模糊PID与PID控制 matlab/Simulink仿真-CSDN博客

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模糊PID与PID控制 matlab/Simulink仿真

全网最全的模糊PID与PID控制算法
Matlab/Simulink仿真实现（全流程详细报告+附实现源码）

在这里插入图片描述

文章目录

模糊PID控制是一种结合了传统PID（比例-积分-微分）控制和模糊逻辑的控制策略，旨在通过模糊逻辑调整PID控制器的参数，以适应不同的工作条件，从而提高系统的动态性能和鲁棒性。下面我将为你提供一个简单的示例代码框架，用于Matlab/Simulink中的模糊PID控制仿真。

模糊PID控制MATLAB实现的基本步骤

定义模糊逻辑控制器：创建一个模糊推理系统(FIS)，定义输入输出变量及其隶属函数，并设置模糊规则。
设计PID控制器：选择合适的PID参数(Kp, Ki, Kd)。
集成模糊逻辑与PID：使用模糊逻辑控制器来动态调整PID参数。
Simulink模型搭建：在Simulink中建立控制系统模型，并集成模糊PID控制器。

示例代码

1. 创建FIS

fis = newfis('FuzzyPID');
% 添加输入变量
fis = addvar(fis, 'input', 'e', [0 10]);
fis = addvar(fis, 'input', 'ec', [0 10]);
% 添加输出变量
fis = addvar(fis, 'output', 'Kp_adj', [0 1]);
fis = addvar(fis, 'output', 'Ki_adj', [0 1]);
fis = addvar(fis, 'output', 'Kd_adj', [0 1]);
% 设置隶属函数等...

2. 设计PID控制器

Kp = 1; Ki = 0.1; Kd = 0.05;

3. 集成模糊逻辑与PID

这部分涉及到如何根据模糊逻辑控制器的输出调整PID参数，具体实现依赖于你的控制目标和系统特性。

4. Simulink模型搭建

在Simulink中，你可以使用MATLAB Function块或者S-Function来嵌入上述MATLAB代码，以便实时调整PID参数。

注意事项

实际应用时，你需要根据具体的控制对象调整模糊逻辑控制器的设计，包括输入输出变量范围、隶属函数形状以及模糊规则。
对于复杂系统，建议对控制器进行充分的测试和调试，确保其稳定性和响应速度满足要求。

在这里插入图片描述
这是一个模糊PID控制器的规则查看器界面。为了更好地理解和实现这个模糊PID控制器，我将提供一个完整的MATLAB/Simulink示例代码。这个示例包括创建模糊逻辑控制器、设计PID控制器以及在Simulink中集成这些组件。

MATLAB 代码

1. 创建模糊逻辑控制器

% 创建模糊推理系统
fis = mamfis;

% 添加输入变量
fis = addInput(fis, [-10 10], 'name', 'e');
fis = addInput(fis, [-10 10], 'name', 'ec');

% 添加输出变量
fis = addOutput(fis, [0 5], 'name', 'Kp_adj');
fis = addOutput(fis, [0 5], 'name', 'Ki_adj');
fis = addOutput(fis, [0 5], 'name', 'Kd_adj');

% 设置隶属函数
for i = 1:2
    fis = addMF(fis, 'input', i, 'trimf', [-10 -5 0], 'name', 'NB');
    fis = addMF(fis, 'input', i, 'trimf', [-5 0 5], 'name', 'NS');
    fis = addMF(fis, 'input', i, 'trimf', [0 5 10], 'name', 'PS');
    fis = addMF(fis, 'input', i, 'trimf', [5 10 15], 'name', 'PB');
end

for i = 1:3
    fis = addMF(fis, 'output', i, 'trimf', [0 1 2], 'name', 'Z');
    fis = addMF(fis, 'output', i, 'trimf', [1 2 3], 'name', 'P');
    fis = addMF(fis, 'output', i, 'trimf', [2 3 4], 'name', 'M');
    fis = addMF(fis, 'output', i, 'trimf', [3 4 5], 'name', 'H');
end

