function varargout = calcul_PIDanalogique(varargin)
gui_Singleton = 1;
gui_State = struct('gui_Name', mfilename, ...
'gui_Singleton', gui_Singleton, ...
'gui_OpeningFcn', @calcul_PIDanalogique_OpeningFcn, ...
'gui_OutputFcn', @calcul_PIDanalogique_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 calcul_PIDanalogique_OpeningFcn(hObject, eventdata, handles, varargin)
handles.output = hObject;
guidata(hObject, handles);
function varargout = calcul_PIDanalogique_OutputFcn(hObject, eventdata, handles)
varargout{1} = handles.output;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function t_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function t_Callback(hObject, eventdata, handles)
t = str2double(get(hObject, 'String'));
if isnan(t)
set(hObject, 'String', 0);
errordlg('Input must be a number','Error');
end
data = getappdata(gcbf, 'metricdata');
data.t = t;
setappdata(gcbf, 'metricdata', data);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function k_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
function k_Callback(hObject, eventdata, handles)
k = str2double(get(hObject, 'String'));
if isnan(k)
set(hObject, 'String', 0);
errordlg('Input must be a number','Error');
end
data = getappdata(gcbf, 'metricdata');
data.k = k;
setappdata(gcbf, 'metricdata', data);
function theta_CreateFcn(hObject, eventdata, handles)
if ispc
set(hObject,'BackgroundColor','white');
else
set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function theta_Callback(hObject, eventdata, handles)
theta = str2double(get(hObject, 'String'));
if isnan(theta)
set(hObject, 'String', 0);
errordlg('Input must be a number','Error');
end
data = getappdata(gcbf, 'metricdata');
data.theta = theta;
setappdata(gcbf, 'metricdata', data);
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function calcul_Callback(hObject, eventdata, handles)
clc
% clear all
% close all
data = getappdata(gcbf, 'metricdata');
%*****************%
%*Ziegler Nichols*%
%*****************%
if get(handles.ziegler, 'Value')
kc_zigler =1.2*data.t/(data.theta*data.k);
Ti_zigler = 2*data.theta;
Td_zigler = 0.5*data.theta;
set(handles.kc, 'String', kc_zigler);
set(handles.ti, 'String', Ti_zigler);
set(handles.td, 'String', Td_zigler);
end
%******************%
%****Cohen Coon****%
%******************%
if get(handles.cohen, 'Value')
kc_cohen = (16*data.t+3*data.theta)/(12*data.k*data.theta);
Ti_cohen = data.theta*(32+6*data.theta/data.t)/(13+8*data.theta/data.t);
Td_cohen = 4*data.theta/(11+20*data.theta/data.t);
set(handles.kc, 'String', kc_cohen);
set(handles.ti, 'String', Ti_cohen);
set(handles.td, 'String', Td_cohen);
end
%****************%
%**REGLABILITEE**%
%****************%
if get(handles.reglab, 'Value')
rc = data.theta/data.t;
if ((rc >= 0) & (rc < 0.1))
kp_regla = 5/data.k ;
Ti_regla = data.t;
Td_regla = 0;
set(handles.kc, 'String', kp_regla);
set(handles.ti, 'String', Ti_regla);
set(handles.td, 'String', Td_regla);
elseif ((rc >= 0.1) & (rc < 0.2))
kp_regla = 0.5/(data.k*rc);
Ti_regla = data.t;
Td_regla = 0;
set(handles.kc, 'String', kp_regla);
set(handles.ti, 'String', Ti_regla);
set(handles.td, 'String', Td_regla);
elseif ((rc >= 0.2) & (rc < 0.5))
kp_regla = 0.5*(1+0.5*rc)/(data.k*rc)
Ti_regla = data.t*(1+0.5*rc)
Td_regla = data.t*0.5*rc/(0.5*rc+1)
set(handles.kc, 'String', kp_regla);
set(handles.ti, 'String', Ti_regla);
set(handles.td, 'String', Td_regla);
else
disp( '****************************************************')
disp( '*************** IL FAUT QUE: ***********************')
disp( '* theta *')
disp( '*** 0 <= ---------------------------- <= 0.5 ***')
disp( '* T *')
disp( '****************************************************')
disp( '****************************************************')
set(handles.kc, 'String', 0);
set(handles.ti, 'String', 0);
set(handles.td, 'String', 0);
end
end
%***************************%
%**OPTIMISATION DE CRITERE**%
%***************************%
if get(handles.optim, 'Value')
%regulateur
%**********************
%asservissement
%**********************
if get(handles.ass, 'Value')
%a
Asservissement(1).ise = 1.26239;
Asservissement(1).iae = 1.13031;
Asservissement(1).itae = 0.98384;
%b
Asservissement(2).ise = -0.83880;
Asservissement(2).iae = -0.81314;
Asservissement(2).itae = -0.49851;
%c
Asservissement(3).ise = 6.03560;
Asservissement(3).iae = 7.7527;
Asservissement(3).itae = 2.71348;
%d
Asservissement(4).ise = -6.0191;
Asservissement(4).iae = -5.7241;
Asservissement(4).itae = -2.29778;
%e
Asservissement(5).ise = 0.47617;
Asservissement(5).iae = 0.32175;
Asservissement(5).itae = 0.21433;
%f
Asservissement(6).ise = 0.24572;
Asservissement(6).iae = 0.17707;
Asservissement(6).itae = 0.16768;
if get(handles.ise, 'Value')
%ISE
kp_ass = Asservissement(1).ise*((data.theta/data.t)^Asservissement(2).ise)/data.k;
Ti_ass = kp_ass*data.t/(Asservissement(3).ise+(data.theta/data.t)*Asservissement(4).ise);
Td_ass = (data.t/kp_ass)*Asservissement(5).ise*(data.theta/data.t)^Asservissement(6).ise;
set(handles.kc, 'String', kp_ass);
set(handles.ti, 'String', Ti_ass);
set(handles.td, 'String', Td_ass);
elseif get(handles.iae, 'Value')
%IAE
kp_ass = Asservissement(1).iae*((data.theta/data.t)^Asservissement(2).iae)/data.k;
Ti_ass = kp_ass*data.t/(Asservissement(3).iae+(data.theta/data.t)*Asservissement(4).iae);
Td_ass = (data.t/kp_ass)*Asservissement(5).iae*(data.theta/data.t)^Asservissement(6).iae;
set(handles.kc, 'String', kp_ass);
set(handles.ti, 'String', Ti_ass);
set(handles.td, 'String', Td_ass);
elseif get(handles.itae, 'Value')
%ITAE
kp_ass = Asservissement(1).itae*((data.theta/data.t)^Asservissement(2).itae)/data.k;
Ti_ass = kp_ass*data.t/(Asservissement(3).itae+(data.theta/data.t)*Asservissement(4).itae);
Td_ass = (data.t/kp_ass)*Asservissement(5).itae*(data.theta/data.t)^Asservissement(6).itae;
set(handles.kc
