fuzzy.m

一个模糊控制的m文件

%Fuzzy tunning PID Control
clear all;
close 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,'input','kp',[-0.3,0.3]);                       %Parameter    kp
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','ki',[-0.06,0.06]);                     %Parameter    ki
a=addmf(a,'input',2,'NB','zmf',[-0.06,-0.02]);
a=addmf(a,'input',2,'NM','trimf',[-0.06,-0.04,0]);
a=addmf(a,'input',2,'NS','trimf',[-0.06,-0.02,0.02]);
a=addmf(a,'input',2,'Z','trimf',[-0.04,0,0.04]);
a=addmf(a,'input',2,'PS','trimf',[-0.02,0.02,0.06]);
a=addmf(a,'input',2,'PM','trimf',[0,0.04,0.06]);
a=addmf(a,'input',2,'PB','smf',[0.02,0.06]);

a=addvar(a,'input','kd',[-3,3]);                           %Parameter    kd
a=addmf(a,'input',3,'NB','zmf',[-3,-1]);
a=addmf(a,'input',3,'NM','trimf',[-3,-2,0]);
a=addmf(a,'input',3,'NS','trimf',[-3,-1,1]);
a=addmf(a,'input',3,'Z','trimf',[-2,0,2]);

a=addmf(a,'input',3,'PS','trimf',[-1,1,3]);
a=addmf(a,'input',3,'PM','trimf',[0,2,3]);
a=addmf(a,'input',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
        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);
    
    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);
    x(2)=error(k)-error_1;
    x(3)=x(3)+error(k);
    
    e_1=x(1);
    ec_1=x(2);
    
    error_2=reeor_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('rime(s)');ylabel('u');

figure(4);plot(time,kp,'r');
xlabel('rime(s)');ylabel('kp');

figure(5);plot(time,ki,'r');
xlabel('rime(s)');ylabel('ki');

figure(6);plot(time,kd,'r');
xlabel('rime(s)');ylabel('kd');

figure(7);plotmf(a,'input',1);
figure(8);plotmf(a,'input',2);
figure(9);plotmf(a,'input',1);
figure(10);plotmf(a,'input',2);
figure(11);plotmf(a,'input',3);
plotfis(a);
fuzzy fuzzpid.fis







    
    
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