kongzhiqi.m

板球系统的模糊控制

%Fuzzy Controller
clear all;
close all;

a=newfis('fuzzf');

f1=0.5;
a=addvar(a,'input','e',[-288*f1,288*f1]);                     % Parameter e
a=addmf(a,'input',1,'NB','trimf',[-385*f1,-288*f1,-192*f1]);
a=addmf(a,'input',1,'NM','trimf',[-288*f1,-192*f1,-96*f1]);
a=addmf(a,'input',1,'NS','trimf',[-192*f1,-96*f1,0*f1]);
a=addmf(a,'input',1,'ZO','trimf',[-96*f1,0,96*f1]);
a=addmf(a,'input',1,'PS','trimf',[0*f1,96*f1,192*f1]);
a=addmf(a,'input',1,'PM','trimf',[96*f1,192*f1,288*f1]);
a=addmf(a,'input',1,'PB','trimf',[192*f1,288*f1,385*f1]);

f2=0.5;
a=addvar(a,'input','ec',[-80*f2,80*f2]);                     % Parameter ec
a=addmf(a,'input',2,'NB','trimf',[-107*f2,-80*f2,-53*f2]);
a=addmf(a,'input',2,'NM','trimf',[-80*f2,-53*f2,-27*f2]);
a=addmf(a,'input',2,'NS','trimf',[-53*f2,-27*f2,-0*f2]);
a=addmf(a,'input',2,'ZO','trimf',[-27*f2,0*f2,27*f2]);
a=addmf(a,'input',2,'PS','trimf',[0*f2,27*f2,53*f2]);
a=addmf(a,'input',2,'PM','trimf',[27*f2,53*f2,80*f2]);
a=addmf(a,'input',2,'PB','trimf',[53*f2,80*f2,107*f2]);

%f3=1.4;
f3=0.5;
a=addvar(a,'output','u',[-30*f3,30*f3]);                     % Parameter u
a=addmf(a,'output',1,'NB','trimf',[-40*f3,-30*f3,-20*f3]);
a=addmf(a,'output',1,'NM','trimf',[-30*f3,-20*f3,-10*f3]);
a=addmf(a,'output',1,'NS','trimf',[-20*f3,-10*f3,0*f3]);
a=addmf(a,'output',1,'ZO','trimf',[-10*f3,0,10*f3]);
a=addmf(a,'output',1,'PS','trimf',[0*f3,10*f3,20*f3]);
a=addmf(a,'output',1,'PM','trimf',[10*f3,20*f3,30*f3]);
a=addmf(a,'output',1,'PB','trimf',[20*f3,30*f3,40*f3]);

%Each rule is a PD rule: error=rin-yout (nagative feedback)

rulelist=[1 1 1 1 1;         %Edit rule base
          1 2 1 1 1;
          1 3 1 1 1;
          1 4 1 1 1;
          1 5 2 1 1;
          1 6 2 1 1;
          1 7 3 1 1;
   
          2 1 1 1 1;
          2 2 1 1 1;
          2 3 1 1 1;
          2 4 2 1 1;
          2 5 2 1 1;
          2 6 3 1 1;
          2 7 3 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 1 1 1;
          4 2 2 1 1;
          4 3 3 1 1;
          4 4 4 1 1;
          4 5 5 1 1;
          4 6 5 1 1;
          4 7 7 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 5 1 1;
          6 2 5 1 1;
          6 3 6 1 1;
          6 4 6 1 1;
          6 5 7 1 1;
          6 6 7 1 1;
          6 7 7 1 1;
       
          7 1 5 1 1;
          7 2 6 1 1;
          7 3 6 1 1;
          7 4 7 1 1;
          7 5 7 1 1;
          7 6 7 1 1;
          7 7 7 1 1];
          
a=addrule(a,rulelist);
%showrule(a)                        % Show fuzzy rule base

a1=setfis(a,'DefuzzMethod','centroid');  % Defuzzy
writefis(a1,'ljk');                 % save to fuzzy file "ljk.fis" which can be
                                    % simulated with fuzzy tool
a2=readfis('ljk');
%plotfis(a2);

%fuzzy ljk.fis    %Demo fuzzy control simulation
%ruleview(a2);

disp('fuzzy controller table:e=[-3,+3],ec=[-3,+3]');
Ulist=zeros(7,7);

for i=1:7
   for j=1:7
      e(i)=-4+i;
      ec(j)=-4+j;
      Ulist(i,j)=evalfis([e(i),ec(j)],a2);
   end
end

Ulist=ceil(Ulist)

figure(1);
plotfis(a2);
figure(2);
plotmf(a,'input',1);
figure(3);
plotmf(a,'input',2);
figure(4);
plotmf(a,'output',1);