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relay_umidade.m
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relay_umidade.m
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clc
clear
format shortg
addpath(genpath('src'))
global t y r e u pwm k
%% CONFIGURAÇÃO
% Adicione o nome de variáveis que queira salvar
toSave = {'t', 'y', 'r', 'e', 'u', 'pwm', 'rm', 'err', 'semik', 'ping', 'T'};
subfolder = 'relay_ventilador_velocidade';
T = 20; %tempo de amostragem
o = 3; %início de amostragem
n = 500 + o; %número de amostras
t = (0:(n-1)); %vetor de tempo
%% I/O
s = tf('s');
z = tf('z', T, 'variable', 'z^-1');
Gz = (0.0287*z^-1 - 0.0012*z^-2)/(1 - 0.8430*z^-1 - 0.1211*z^-2);
[termina, leitura, escrita] = startcom('COM5', minreal(Gz));
planta = isa(termina, 'function_handle');
%% MISC
umax = 100.0; % maximum actuation
umin = 0.0; % minimum actuation
ref = 40; % fixed reference
%% RELAY
edge_comb = 3; % comb waits this many edges
d = 20; % relay amplitude
off = 50; % relay offset
a_max = 0.5*d; % should get from |G(jw)| : w -> min(imag(G(jw)))
eps = 2.0; % important! there is a maximum value for eps!! 3rd quadrant!
D = 0.5; % disturbance ratio at k > n/2
if D > 1/2*(a_max/eps - 1)
disp('Disturbance too high, expect a retry!')
end
% dados calculados
edge = 0;
semi = [0; 0];
semik = nan(n, 2);
nf = 1;
ns = 1;
up = 1;
saw = 1;
ass = 1;
retry = 0;
ymax = ref;
ymin = ref;
rmax = ref;
rmin = ref;
%% FILTER
% higher quality: sensible to noise. lower quality: robust to disturbances
% on low epsilon it may be useful to increase the quality (precise switch)
% on higher epsilon it may be useful to reduce the quality (fast settling)
QF = 1.0; %^quality, ^settling time, ^precision
% there is a maximum and minimum value required for QF!
%for QF > 5.0, phase error < 50/QF° for a band the size of the frequency
%for QF = 1.0, there is a time delay
%calculates comb filter coefficient based on filter quality
ks = o;
af = 1 / cos(pi / (2 * QF)) + cos(pi / (2 * QF));
af = af + sqrt(af^2 - 4);
af = (af - sqrt(af^2 - 4)) / 2;
rf = 0.90; % it should be rf = af^(1/ns). but ns is not known yet
mu = 1e-5; % gradient descent
% af=+abs(af); % this will pass only the odd frequencies
% af=-abs(af); % this will remove only the even frequencies
%% PID
kp=7.987*10^-4;td=0.3487;ti=0.0; % atualizar valores!!!
%calculates controllers' numerator
gd = @(kp, td) [kp*td/T -kp*2*td/T kp*td/T];
gpi = @(kp, ti) [kp*(1 + T/(2*ti)) -kp*(1 - T/(2*ti))];
gpid = @(kp, td, ti) [kp*(1 + T/(2*ti) + td/T) -kp*(1 + 2*td/T - T/(2*ti)) kp*td/T];
%gains
ke = flip(gd(kp,td));
ku = 1.0;
%% LOOP DE CONTROLE
[r, rm, r1, r3, r5, beta, y, e, ei, er, u, ur, pwm] = deal(zeros(n, 1));
err = [];
f = pi*ones(n, 1);
ping = nan(n, 1);
t0 = tic;
for k = o:n
%LEITURA
time = tic;
y(k) = leitura();
%REFERÊNCIA
% adaptando o notch fundamental
% f(k-1) = f(k-1)*7;
% beta(k) = 1/2*(2*rf*sin(f(k-1))*(1-cos(f(k-1))) - (1-2*rf*cos(f(k-1))+rf^2)*sin(f(k-1)))/(1-cos(f(k-1)))^2*(y(k) - 2*cos(f(k-1))*y(k-1) + y(k-2)) + 1/2*(1-2*rf*cos(f(k-1))+rf^2)/(1-cos(f(k-1)))*2*sin(f(k-1))*y(k-1) - 2*rf*sin(f(k-1))*r1(k-1) + 2*rf*cos(f(k-1))*beta(k-1) - rf^2*beta(k-2);
% beta(k) = ...
% 1/2*(2*rf*sin(f(k-1))*(1-cos(f(k-1))) - (1-2*rf*cos(f(k-1))+rf^2)*sin(f(k-1)))/(1-cos(f(k-1)))^2*(r3(k) - 2*cos(f(k-1))*r3(k-1) + r3(k-2)) +...
% +1/2*(1-2*rf*cos(f(k-1))+rf^2)/(1-cos(f(k-1)))*(2*sin(f(k-1))*r3(k-1)) + ...
% -2*rf*sin(f(k-1))*r5(k-1) + 2*rf*cos(f(k-1))*beta(k-1) - rf^2*beta(k-2);
% f(k-1) = f(k-1)/7;
% if edge < edge_comb
% f(k) = pi/ns;
% else
% f(k) = f(k-1) + 2*mu*r1(k-1)*beta(k);
% end
% f(k) = max(0, min(pi, f(k)));
% fs = f(k);
fs = pi/ns; % this is not smooth, should use gradient descent!
