fuzzypid.m

模糊控制自整定PID,simulink环境下的算法仿真。

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, '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 Controler
ts = 0.01;
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==100      % 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