模糊自适应整定PID控制-----麦克纳姆轮移动平台的直流电机的调速系统

%Fuzzy Tunning PID Control
clc
clear all;
close all;
a=newfis('fuzzpid');

a=addvar(a,'input','e',[-3,3]);
a=addmf(a,'input',1,'NB','trimf',[-4,-3,-2]);
a=addmf(a,'input',1,'NM','trimf',[-3,-2,-1]);
a=addmf(a,'input',1,'NS','trimf',[-2,-1,0]);
a=addmf(a,'input',1,'Z','trimf',[-1,0,1]);
a=addmf(a,'input',1,'PS','trimf',[0,1,2]);
a=addmf(a,'input',1,'PM','trimf',[1,2,3]);
a=addmf(a,'input',1,'PB','trimf',[2,3,4]);

a=addvar(a,'input','ec',[-3,3]);
a=addmf(a,'input',2,'NB','trimf',[-4,-3,-2]);
a=addmf(a,'input',2,'NM','trimf',[-3,-2,-1]);
a=addmf(a,'input',2,'NS','trimf',[-2,-1,0]);
a=addmf(a,'input',2,'Z','trimf',[-1,0,1]);
a=addmf(a,'input',2,'PS','trimf',[0,1,2]);
a=addmf(a,'input',2,'PM','trimf',[1,2,3]);
a=addmf(a,'input',2,'PB','trimf',[2,3,4]);

a=addvar(a,'output','kp',[-1,1]);
a=addmf(a,'output',1,'NB','trimf',[-4/3,-1,-2/3]);
a=addmf(a,'output',1,'NM','trimf',[-1,-2/3,-1/3]);
a=addmf(a,'output',1,'NS','trimf',[-2/3,-1/3,0]);
a=addmf(a,'output',1,'Z','trimf',[-1/3,0,1/3]);
a=addmf(a,'output',1,'PS','trimf',[0,1/3,2/3]);
a=addmf(a,'output',1,'PM','trimf',[1/3,2/3,1]);
a=addmf(a,'output',1,'PB','trimf',[2/3,1,4/3]);

a=addvar(a,'output','ki',[-10,10]);
a=addmf(a,'output',2,'NB','trimf',10*[-4/3,-1,-2/3]);
a=addmf(a,'output',2,'NM','trimf',10*[-1,-2/3,-1/3]);
a=addmf(a,'output',2,'NS','trimf',10*[-2/3,-1/3,0]);
a=addmf(a,'output',2,'Z','trimf',10*[-1/3,0,1/3]);
a=addmf(a,'output',2,'PS','trimf',10*[0,1/3,2/3]);
a=addmf(a,'output',2,'PM','trimf',10*[1/3,2/3,1]);
a=addmf(a,'output',2,'PB','trimf',10*[2/3,1,4/3]);

a=addvar(a,'output','kd',[-0.03,0.03]);
a=addmf(a,'output',3,'NB','trimf',[-0.04,-0.03,-0.02]);
a=addmf(a,'output',3,'NM','trimf',[-0.03,-0.02,-0.01]);
a=addmf(a,'output',3,'NS','trimf',[-0.02,-0.01,0]);
a=addmf(a,'output',3,'Z','trimf',[-0.01,0,0.01]);
a=addmf(a,'output',3,'PS','trimf',[0,0.01,0.02]);
a=addmf(a,'output',3,'PM','trimf',[0.01,0.02,0.03]);
a=addmf(a,'output',3,'PB','trimf',[0.02,0.03,0.04]);

rulelist = [
1 1 7 1 5 1 1;
1 2 7 1 5 1 1;
1 3 6 1 4 1 1;
1 4 6 2 4 1 1;
1 5 5 2 4 1 1;
1 6 5 4 7 1 1;
1 7 4 4 7 1 1;

2 1 7 1 3 1 1;
2 2 7 1 3 1 1;
2 3 6 2 3 1 1;
2 4 6 2 3 1 1;
2 5 5 3 4 1 1;
2 6 4 4 3 1 1;
2 7 4 4 6 1 1;

