
from IPython import display
myScript = """
<div>...</div>
<style type="text/css">
.input-hidden {
  display: none;
}
</style>
<script>
inputToggle = function(id){
    input = document.getElementById(id).getElementsByClassName("jp-Cell-inputWrapper")[0];
    if(input.getAttribute("hidden")==="1"){
        input.setAttribute("hidden",0);
        input.classList.remove("input-hidden")
    }else{
        input.setAttribute("hidden",1);
        input.classList.add("input-hidden")
    }
}
setToggle= function(){
    console.log("hidding");
    codeCells = document.getElementsByClassName("jp-CodeCell");
    for(var c =0; c<codeCells.length; c++){
      let cc = codeCells[c]
      cc.onclick = function(){
          inputToggle(cc.id);
      }; 
      inputToggle(cc.id);
    } 
}
setTimeout(setToggle, 5000);
</script>
""" 
display.display_html(myScript, raw=True)


service = ctrl.Antecedent(np.arange(0, 11, 1), 'service')
service.automf(3,names=['poor','good','excellent'])

service.view()


food = ctrl.Antecedent(np.arange(0, 11, 1), 'food')
food['rancid'] = fuzz.trapmf(food.universe, [0,0,1,3])
food['delicious'] = fuzz.trapmf(food.universe, [7,9,10,10])

food.view()


tip = ctrl.Consequent(np.arange(0, 25.1, 0.5), 'tip')
tip['cheap'] = fuzz.trimf(tip.universe, [0, 5, 10])
tip['average'] = fuzz.trimf(tip.universe, [8, 12.5, 18])
tip['generous'] = fuzz.trimf(tip.universe, [15, 20, 25])

tip.view()


rule1 = ctrl.Rule(service['poor'] | food['rancid'], tip['cheap'])
rule2 = ctrl.Rule(service['good'], tip['average'])
rule3 = ctrl.Rule(service['excellent'] | food['delicious'], tip['generous'])

tipping_ctrl = ctrl.ControlSystem([rule1, rule2, rule3])
tipping = ctrl.ControlSystemSimulation(tipping_ctrl)


tipping.input['service'] = 3
tipping.input['food'] = 8
tipping.compute()

print("Propina de %.1f%%"%tipping.output['tip'])
tip.view(sim=tipping)

Propina de 12.9%


# We can simulate at higher resolution with full accuracy
upsampled = np.linspace(0, 10, 21)
x, y = np.meshgrid(upsampled, upsampled)
z = np.zeros_like(x)

# Loop through the system 21*21 times to collect the control surface
for i in range(21):
    for j in range(21):
        tipping.input['service'] = x[i, j]
        tipping.input['food'] = y[i, j]
        tipping.compute()
        z[i, j] = tipping.output['tip']

cset = plt.contourf(x, y, z, cmap='viridis')
plt.xlabel("service");
plt.ylabel("food");


from skfuzzy import control as ctrl  

error   = ctrl.Antecedent(np.arange(-20,20,1),  'error')

error['ENG']  = fuzz.trapmf(error.universe, [-20,-20,-10,-5])
error['EN']   = fuzz.trimf(error.universe, [-10,-5,0])
error['EC']   = fuzz.trimf(error.universe, [-5,0,5])
error['EP']   = fuzz.trimf(error.universe, [0,5,10])
error['EPG']  = fuzz.trapmf(error.universe, [5,10,20,20])

error.view()


voltaje   = ctrl.Consequent(np.arange(-12,12,0.1),  'voltaje')

voltaje['VNG']  = fuzz.trapmf(voltaje.universe, [-12,-12,-6,-3])
voltaje['VN']   = fuzz.trimf(voltaje.universe, [-6,-3,0])
voltaje['VC']   = fuzz.trimf(voltaje.universe, [-3,0,3])
voltaje['VP']   = fuzz.trimf(voltaje.universe, [0,3,6])
voltaje['VPG']  = fuzz.trapmf(voltaje.universe, [3,6,12,12])

voltaje.view()


rule1 = ctrl.Rule(error['ENG'], voltaje['VNG'])
rule2 = ctrl.Rule(error['EN'],  voltaje['VN'])
rule3 = ctrl.Rule(error['EC'],  voltaje['VC'])
rule4 = ctrl.Rule(error['EP'],  voltaje['VP'])
rule5 = ctrl.Rule(error['EPG'], voltaje['VPG'])


controlador_ctrl = ctrl.ControlSystem([rule1, rule2, rule3, rule4, rule5])
controlador = ctrl.ControlSystemSimulation(controlador_ctrl)

controlador.input['error'] = 8
controlador.compute()
print(controlador.output['voltaje'])
voltaje.view(sim=controlador)

