mychap5_2f.m

利用遗传算法优化模糊

function [Kfuzzyi,BsJ]=fuzzy_gaf(Kfuzzyi,BsJ)
global rin yout timef
a=newfis('fuzzf');

a=addvar(a,'input','e',[-1000,1000]);            %Parameter e
a=addmf(a,'input',1,'NB','zmf',[-3-Kfuzzyi(11),-2-Kfuzzyi(10)]);
a=addmf(a,'input',1,'NM','trimf',[-3-Kfuzzyi(9),-2-Kfuzzyi(8),-1-Kfuzzyi(7)]);
a=addmf(a,'input',1,'NS','trimf',[-2-Kfuzzyi(6),-1-Kfuzzyi(5),0]);
a=addmf(a,'input',1,'Z','trimf',[-1-Kfuzzyi(4),0,1+Kfuzzyi(4)]);
a=addmf(a,'input',1,'PS','trimf',[0,1+Kfuzzyi(5),2+Kfuzzyi(6)]);
a=addmf(a,'input',1,'PM','trimf',[1+Kfuzzyi(7),2+Kfuzzyi(8),3+Kfuzzyi(9)]);
a=addmf(a,'input',1,'PB','smf',[2+Kfuzzyi(10),3+Kfuzzyi(11)]);

a=addvar(a,'input','ec',[-1000,1000]);          %Parameter ec
a=addmf(a,'input',2,'NB','zmf',[-3-Kfuzzyi(11),-2-Kfuzzyi(10)]);
a=addmf(a,'input',2,'NM','trimf',[-3-Kfuzzyi(9),-2-Kfuzzyi(8),-1-Kfuzzyi(7)]);
a=addmf(a,'input',2,'NS','trimf',[-2-Kfuzzyi(6),-1-Kfuzzyi(5),0]);
a=addmf(a,'input',2,'Z','trimf',[-1-Kfuzzyi(4),0,1+Kfuzzyi(4)]);
a=addmf(a,'input',2,'PS','trimf',[0,1+Kfuzzyi(5),2+Kfuzzyi(6)]);
a=addmf(a,'input',2,'PM','trimf',[1+Kfuzzyi(7),2+Kfuzzyi(8),3+Kfuzzyi(9)]);
a=addmf(a,'input',2,'PB','smf',[2+Kfuzzyi(10),3+Kfuzzyi(11)]);

a=addvar(a,'output','u',[-3,3]);          %Parameter u
a=addmf(a,'output',1,'NB','zmf',[-3-Kfuzzyi(11),-2-Kfuzzyi(10)]);
a=addmf(a,'output',1,'NM','trimf',[-3-Kfuzzyi(9),-2-Kfuzzyi(8),-1-Kfuzzyi(7)]);
a=addmf(a,'output',1,'NS','trimf',[-2-Kfuzzyi(6),-1-Kfuzzyi(5),0]);
a=addmf(a,'output',1,'Z','trimf',[-1-Kfuzzyi(4),0,1+Kfuzzyi(4)]);
a=addmf(a,'output',1,'PS','trimf',[0,1+Kfuzzyi(5),2+Kfuzzyi(6)]);
a=addmf(a,'output',1,'PM','trimf',[1+Kfuzzyi(7),2+Kfuzzyi(8),3+Kfuzzyi(9)]);
a=addmf(a,'output',1,'PB','smf',[2+Kfuzzyi(10),3+Kfuzzyi(11)]);

rulelist=[1 1 1 1 1;         %Edit rule base
    1 2 1 1 1;
    1 3 2 1 1;
    1 4 2 1 1;
    1 5 3 1 1;
    1 6 3 1 1;
    1 7 4 1 1;

    2 1 1 1 1;
    2 2 2 1 1;
    2 3 2 1 1;
    2 4 3 1 1;
    2 5 3 1 1;
    2 6 4 1 1;
    2 7 5 1 1;

    3 1 2 1 1;
    3 2 2 1 1;
    3 3 3 1 1;
    3 4 3 1 1;
    3 5 4 1 1;
    3 6 5 1 1;
    3 7 5 1 1;

    4 1 2 1 1;
    4 2 3 1 1;
    4 3 3 1 1;
    4 4 4 1 1;
    4 5 5 1 1;
    4 6 5 1 1;
    4 7 6 1 1;

    5 1 3 1 1;
    5 2 3 1 1;
    5 3 4 1 1;
    5 4 5 1 1;
    5 5 5 1 1;
    5 6 6 1 1;
    5 7 6 1 1;

    6 1 3 1 1;
    6 2 4 1 1;
    6 3 5 1 1;
    6 4 5 1 1;
    6 5 6 1 1;
    6 6 6 1 1;
    6 7 7 1 1;

    7 1 4 1 1;
    7 2 5 1 1;
    7 3 5 1 1;
    7 4 6 1 1;
    7 5 6 1 1;
    7 6 7 1 1;
    7 7 7 1 1];

a=addrule(a,rulelist);
%showrule(a)                        % Show fuzzy rule base

a=setfis(a,'DefuzzMethod','mom');  % Defuzzy
writefis(a,'fuzzf');               % save to fuzzy file "fuzzf.fis" which can be
% simulated with fuzzy tool
a=readfis('fuzzf');

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]';
rin=1;
error_1=0;
e_1=0.0;
ec_1=0.0;
BsJ=0;
P=500;

for k=1:1:P
    timef(k)=k*ts;
    r(k)=rin;
    c=e_1*Kfuzzyi(1);d=ec_1*Kfuzzyi(2);
        
        
    u(k)=evalfis([c,d],a); 

   yout(k)=-den(2)*y_1-den(3)*y_2-den(4)*y_3+num(1)*u(k)*Kfuzzyi(3)+num(2)*u_1*Kfuzzyi(3)+num(3)*u_2*Kfuzzyi(3)+num(4)*u_3*Kfuzzyi(3);
    error(k)=r(k)-yout(k);
    Ji(k)=timef(k)*abs(error(k));
    BsJ=BsJ+Ji(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);
    e_1=error(k);
    ec_1=error(k)-error_1;
    error_2=error_1;
    error_1=error(k);   
    
end