERA,MORARI
elseif typy_ns==8
% 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',...
'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(11,18,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=''pid_param'';testturo;if(ic4==1),z_r=((2*Tn)+Tu)/(2*K*(Turo+Tu));t_i=(Tn+(Tu/2));t_d=(Tn*Tu)/((2*Tn)+Tu);simul_param,end');
% ----------------------------------------- %
%
% ASTROM - HAGGLUND METHOD, Ms = 1.4
elseif typy_ns == 9
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(3,K,Tu,Tn,1.4);
close
simul_param;
end
% ----------------------------------------- %
%
% ASTROM - HAGGLUND METHOD, Ms = 2.0
elseif typy_ns == 10
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(3,K,Tu,Tn,2);
close
simul_param;
end
% ----------------------------------------- %
%
% WANG - JUANG - CHANG METHOD
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] = pte_wjchm(3,K,Tu,Tn);
close
simul_param;
end
% ----------------------------------------- %
%
% ISE METHOD
elseif typy_ns == 12
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(3,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(3,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 == 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(3,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(3,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 == 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(3,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(3,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 == 15
[z_r, t_i, t_d] = pte_iaem(3,K,Tu,Tn);
close
simul_param;
% ----------------------------------------- %
%
% ITAE METHOD
elseif typy_ns == 16
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(3,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(3,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 == 17
[z_r,t_i,t_d] = pte_iaeisem(3,K,Tu,Tn);
close
simul_param;
%
% ----------------------------------------- %
%
% KUHN T-SUM METHOD
%
elseif typy_ns == 18
[z_r,t_i,t_d] = pte_tsm(2,3,n,K,T);
close
simul_param;
% ----------------------------------------- %
end