function varargout = ocd(varargin)
% OCD for designing optimal PID controller.
%
% This routine is a GUI which accept a Simulink model for PID system
% simulation with variables to be optimized. Once the model is setup.
% the error signal in the system should be connected to the solo
% Outport of Simulink under Sinks.
%
% Click Help button for more details.
% Designed by Professor Dingyu Xue (c)
% Northeastern University, Shenyang 110004, P R China
% First released 17 April, 2003
% Contact address:
% xue_dy@21cn.com
% http://www.matlab-world.com/index_e.htm
gui_Singleton = 1;
gui_State = struct('gui_Name', mfilename, ...
'gui_Singleton', gui_Singleton, ...
'gui_OpeningFcn', @ocd_OpeningFcn, ...
'gui_OutputFcn', @ocd_OutputFcn, ...
'gui_LayoutFcn', [] , ...
'gui_Callback', []);
if nargin & isstr(varargin{1})
gui_State.gui_Callback = str2func(varargin{1});
end
if nargout
[varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
else
gui_mainfcn(gui_State, varargin{:});
end
function h_btnView_Callback(hObject, eventdata, handles)
user_data=get(handles.h_btnCreate,'UserData');
str=user_data{6};
edit(str)
function h_btnOptimize_Callback(hObject, eventdata, handles)
user_data=get(handles.h_btnCreate,'UserData');
if length(user_data)>=6
str=user_data{6};
str_x0=get(handles.h_edtInit,'String');
n=user_data{1};
try
x0=str2num(str_x0);
x0=x0(:); k=length(x0);
if k<n, x0=[x0; abs(rand(n-k,1))]; end
x0=x0(1:n);
lb=str2num(get(handles.h_edtLower,'String'));
ub=str2num(get(handles.h_edtUpper,'String'));
key=get(handles.h_chkFixedStep,'Value');
ff=msgbox({'Optimization process is going on. Go back to the Command Window';
'for optimalization results. Please wait ...'},'Optimizing ...');
kTool=get(handles.h_lstToolbox,'Value');
if key==1
options=optimset('Display','iter','Jacobian','off');
ctrl_pars=lsqnonlin(str,x0,lb,ub,options)
else
options=optimset('Display','iter','Jacobian','off','LargeScale','off');
if length(lb)==0 & length(ub)==0
switch kTool
case 1
ctrl_pars=fminsearch(str,x0,options)
case 2
ctrl_pars=fminunc(str,x0,options)
case 3
eval(['ctrl_pars=ga(@' str ',' int2str(length(x0)) ')'])
case 4
ctrl_pars=gaopt([zeros(size(x0(:))),100*ones(size(x0(:)))],str)
end
else
ctrl_pars=fmincon(str,x0,[],[],[],[],lb,ub,[],options)
end
end
assignin('base','ctrl_pars',ctrl_pars);
set(handles.h_edtInit,'String',['[' num2str(ctrl_pars(:)') ']''']);
pause(0.0001);
delete(ff);
catch
errordlg({'Failed to get the optimum value'; lasterr},'Error');
delete(ff);
end
else
errordlg('Nothing to optimize','Error');
end
function h_btnBrowse_Callback(hObject, eventdata, handles)
[FileN,PathN]=uigetfile('*.mdl','Select a model name');
set(handles.h_edtFile,'String',FileN);
h_edtFile_Callback(hObject, eventdata, handles);
function h_edtFile_Callback(hObject, eventdata, handles)
FileN=get(handles.h_edtFile,'String');
if exist(FileN)~=4
errordlg('The selected Simulink file is not in the search path.',...