3 1 6 2 6 1 1;
3 2 6 2 1 1 1;
3 3 6 3 2 1 1;
3 4 5 3 3 1 1;
3 5 4 4 4 1 1;
3 6 3 5 5 1 1;
3 7 2 5 6 1 1;

4 1 6 2 1 1 1;
4 2 5 3 2 1 1;
4 3 5 3 2 1 1;
4 4 4 4 3 1 1;
4 5 3 5 4 1 1;
4 6 2 5 5 1 1;
4 7 2 6 6 1 1;

5 1 5 3 1 1 1;
5 2 5 3 2 1 1;
5 3 4 4 3 1 1;
5 4 3 5 3 1 1;
5 5 3 5 4 1 1;
5 6 2 6 5 1 1;
5 7 2 6 5 1 1;

6 1 4 4 2 1 1;
6 2 4 4 3 1 1;
6 3 3 5 3 1 1;
6 4 2 6 3 1 1;
6 5 2 6 4 1 1;
6 6 2 7 5 1 1;
6 7 1 7 5 1 1;

7 1 4 4 5 1 1;
7 2 3 4 4 1 1;
7 3 3 5 4 1 1;
7 4 2 6 4 1 1;
7 5 2 7 4 1 1;
7 6 1 7 7 1 1;
7 7 1 7 7 1 1];

a = addrule(a, rulelist);
a = setfis(a, 'DefuzzMethod', 'centroid');
writefis(a, 'fuzzpid');

a=readfis('fuzzpid');
figure(1);
plotmf(a, 'input', 1);
figure(2);
plotmf(a, 'input', 2);
figure(3);
plotmf(a, 'output', 1);
figure(4);
plotmf(a, 'output', 2);
figure(5);
plotmf(a, 'output', 3);
figure(6);
plotfis(a);

fuzzy fuzzpid;
showrule(a)
ruleview fuzzpid;

%Fuzzy PID Control
clc
clear all;
close all;

warning off;
a=readfis('fuzzpid');

ts=0.001;
% sys=tf(523500,[1,87.35,10470,0]);
sys=tf(1.91464,[0.0000020111,0.0013083,0.07169,1]);
dsys=c2d(sys,ts,'z');
[num,den]=tfdata(dsys,'v');

u_1=0;u_2=0;u_3=0;
y_1=0;y_2=0;y_3=0;
e_1=0;ec_1=0;ei=0;ed=0;

kp0=0.0;ki0=0.0;kd0=0.0;

for k=1:1:2000
time(k)=k*ts;

r(k)=1.0;

%Using fuzzy inference to tunning PID
k_pid=evalfis([e_1,ec_1],a);
kp(k)=kp0+k_pid(1);
ki(k)=ki0+k_pid(2);
kd(k)=kd0+k_pid(3);
u(k)=kp(k)*e_1+ki(k)*ei+kd(k)*ed;

y(k)=-den(2)*y_1-den(3)*y_2-den(4)*y_3+num(1)*u(k)+num(2)*u_1+num(3)*u_2+num(4)*u_3;

e(k)=r(k)-y(k);
%%%%%%%%%%%%%%%%Return of parameters%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
u_3=u_2;u_2=u_1;u_1=u(k);
y_3=y_2;y_2=y_1;y_1=y(k);

ec(k)=e(k)-e_1; 

e_1=e(k);
ei=ei+e(k)*ts;
ed=ec(k)/ts;

ec_1=ec(k);
end

figure(1);
plot(time,r,'r',time,y,'b:','linewidth',1.5);
xlabel('time(s)');ylabel('r,y');
legend('Ideal position','Practical position');
figure(2);
subplot(311);
plot(time,kp,'r','linewidth',1.5);
xlabel('time(s)');ylabel('kp');
subplot(312);
plot(time,ki,'r','linewidth',1.5);
xlabel('time(s)');ylabel('ki');
subplot(313);
plot(time,kd,'r','linewidth',1.5);
xlabel('time(s)');ylabel('kd');
figure(3);
plot(time,u,'r','linewidth',1.5);
xlabel('time(s)');ylabel('control input');
 

Reference

[1]周晨光, 王勇, 唐火红,等. 机场服务机器人模糊自适应PID控制系统仿真研究[J]. 自动化与仪表, 2020, 35(10):7.