模糊控制器的MATLAB仿真（位置跟踪和 Simulink仿真)

模糊控制器的MATLAB仿真

模糊控制器的设计

设计模糊控制的具体详解请参照链接: https://blog.csdn.net/LOVE_105/article/details/112135599.
按照相同的方法得到模糊推理系统

模糊逻辑控制的位置跟踪

设置被控对象为
G(s) = 400/(s^2+500s)
设计两输入单输出模糊控制器，输入为偏差和偏差变化率，输出为控制量U，使系统输出能实时跟踪输入信号。

Simulink仿真

设计代码

模糊控制器

clear all;
close all;
a = newfis('fuzzf');
a = addvar(a,'input','e',[-0.3,0.3]);
a = addmf(a,'input',1,'NB','zmf',[-0.3,-0.1]);
a = addmf(a,'input',1,'NM','trimf',[-0.3,-0.2,0]);
a = addmf(a,'input',1,'NS','trimf',[-0.3,-0.1,0.1]);
a = addmf(a,'input',1,'Z','trimf',[-0.2,0,0.2]);
a = addmf(a,'input',1,'PS','trimf',[-0.1,0.1,0.3]);
a = addmf(a,'input',1,'PM','trimf',[0,0.2,0.3]);
a = addmf(a,'input',1,'PB','smf',[0.1,0.3]);
a = addvar(a,'input','ec',[-0.3,0.3]);
a = addmf(a,'input',2,'NB','zmf',[-0.3,-0.1]);
a = addmf(a,'input',2,'NM','trimf',[-0.3,-0.2,0]);
a = addmf(a,'input',2,'NS','trimf',[-0.3,-0.1,0.1]);
a = addmf(a,'input',2,'Z','trimf',[-0.2,0,0.2]);
a = addmf(a,'input',2,'PS','trimf',[-0.1,0.1,0.3]);
a = addmf(a,'input',2,'PM','trimf',[0,0.2,0.3]);
a = addmf(a,'input',2,'PB','smf',[0.1,0.3]);
a = addvar(a,'output','u',[-30,30]);
a = addmf(a,'output',1,'NB','zmf',[-30,30]);
a = addmf(a,'output',1,'NM','trimf',[-30,-20,0]);
a = addmf(a,'output',1,'NS','trimf',[-30,-10,10]);
a = addmf(a,'output',1,'Z','trimf',[-20,0,20]);
a = addmf(a,'output',1,'PS','trimf',[-10,10,30]);
a = addmf(a,'output',1,'PM','trimf',[0,20,30]);
a = addmf(a,'output',1,'PB','smf',[10,30]);
rulelist = [1 1 1 1 1;
            1 2 1 1 1;
            1 3 2 1 1;
            1 4 2 1 1;
            1 5 3 1 1;
            1 6 3 1 1;
            1 7 4 1 1;
            
            2 1 1 1 1;
            2 2 2 1 1;
            2 3 2 1 1;
            2 4 3 1 1;
            2 5 3 1 1;
            2 6 4 1 1;
            2 7 5 1 1;
            
            3 1 2 1 1;
            3 2 2 1 1;
            3 3 3 1 1;
            3 4 3 1 1;
            3 5 4 1 1;
            3 6 5 1 1;
            3 7 5 1 1;
            
            4 1 2 1 1;
            4 2 3 1 1;
            4 3 3 1 1
            4 4 4 1 1;
            4 5 4 1 1;
            4 6 5 1 1;
            4 7 6 1 1;
            
            5 1 3 1 1;
            5 2 3 1 1;
            5 3 4 1 1
            5 4 5 1 1;
            5 5 5 1 1;
            5 6 6 1 1;
            5 7 6 1 1;
            
            6 1 3 1 1;
            6 2 4 1 1;
            6 3 5 1 1
            6 4 5 1 1;
            6 5 6 1 1;
            6 6 6 1 1;
            6 7 7 1 1;
            
            7 1 4 1 1;
            7 2 5 1 1;
            7 3 5 1 1
            7 4 6 1 1;
            7 5 6 1 1;
            7 6 7 1 1;
            7 7 7 1 1;
            ]; 
a = addrule(a,rulelist);
showrule(a)
a1 = setfis(a,'DefuzzMethod','mom');
writefis(a1,'fuzzf');
a2 = readfis('fuzzf');
disp('------------------------------------------------------');
disp('fuzzy controller tabel:e = [-3,+3],ec = [-3.+3] ');
disp('------------------------------------------------------');
Ulist = zeros(7,7);
for i = 1:7
    for j = 1:7
        e(i) = -4+i;
        ec(j) = -4+j;
        Ulist(i,j) = evalfis([e(i),ec(j)],a2);
    end
end
Ulist=ceil(Ulist);
figure(1);
plotfis(a2);
figure(2);
plotmf(a,'input',1);
figure(3);
plotmf(a,'input',2);
figure(4);
plotmf(a,'output',1);

位置跟踪

close all;
figure(1);
plot(t,y(:,1),'r',t,y(:,2),'k:','linewidth',2);
xlabel('time(s)');ylabel('yd,y');
legend('Ideal position signal','position tracking');

最终结果展示

代码详解

模糊控制器的代码详解可参照https://blog.csdn.net/LOVE_105/article/details/112135599.
我们知道我们需要建立类似如图所示的控制系统。

Simulink的仿真是根据图所示，设计一个双输入单输出的模糊控制系统。
具体做法可参照https://blog.csdn.net/LOVE_105/article/details/112143886最后通过得到的t画出跟踪结果
位置跟踪

close all;
figure(1);
plot(t,y(:,1),'r',t,y(:,2),'k:','linewidth',2);
xlabel('time(s)');ylabel('yd,y');
legend('Ideal position signal','position tracking');

t来自于Simulink的结果。