'Error: Model problem');
else
set(handles.h_btnShow,'Enable','on')
end
function h_btnShow_Callback(hObject, eventdata, handles)
open_system(get(handles.h_edtFile,'String'));
function h_edtVariables_Callback(hObject, eventdata, handles)
set(handles.h_btnCreate,'Enable','on');
function h_btnCreate_Callback(hObject, eventdata, handles)
strvars=get(handles.h_edtVariables,'String'); t_end=10;
try
strvars=strvars(strvars~=' ');
fpos=find(strvars==',');
n=length(fpos)+1;
str_vars={strvars(1:fpos(1)-1)};
for i=1:n-2
str_vars{i+1}=strvars(1+fpos(i):fpos(i+1)-1);
end
str_vars{n}=strvars(fpos(end)+1:end);
key=0;
for i=1:n
if length(str_vars{i})==0, key=1; break; end
if ~(isletter(str_vars{i}(1)) | str_vars{i}(1)=='_'), key=1; break; end
end
if key==1, disp_error_jump_out_of_try; end
k=0;
while 1
str=['optfun_' int2str(k)];
if ~any([2 3 5 6]==exist(str)), break; end
k=k+1;
end
try
t_end=str2num(get(handles.h_edtTend,'String'));
catch
t_end=1;
end
kAlg=get(handles.h_lstToolbox,'Value');
t_alpha=[];
if kAlg==3
try
t_alpha=str2num(get(handles.h_edtWeightPar,'String'));
catch
t_alpha=1;
end, end
user_data={n};
user_data{2}=str_vars;
user_data{3}=t_end;
user_data{4}=kAlg;
user_data{5}=get(handles.h_edtFile,'String');
user_data{6}=str;
user_data{7}=t_alpha;
set(handles.h_btnCreate,'UserData',user_data);
key=optfun_file_save(str,handles);
if key==1
set([handles.h_btnView,handles.h_btnOptimize,handles.h_btnSave],'Enable','on');
end
catch
errordlg('Wrong Variable list, please fill in again.','Error: Variable list');
end
function h_btnSave_Callback(hObject, eventdata, handles)
% save the objective function to another file name of the users' choice.
[FileN,PathN]=uiputfile('*.m','Select a file name to save');
try
optfun_file_save(FileN,handles,PathN);
catch
errordlg({'Wrong File Name selected, try again.';lasterr},'Error:File Name');
end
function h_btnCancel_Callback(hObject, eventdata, handles)
% clear current simulink models
set(handles.h_edtFile,'String','')
set([handles.h_btnShow,handles.h_btnView,handles.h_btnSave,handles.h_btnCreate],'Enable','off')
function h_btnHelp_Callback(hObject, eventdata, handles)
% a html file has been created to provide more details of such a function.
web(['file:' which('opt_ctrl.html')])
function h_lstToolbox_Callback(hObject, eventdata, handles)
kTool=get(handles.h_lstToolbox,'Value'); key=0;
strTool={'Optimization','Genetic Algorithm and Direct Search','GA Optimization'};
switch kTool
case 2
if exist('fminunc')~=2, key=1; end
case 3
if exist('gaoptimset')~=2, key=1; end
case 4
if exist('unifMutation')~=2, key=1; end
end
if key>0
errordlg(['Error: ' strTool{kTool-1}, ' Toolbox not installed'],'Error');
set(handles.h_lstToolbox,'Value',1);
end
function h_btnClear_Callback(hObject, eventdata, handles)
for i=0:1000
try
str=['optfun_' int2str(i)];
if exist(str)==2, delete([str '.m']); end
catch
errordlg({'Error deleting files';lasterr},'Error');
end
end
%IMPORTANT: -----------------------------------------------------
% default functions below, please DO NOT edit them manually!!!!
%----------------------------------------------------------------
function h_chkFixedStep_Callback(hObject, eventdata, handles)
if get(gco,'Value')==1,
set([handles.h_edtStepSize,handles.h_txtStepSize],'Visible','on')
else
set([handles.h_edtStepSize,handles.h_txtStepSize],'Visible','off')
end
function h_edtTend_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function h_edtVariables_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function h_edtFile_CreateFcn(hObject, eventdata, handles)
if ispc