% F = 1/2*(1+af)*(1 + z^-ns)/(1 + af*z^-ns);
rm(k) = -af * rm(k-ns) + (y(k) + y(k-ns)) * (1 + af) / 2; % type 0, ood
% F = 1/4*((3+af) + 2*(1+af)*z^-ns + (af-1)*z^-nf)/(1 + af*z^-ns);
% rm(k) = -af * rm(k-ns) + 1/4*((3 + af)*(y(k)*ass + (1 - ass)*y(k-nf)) + 2*(1 + af)*y(k-ns) + (af - 1)*y(k-nf)); % type 1, odd
% F = @(m) 1/2*(1 - 2*rf*cos(m*fs) + rf^2)/(1 - cos(m*fs))*(1 - 2*cos(m*fs)*z^-1 + z^-2)/(1 - 2*rf*cos(m*fs)*z^-1 + rf^2*z^-2)
r1(k) = 2*rf*cos(fs)*r1(k-1) - rf^2*r1(k-2) + 1/2*(1-2*rf*cos(fs)+rf^2)/(1-cos(fs))*(y(k) - 2*cos(fs)*y(k-1) + y(k-2));
r3(k) = 2*rf*cos(3*fs)*r3(k-1) - rf^2*r3(k-2) + 1/2*(1-2*rf*cos(3*fs)+rf^2)/(1-cos(3*fs))*(r1(k) - 2*cos(3*fs)*r1(k-1) + r1(k-2));
r5(k) = 2*rf*cos(5*fs)*r5(k-1) - rf^2*r5(k-2) + 1/2*(1-2*rf*cos(5*fs)+rf^2)/(1-cos(5*fs))*(r3(k) - 2*cos(5*fs)*r3(k-1) + r3(k-2));
if edge < edge_comb
r1(k) = ref;
r3(k) = ref;
r5(k) = ref;
rm(k) = ref;
r(k) = ref;
else
r(k) = ref;
r(k) = rm(k);
% r(k) = r5(k);
end
if ~up
ymax = max(y(k), ymax);
rmax = max(r(k), rmax);
else
ymin = min(y(k), ymin);
rmin = min(r(k), rmin);
end
%ERRO
e(k) = r(k) - y(k);
ei(k) = ei(k-1) + T*(e(k) + e(k-1))/2;
er(k) = ref - rm(k);
%CONTROLE
if (e(k) >= eps && ~up) || (e(k) <= -eps && up)
semi(up + 1) = saw;
ns = saw;
nf = semi(~up+1) + saw;
edge = edge + 1;
saw = 1;
if up
ymax = y(k);
rmax = r(k);
else
ymin = y(k);
rmin = r(k);
end
up = ~up;
else
saw = saw + 1;
if saw > ns && edge >= edge_comb
% attention: this retry mechanism is too complex to be on the
% paper. in the future simplify it and test which frequencies
% need it. it seems that for low eps there is no need.
% this is in accordance with the < d/2*(a_max/eps - 1) hipothesis
% so for the paper, assert retry = 0 !!!
retry = retry + 1;
err = [err; k];
ass = semi(~up + 1)/semi(up + 1);
ns = ns + 1; % up - ymin
nf = nf + 1; % up - ymax
else
ass = 1.0;
end
end
semik(k,:) = semi;
%RELAY
u(k) = off + up*d - ~up*d + (k > n/4)*D*d - (k > 2*n/4)*2*D*d + (k > 3*n/4)*2*D*d;
%PID
% u(k) = ku*u(k-1) + ke*e(k-2:k);
%STEP
% u(k) = 70;
%SATURAÇÃO
pwm(k) = min(max(u(k), umin), umax);
% pwm(k) = u(k);
%ESCRITA
escrita(pwm(k));
ping(k) = toc(time);
%DELAY
if planta
while toc(time) < T
end
end
end
if planta
termina();
end
fprintf('Duração: %f seconds\n', toc(t0) - toc(time));
% assert(~retry, 'There was a retry! Dont use this for the paper!!!')
if sum(ping(1:end-1)' > T)
disp('In-loop latency is too high! Increase your sampling time.')
end
%% PLOT & SAVE
%%comb relay
% o = 65;
% k = 145;
%%d = 2.5, eps = 0.099778, a = 0.11375,
%%w = 0.3927 (14), Gjw = 0.035737 <-2.0717
%%relay
% o = 180;
% k = 260;
%%d = 2.5, eps = 0.097049, a = 0.11864,
%%w = 0.38371 (15), Gjw = 0.037271 <-2.1836
% CONCLUSÃO: Não há muita diferença aqui. Mesmo sendo assimétrico, a
% frequência de oscilação é muito próxima ao caso simétrico. Por ser um
% integrador puro, o valor de histerese já é muito próximo ao de amplitude
% logo, a única variável que poderia mudar, a frequência, não muda.
fig = plotudo(t(o:k), y, r, e, u, pwm, 0, 0, 0);
if planta
folder = ['pratica/' subfolder];
else
folder = ['teoria/' subfolder];
end
if ~exist(folder, 'dir')
mkdir(folder);
end
date = datestr(datetime('now'));
date(date == '-' | date == ':') = '_';
path = [folder '/' date];
save([path '.mat'], toSave{:})
saveas(fig, [path '.fig'])
disp(['Plant: ' folder ' Saved at: ' path])