% 添加模糊规则
rules = [];
rules = [rules; "if e is NB and ec is NB then Kp_adj is Z and Ki_adj is Z and Kd_adj is Z"];
rules = [rules; "if e is NB and ec is NS then Kp_adj is P and Ki_adj is Z and Kd_adj is Z"];
rules = [rules; "if e is NB and ec is PS then Kp_adj is M and Ki_adj is Z and Kd_adj is Z"];
rules = [rules; "if e is NB and ec is PB then Kp_adj is H and Ki_adj is Z and Kd_adj is Z"];
rules = [rules; "if e is NS and ec is NB then Kp_adj is Z and Ki_adj is P and Kd_adj is Z"];
rules = [rules; "if e is NS and ec is NS then Kp_adj is Z and Ki_adj is M and Kd_adj is Z"];
rules = [rules; "if e is NS and ec is PS then Kp_adj is Z and Ki_adj is H and Kd_adj is Z"];
rules = [rules; "if e is NS and ec is PB then Kp_adj is Z and Ki_adj is H and Kd_adj is P"];
rules = [rules; "if e is PS and ec is NB then Kp_adj is Z and Ki_adj is Z and Kd_adj is P"];
rules = [rules; "if e is PS and ec is NS then Kp_adj is Z and Ki_adj is Z and Kd_adj is M"];
rules = [rules; "if e is PS and ec is PS then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is PS and ec is PB then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is PB and ec is NB then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is PB and ec is NS then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is PB and ec is PS then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is PB and ec is PB then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];

fis = addRule(fis, rules);

% 显示规则查看器
view(fis)

2. 设计PID控制器

% 初始PID参数
Kp = 1;
Ki = 0.1;
Kd = 0.05;

3. Simulink 模型搭建

打开Simulink并新建模型。
添加必要的模块：
- Step：作为输入信号。
- Fuzzy Logic Controller：使用上述创建的FIS。
- PID Controller：使用初始PID参数。
- Scope：用于观察输出。
- Integrator：用于积分控制。
- Derivative：用于微分控制。
连接模块：
- 将Step信号连接到Fuzzy Logic Controller。
- Fuzzy Logic Controller的输出连接到PID Controller的参数调整端口。
- PID Controller的输出连接到被控对象（例如Integrator）。
- 被控对象的输出反馈回Fuzzy Logic Controller。
运行仿真：
- 点击运行按钮进行仿真。

注意事项

确保所有模块正确连接，并且信号类型匹配。
根据具体应用调整模糊逻辑控制器的参数和规则。
进行充分的测试和调试，确保系统的稳定性和响应速度满足要求。

希望这些代码和指导能帮助你完成模糊PID控制的仿真！在这里插入图片描述
MATLAB/Simulink示例代码。这个示例包括创建模糊逻辑控制器、设计PID控制器以及在Simulink中集成这些组件。

MATLAB 代码

1. 创建模糊逻辑控制器

% 创建模糊推理系统
fis = mamfis;

% 添加输入变量
fis = addInput(fis, [-3 3], 'name', 'e');
fis = addInput(fis, [-3 3], 'name', 'ec');

% 添加输出变量
fis = addOutput(fis, [0 5], 'name', 'Kp_adj');
fis = addOutput(fis, [0 5], 'name', 'Ki_adj');
fis = addOutput(fis, [0 5], 'name', 'Kd_adj');

