def fuzzyZ(ex, v):
# regulator wysokosci
# x - blad w danej osi
# v - predkosc
## przynaleznosci blad wysokosci
R = [[0, 0, 0], [0, 0, 0], [0, 0, 0]]
uz = [0, 0, 0]
x = ex
# zero
a = -30
b = 0
c = 30
uz[1] = liczu(x, a, b, c, 2)
# bardzo nisko
a = 0
b = 30
uz[2] = liczu(x, a, b, c, 3)
# bardzo wysoko
b = -30
c = 0
uz[0] = liczu(x, a, b, c, 1)
## przynaleznosci predkosci
uv = [0, 0, 0]
x = v
# zero
a = -1
b = 0
c = 1
uv[1] = liczu(x, a, b, c, 2)
# w gore
a = 0
b = 1
uv[2] = liczu(x, a, b, c, 3)
# w dol
b = -1
c = 0
uv[0] = liczu(x, a, b, c, 1)
## sterowanie
# sterX = [55, 60, 65, 70, 80]; #DRON 40/2M
# sterX = [55, 60, 65, 70, 80];
sterX = [55, 60, 68, 70, 80]
for i in range(len(uz)):
for j in range(len(uv)):
R[i][j] = uz[i] * uv[j]
uy = [0, 0, 0, 0, 0]
uy[0] = R[0][2]
uy[1] = max(R[0][1], R[1][2])
uy[2] = max([R[0][0], R[1][1], R[2][2]])
uy[3] = max(R[1][0], R[2][1])
uy[4] = R[2][0]
num = 0
for i in range(len(uy)):
num = num + uy[i] * sterX[i]
Sterowanie = num / sum(uy)
return Sterowanie
def fuzzyX(ex, v):
# regulator wysokosci
# x - blad w danej osi
# v - predkosc
## przynaleznosci blad wysokosci
R = [[0, 0, 0], [0, 0, 0], [0, 0, 0]]
uz = [0, 0, 0]
x = ex
# zero
a = -20
b = 0
c = 20
uz[1] = liczu(x, a, b, c, 2)
# bardzo nisko
a = 0
b = 20
uz[2] = liczu(x, a, b, c, 3)
# bardzo wysoko
b = -20
c = 0
uz[0] = liczu(x, a, b, c, 1)
## przynaleznosci predkosci
uv = [0, 0, 0]
x = v
# zero
a = -0.2
b = 0
c = 0.2
uv[1] = liczu(x, a, b, c, 2)
# w gore
a = 0
b = 0.2
uv[2] = liczu(x, a, b, c, 3)
# w dol
b = -0.2
c = 0
uv[0] = liczu(x, a, b, c, 1)
## sterowanie
sterX = [-10, -5, 0, 5, 10]
for i in range(len(uz)):
for j in range(len(uv)):
R[i][j] = uz[i] * uv[j]
uy = [0, 0, 0, 0, 0]
uy[0] = R[0][2]
uy[1] = max(R[0][1], R[1][2])
uy[2] = max([R[0][0], R[1][1], R[2][2]])
uy[3] = max(R[1][0], R[2][1])
uy[4] = R[2][0]
num = 0
for i in range(len(uy)):
num = num + uy[i] * sterX[i]
Sterowanie = num / sum(uy)
return Sterowanie
def fuzzyX(ex, v):
# regulator wysokosci
# x - blad w danej osi
# v - predkosc
## przynaleznosci blad wysokosci
R=[[0,0,0],[0,0,0],[0,0,0]]
uz = [0, 0, 0];
x = ex;
# zero
a = -20;
b = 0;
c = 20;
uz[1] = liczu(x,a,b,c,2);
# bardzo nisko
a = 0;
b = 20;
uz[2] = liczu(x,a,b,c,3);
# bardzo wysoko
b = -20;
c = 0;
uz[0] = liczu(x,a,b,c,1);
## przynaleznosci predkosci
uv = [0, 0, 0];
x = v;
# zero
a = -0.2;
b = 0;
c = 0.2;
uv[1] = liczu(x,a,b,c,2);
# w gore
a = 0;
b = 0.2;
uv[2] = liczu(x,a,b,c,3);
# w dol
b = -0.2;
c = 0;
uv[0] = liczu(x,a,b,c,1);
## sterowanie
sterX = [-10, -5, 0, 5, 10];
for i in range(len(uz)):
for j in range(len(uv)):
R[i][j] = uz[i] * uv[j];
uy=[0,0,0,0,0]
uy[0] = R[0][2];
uy[1] = max(R[0][1], R[1][2]);
uy[2] = max([R[0][0], R[1][1], R[2][2]]);
uy[3] = max(R[1][0], R[2][1]);
uy[4] = R[2][0];
num = 0;
for i in range(len(uy)):
num = num + uy[i]* sterX[i];
Sterowanie = num/ sum(uy);
return Sterowanie