6.726499999999961


errorRange = np.linspace(-20,20,15)
voltageRange = []

for e in errorRange:
  controlador.input['error'] = e
  controlador.compute()
  voltageRange.append(controlador.output['voltaje'])

plt.plot(errorRange,voltageRange);


try:
  import control.matlab as ml
except:
  !pip install control
  import control.matlab as ml


Kp = 1

g = 9.81; dt = 0.001; r = 0

t  = [0]; e  = [0]; u  = [0];
xpp= [0]; xp = [0]; x  = [2];

for i,ti in enumerate(np.arange(0,10,dt)):
    t.append(t[-1]+dt)
    e.append(r-x[-1])
    u.append(min(15*np.pi/180,max(-15*np.pi/180,Kp*e[-1])))
    xpp.append(g*np.sin(u[-1]))
    xp.append(xp[-1] + xpp[-1]*dt)
    x.append(x[-1] + xp[-1]*dt)
    
plt.plot(t,x);


Kp = 0.5; Kd = 0.4

g = 9.81; dt = 0.001; r = 0
t  = [0]; e  = [0]; ea = [0]; u  = [0]
xpp= [0]; xp = [0]; x  = [2]; 

for i,ti in enumerate(np.arange(0,10,dt)):
    t.append(t[-1]+dt)
    e.append(r-x[-1])
    de = (e[-1]-ea[-1])/dt
    ea.append(e[-1])
    us = Kp*e[-1] + Kd*de
    u.append(min(15*np.pi/180,max(-15*np.pi/180,us)))
    xpp.append(g*np.sin(u[-1]))
    xp.append(xp[-1] + xpp[-1]*dt)
    x.append(x[-1] + xp[-1]*dt)
    
plt.plot(t,x);


from skfuzzy import control as ctrl  
error   = ctrl.Antecedent(np.arange(-5,5,0.05),  'error')
error.automf(5,names=['ENG','EN','EC','EP','EPG'])
error.view()


de   = ctrl.Antecedent(np.arange(-1,1,0.01),  'de')
de.automf(5,names=['DENG','DEN','DEC','DEP','DEPG'])
de.view()


angle   = ctrl.Consequent(np.arange(-12,12,0.1),  'angle')
angle.automf(5,names=['ANG','AN','AC','AP','APG'])
angle.view()


rule1 = ctrl.Rule(error['ENG'], angle['ANG'])
rule2 = ctrl.Rule(error['EN'],  angle['AN'])
rule3 = ctrl.Rule(error['EC'],  angle['AC'])
rule4 = ctrl.Rule(error['EP'],  angle['AP'])
rule5 = ctrl.Rule(error['EPG'], angle['APG'])


controlador_ctrl = ctrl.ControlSystem([rule1, rule2, rule3, rule4, rule5])
controlador = ctrl.ControlSystemSimulation(controlador_ctrl)

controlador.input['error'] = 8
# controlador.input['de']    = 0
controlador.compute()
print(controlador.output['angle'])
angle.view(sim=controlador)

9.90812501458807


errorRange = np.linspace(-20,20,15)
angleRange = []

for e in errorRange:
  controlador.input['error'] = e
  controlador.compute()
  angleRange.append(controlador.output['angle'])

plt.plot(errorRange,angleRange);


g = 9.81; dt = 0.01; r = 0
t  = [0]; e  = [0]; ea = [0]; u  = [0]
xpp= [0]; xp = [0]; x  = [2]; 

for i,ti in enumerate(np.arange(0,50,dt)):
    t.append(t[-1]+dt)
    e.append(r-x[-1])
    de = (e[-1]-ea[-1])/dt
    ea.append(e[-1])
    
    controlador.input['error'] = e[-1]
    controlador.compute()
    us = controlador.output['angle']    
    
    u.append(us*np.pi/180)
    xpp.append(g*np.sin(u[-1]))
    xp.append(xp[-1] + xpp[-1]*dt)
    x.append(x[-1] + xp[-1]*dt)
    
plt.plot(t,x,t,xp);

Control Difuso¶

Ejemplo calor¶

Ejemplo Humedad¶

Lógica difusa¶

Ventajas del control difuso¶

Aplicaciones del control difuso¶

Estructura de un controlador difuso¶

Etapas dentro de un controlador difuso¶

Otros conceptos¶

Variables lingüísticas¶

Funciones de membresia¶

Reglas de Control¶

Modulo de Defusificación¶

Modulo de inferencia¶

Ejemplo de la propina con Mamdani¶

Funciones de membresia¶

Ejemplo : Impresora¶

Sistema de control¶

Reglas de control¶

En MATLAB¶

Fuzzy logic designer¶

Funciones de membresia¶

Funciones de membresia¶

Añadir reglas de control¶

Visualización de las reglas¶

Visualización de la superficie de control¶

Archivos para Matlab¶

En Python¶

Demostración con el balancín¶

Control clásico P¶

Control clásico PD¶

Controlador difuso¶