% 设置隶属函数
for i = 1:2
    fis = addMF(fis, 'input', i, 'trimf', [-3 -2 -1], 'name', 'NB');
    fis = addMF(fis, 'input', i, 'trimf', [-2 -1 0], 'name', 'NM');
    fis = addMF(fis, 'input', i, 'trimf', [-1 0 1], 'name', 'NS');
    fis = addMF(fis, 'input', i, 'trimf', [0 1 2], 'name', 'Z');
    fis = addMF(fis, 'input', i, 'trimf', [1 2 3], 'name', 'PS');
    fis = addMF(fis, 'input', i, 'trimf', [2 3 4], 'name', 'PM');
    fis = addMF(fis, 'input', i, 'trimf', [3 4 5], 'name', 'PB');
end

for i = 1:3
    fis = addMF(fis, 'output', i, 'trimf', [0 1 2], 'name', 'Z');
    fis = addMF(fis, 'output', i, 'trimf', [1 2 3], 'name', 'P');
    fis = addMF(fis, 'output', i, 'trimf', [2 3 4], 'name', 'M');
    fis = addMF(fis, 'output', i, 'trimf', [3 4 5], 'name', 'H');
end

% 添加模糊规则
rules = [];
rules = [rules; "if e is NB and ec is NB then Kp_adj is Z and Ki_adj is Z and Kd_adj is Z"];
rules = [rules; "if e is NB and ec is NM then Kp_adj is P and Ki_adj is Z and Kd_adj is Z"];
rules = [rules; "if e is NB and ec is NS then Kp_adj is M and Ki_adj is Z and Kd_adj is Z"];
rules = [rules; "if e is NB and ec is Z then Kp_adj is H and Ki_adj is Z and Kd_adj is Z"];
rules = [rules; "if e is NB and ec is PS then Kp_adj is H and Ki_adj is P and Kd_adj is Z"];
rules = [rules; "if e is NB and ec is PM then Kp_adj is H and Ki_adj is M and Kd_adj is Z"];
rules = [rules; "if e is NB and ec is PB then Kp_adj is H and Ki_adj is H and Kd_adj is Z"];
rules = [rules; "if e is NM and ec is NB then Kp_adj is Z and Ki_adj is P and Kd_adj is Z"];
rules = [rules; "if e is NM and ec is NM then Kp_adj is Z and Ki_adj is M and Kd_adj is Z"];
rules = [rules; "if e is NM and ec is NS then Kp_adj is Z and Ki_adj is H and Kd_adj is Z"];
rules = [rules; "if e is NM and ec is Z then Kp_adj is Z and Ki_adj is H and Kd_adj is P"];
rules = [rules; "if e is NM and ec is PS then Kp_adj is Z and Ki_adj is H and Kd_adj is M"];
rules = [rules; "if e is NM and ec is PM then Kp_adj is Z and Ki_adj is H and Kd_adj is H"];
rules = [rules; "if e is NM and ec is PB then Kp_adj is Z and Ki_adj is H and Kd_adj is H"];
rules = [rules; "if e is NS and ec is NB then Kp_adj is Z and Ki_adj is Z and Kd_adj is P"];
rules = [rules; "if e is NS and ec is NM then Kp_adj is Z and Ki_adj is Z and Kd_adj is M"];
rules = [rules; "if e is NS and ec is NS then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is NS and ec is Z then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is NS and ec is PS then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is NS and ec is PM then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is NS and ec is PB then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is Z and ec is NB then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is Z and ec is NM then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is Z and ec is NS then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is Z and ec is Z then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is Z and ec is PS then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is Z and ec is PM then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is Z and ec is PB then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is PS and ec is NB then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is PS and ec is NM then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is PS and ec is NS then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is PS and ec is Z then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is PS and ec is PS then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is PS and ec is PM then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is PS and ec is PB then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is PM and ec is NB then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is PM and ec is NM then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is PM and ec is NS then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is PM and ec is Z then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is PM and ec is PS then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is PM and ec is PM then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is PM and ec is PB then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is PB and ec is NB then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is PB and ec is NM then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is PB and ec is NS then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if e is PB and ec is Z then Kp_adj is Z and Ki_adj is Z and Kd_adj is H"];
rules = [rules; "if