新建 文本文档.txt

倒立摆模糊控制程序

clear 
tc=newfis('tc','sugeno'); 
tc=addvar(tc,'input','theta',[-90 90]); 
tc=addmf(tc,'input',1,'about 0','trimf',[-90 0 90]); 
tc=addmf(tc,'input',1,'about 90','trimf',[0 90 90]); 
tc=addmf(tc,'input',1,'about-90','trimf',[-90 -90 0]); 
tc=addvar(tc,'input','omega',[-5 5]); 
tc=addmf(tc,'input',2,'NG','gaussmf',[1.8 -5]); 
tc=addmf(tc,'input',2,'ZR','gaussmf',[1.8 0]); 
tc=addmf(tc,'input',2,'PO','gaussmf',[1.8 5]); 
tc=addvar(tc,'output','u',[-2 2]); 
tc=addmf(tc,'output',1,'No.1','linear',[126.07 26.3 0]); 
tc=addmf(tc,'output',1,'No.2','linear',[2722.3 883.4 0]); 

rulelist=[1 0 1 1 1;2 0 2 1 1;3 0 2 1 1]; 
tc=addrule(tc,rulelist); 
model=newfis('model','sugeno'); 
model=addvar(model,'input','theta',[-90 90]); 
model=addmf(model,'input',1,'about 0','trimf',[-90 0 90]); 
model=addmf(model,'input',1,'about 90','trimf',[0 90 90]); 
model=addmf(model,'input',1,'about-90','trimf',[-90 -90 0]); 
tc=addvar(tc,'input','omega',[-5 5]); 
tc=addmf(tc,'input',2,'NG','gaussmf',[1.8 -5]); 
tc=addmf(tc,'input',2,'ZR','gaussmf',[1.8 0]); 
tc=addmf(tc,'input',2,'PO','gaussmf',[1.8 5]); 
model=addvar(model,'input','u',[-5 5]); 
model=addvar(model,'input',3,'any','gaussmf',[1.5 -5]); 
model=addvar(model,'output','d_theta',[-2 2]); 
model=addmf(model,'output',1,'No.1','linear',[0 1 0 0]); 
model=addmf(model,'output',1,'No.2','linear',[0 1 0 0]); 
model=addvar(model,'output','d_omega',[-2 2]); 
model=addmf(model,'output',2,'No.1','linear',[17.2941 0 -0.1765 0]); 
model=addmf(model,'output',2,'No.2','linear',[14.4706 0 -0.1765 0]); 
rulelist1=[1 0 0 1 1 1 1;2 0 0 2 2 1 1;3 0 0 2 2 1 1]; 
model=addrule(model,rulelist1); 
N=500;h=0.005; 
x=[1.309;0]; 
y=zeros(2,N); 
u=zeros(1,N); 
for k=2:N 
 u(k)=evalfis([x(1),x(2)],tc); 
 k0=evalfis([x(1),x(2),u(k)],model)'; 
 x1=x+h*k0/2; 
 k1=evalfis([x1(1),x1(2),u(k)],model)'; 
 x1=x+h*k1/2; 
 k2=evalfis([x1(1),x1(2),u(k)],model)'; 
 x1=x+h*k2; 
 k3=evalfis([x1(1),u(k)],model)'; 
 x=x+(k0+2*k1+2*k2+k3)*h/6; 
 y(:,k)=x; 
end 
kk=[1:N]*h; 
figure(1) 
subplot 211 
plot(kk,y),grid on 
xlabel('x'),ylabel('系统状态') 
subplot 212 
plot(kk,u),grid on 
xlabel('u(k)'),ylabel('模糊控制器输出')