fuzzypi.m

利用模糊PI控制器对空调室温对象进行控制

% Fuzzy Turning PI Control
% clear all;
% close all;
a=newfis('fuzzpi');
a=addvar(a,'input','e',[-3,3]);
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]);
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]);
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]);
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]);
rulelist=[1 1 7 1 1 1;
         1 2 7 1 1 1;
         1 3 6 2 1 1;
         1 4 6 2 1 1;
         1 5 5 3 1 1;
         1 6 4 4 1 1;
         1 7 4 4 1 1;
         
         2 1 7 1 1 1;
         2 2 7 1 1 1;
         2 3 6 2 1 1;
         2 4 5 3 1 1;
         2 5 5 3 1 1;
         2 6 4 4 1 1;
         2 7 3 4 1 1;
         
         3 1 6 1 1 1;
         3 2 6 2 1 1;
         3 3 6 3 1 1;
         3 4 5 3 1 1;
         3 5 4 4 1 1;
         3 6 3 5 1 1 ;
         3 7 3 5 1 1;
         
         4 1 6 2 1 1;
         4 2 6 2 1 1;
         4 3 5 3 1 1;
         4 4 4 4 1 1 ;
         4 5 3 5 1 1;
         4 6 2 6 1 1;
         4 7 2 6 1 1;
         
         5 1 5 2 1 1;
         5 2 5 3 1 1;
         5 3 4 4 1 1;
         5 4 3 5 1 1;
         5 5 3 5 1 1;
         5 6 2 6 1 1;
         5 7 2 7 1 1;
         
         6 1 5 4 1 1;
         6 2 4 4 1 1;
         6 3 3 5 1 1;
         6 4 2 5 1 1;
         6 5 2 6 1 1;
         6 6 2 7 1 1;
         6 7 1 7 1 1;
         
         7 1 4 4 1 1;
         7 2 4 4 1 1;
         7 3 2 5 1 1;
         7 4 2 6 1 1;
         7 5 2 6 1 1;
         7 6 1 7 1 1;
         7 7 1 7 1 1];
         
a=addrule(a,rulelist);
a=setfis(a,'DefuzzMethod','centroid');
writefis(a,'fuzzpi');
 
a=readfis('fuzzpi');
 
%PI Controller
ts=0.1;
sys=tf([72],[60,1],'inputdelay',6);

dsys=c2d(sys,ts,'tustin')
[num,den]=tfdata(dsys,'v')
 
u_1=0.0;

y_1=0;
x=[0,0]';
 
error_1=0;
e_1=0;
ec_1=0;
 
kp0=0.4;
ki0=0.0;
for k=1:1:300
    time(k)=k*ts;
    rin(k)=10;
 
    %Using fuzzy inference to turning PI
    k_pi=evalfis([e_1,ec_1],a);
    kp(k)=kp0+k_pi(1);
    ki(k)=ki0+k_pi(2);
    u(k)=kp(k)*x(1)+ki(k)*x(2);

    yout(k)=-den(2)*y_1+num(1)*u(k)+num(2)*u_1;
    error(k)=rin(k)-yout(k);

    
    %Ruturen of PI
    u_1=u(k);
    y_1=yout(k);
    
    x(1)=error(k);
    x(2)=x(2)+error(k)*ts;
    ec_1=error(k)-error_1;
    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);plotmf(a,'input',1);
    figure(7);plotmf(a,'input',2);
    figure(8);plotmf(a,'output',1);
    figure(9);plotmf(a,'output',2);
    plotfis(a);
   fuzzy fuzzpi;