matlab 模糊pid mimo 对应,Matlab关于模糊PID隶属度函数 （求教）

%Fuzzy Tunning PID Control

clear all;

clear all;

a=newfis('fuzzpid');

a=addvar(a,'input','e',[-3,3]);                 %Parameter e

a=addmf(a,'input',1,'NB','zmf',[-3,-1]);

a=addmf(a,'input',1,'NM','trimf',[-3,-2,0]);

a=addmf(a,'input',1,'NS','trimf',[-3,-1,1]);

a=addmf(a,'input',1,'Z','trimf',[-2,0,2]);

a=addmf(a,'input',1,'PS','trimf',[-1,1,3]);

a=addmf(a,'input',1,'PM','trimf',[0,2,3]);

a=addmf(a,'input',1,'PB','smf',[1,3]);

a=addvar(a,'input','ec',[-3,3]);                 %Parameter ec

a=addmf(a,'input',2,'NB','zmf',[-3,-1]);

a=addmf(a,'input',2,'NM','trimf',[-3,-2,0]);

a=addmf(a,'input',2,'NS','trimf',[-3,-1,1]);

a=addmf(a,'input',2,'Z','trimf',[-2,0,2]);

a=addmf(a,'input',2,'PS','trimf',[-1,1,3]);

a=addmf(a,'input',2,'PM','trimf',[0,2,3]);

a=addmf(a,'input',2,'PB','smf',[1,3]);

a=addvar(a,'output','kp',[-0.3,0.3]);                 %Parameter kp

a=addmf(a,'output',1,'NB','zmf',[-0.3,-0.1]);

a=addmf(a,'output',1,'NM','trimf',[-0.3,-0.2,0]);

a=addmf(a,'output',1,'NS','trimf',[-0.3,-0.1,0.1]);

a=addmf(a,'output',1,'Z','trimf',[-0.2,0,0.2]);

a=addmf(a,'output',1,'PS','trimf',[-0.1,0.1,0.3]);

a=addmf(a,'output',1,'PM','trimf',[0,0.2,0.3]);

a=addmf(a,'output',1,'PB','smf',[0.1,0.3]);

a=addvar(a,'output','ki',[-0.06,0.06]);                 %Parameter ki

a=addmf(a,'output',2,'NB','zmf',[-0.06,-0.02]);

a=addmf(a,'output',2,'NM','trimf',[-0.06,-0.04,0]);

a=addmf(a,'output',2,'NS','trimf',[-0.06,-0.02,0.02]);

a=addmf(a,'output',2,'Z','trimf',[-0.04,0,0.04]);

a=addmf(a,'output',2,'PS','trimf',[-0.02,0.02,0.06]);

a=addmf(a,'output',2,'PM','trimf',[0,0.04,0.06]);

a=addmf(a,'output',2,'PB','smf',[0.02,0.06]);

a=addvar(a,'output','kd',[-3,3]);                 %Parameter kd

a=addmf(a,'output',3,'NB','zmf',[-3,-1]);

a=addmf(a,'output',3,'NM','trimf',[-3,-2,0]);

a=addmf(a,'output',3,'NS','trimf',[-3,-1,1]);

a=addmf(a,'output',3,'Z','trimf',[-2,0,2]);

a=addmf(a,'output',3,'PS','trimf',[-1,1,3]);

a=addmf(a,'output',3,'PM','trimf',[0,2,3]);

a=addmf(a,'output',3,'PB','smf',[1,3]);

rulelist=[1 1 7 1 5 1 1;

1 2 7 1 3 1 1;

1 3 6 2 1 1 1;

1 4 6 2 1 1 1;

1 5 5 3 1 1 1;

1 6 4 4 2 1 1;

1 7 4 4 5 1 1;

2 1 7 1 5 1 1;

2 2 7 1 3 1 1;

2 3 6 2 1 1 1;

2 4 5 3 2 1 1;

2 5 5 3 2 1 1;

2 6 4 4 3 1 1;

2 7 3 4 4 1 1;

3 1 6 1 4 1 1;

3 2 6 2 3 1 1;

3 3 6 3 2 1 1;

3 4 5 3 2 1 1;

3 5 4 4 3 1 1;

3 6 3 5 3 1 1;

3 7 3 5 4 1 1;

4 1 6 2 4 1 1;

4 2 6 2 3 1 1;

4 3 5 3 3 1 1;

4 4 4 4 3 1 1;

4 5 3 5 3 1 1;

4 6 2 6 3 1 1;

4 7 2 6 4 1 1;

5 1 5 2 4 1 1;

5 2 5 3 4 1 1;

5 3 4 4 4 1 1;

5 4 3 5 4 1 1;

5 5 3 5 4 1 1;

5 6 2 6 4 1 1;

5 7 2 7 4 1 1;

6 1 5 4 7 1 1;

6 2 4 4 5 1 1;

6 3 3 5 5 1 1;

6 4 2 5 5 1 1;

6 5 2 6 5 1 1;

6 6 2 7 5 1 1;

6 7 1 7 7 1 1;

7 1 4 4 7 1 1;

7 2 4 4 6 1 1;

7 3 2 5 6 1 1;

7 4 2 6 6 1 1;

7 5 2 6 5 1 1;

7 6 1 7 5 1 1;

7 7 1 7 7 1 1];

a=addrule(a,rulelist);

a=setfis(a,'DefuzzMethod','mom');

writefis(a,'fuzzpid');

a=readfis('fuzzpid');

%PID Controller

ts=0.001;

sys=tf(5.235e005,[1,87.35,1.047e004,0]);

dsys=c2d(sys,ts,'tustin');

[num,den]=tfdata(dsys,'v');

u_1=0.0;u_2=0.0;u_3=0.0;

y_1=0;y_2=0;y_3=0;

x=[0,0,0]';

error_1=0;

e_1=0.0;

ec_1=0.0;

kp0=0.40;

kd0=1.0;

ki0=0.0;

for k=1:1:500

time(k)=k*ts;

rin(k)=1;

%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)*x(1)+kd(k)*x(2)+ki(k)*x(3);

if k==300    %Adding disturbance(1.0v at time 0.3s)

u(k)=u(k)+1.0;

end

if u(k)>=10

u(k)=10;

end

if u(k)<=-10

u(k)=-10;

end

yout(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;

error(k)=rin(k)-yout(k);

%%%%%%%%%%%%%%%%Return of PID parameters%%%%%%%%%%%%%%

u_3=u_2;

u_2=u_1;

u_1=u(k);

y_3=y_2;

y_2=y_1;

y_1=yout(k);

x(1)=error(k);              %Calculating P

x(2)=error(k)-error_1;              %Calculating D

x(3)=x(3)+error(k);              %Calculating I

e_1=x(1);

ec_1=x(2);

error_2=error_1;

error_1=error(k);

end

showrule(a)

figure(1);plot(time,rin,'b',time,yout,'r');

xlabel('time(s)');ylabel('rin,yout');

figure(2);plot(time,error,'r');

xlabel('time(s)');ylabel('error');

figure(3);plot(time,u,'r');

xlabel('time(s)');ylabel('u');

figure(4);plot(time,kp,'r');

xlabel('time(s)');ylabel('kp');

figure(5);plot(time,ki,'r');

xlabel('time(s)');ylabel('ki');

figure(6);plot(time,kd,'r');

xlabel('time(s)');ylabel('kd');

figure(7);plotmf(a,'input',1);

figure(8);plotmf(a,'input',2);

figure(9);plotmf(a,'output',1);

figure(10);plotmf(a,'output',2);

figure(11);plotmf(a,'output',3);

plotfis(a);

fuzzy fuzzpid.fis