polecar.fis

先进PID控制的光盘源程序

[System]
Name='polecar'
Type='mamdani'
Version=2.0
NumInputs=4
NumOutputs=1
NumRules=17
AndMethod='min'
OrMethod='max'
ImpMethod='min'
AggMethod='max'
DefuzzMethod='centroid'

[Input1]
Name='角度'
Range=[-0.8 0.8]
NumMFs=7
MF1='NB':'gaussmf',[0.2 -0.8]
MF2='NM':'trimf',[-0.8 -0.5 0]
MF3='NS':'trimf',[-0.8 -0.25 0.25]
MF4='ZE':'trimf',[-0.5042 -0.004233 0.5]
MF5='PS':'trimf',[-0.25 0.25 0.8]
MF6='PM':'trimf',[0 0.5 0.8]
MF7='PL':'gaussmf',[0.2 0.8]

[Input2]
Name='角速度'
Range=[-2 2]
NumMFs=7
MF1='NB':'gaussmf',[-0.5 -2]
MF2='NM':'trimf',[-2 -1.2 0]
MF3='NS':'trimf',[-2 -0.6 0.6]
MF4='ZE':'trimf',[-1.3 0 1.3]
MF5='PS':'trimf',[-0.6 0.7 2]
MF6='PM':'trimf',[0 1.3 2]
MF7='PL':'gaussmf',[0.5 2]

[Input3]
Name='位置'
Range=[-1 1]
NumMFs=3
MF1='NM':'trimf',[-1 -0.5 0.2]
MF2='ZE':'trimf',[-0.7 0 0.7]
MF3='PM':'trimf',[-0.3 0.5 1]

[Input4]
Name='速度'
Range=[-3 3]
NumMFs=2
MF1='N':'trimf',[-5 -3 4]
MF2='P':'trimf',[-4 3 3]

[Output1]
Name='控制力'
Range=[-20 20]
NumMFs=7
MF1='NL':'gaussmf',[-4 -20]
MF2='NM':'trimf',[-20 -13 0]
MF3='NS':'trimf',[-20 -6.5 7]
MF4='ZE':'trimf',[-14 0 14]
MF5='PS':'trimf',[-7 7 20]
MF6='PM':'trimf',[0 13 20]
MF7='PL':'gaussmf',[4 20]

[Rules]
2 4 0 0, 2 (1) : 1
3 4 0 0, 3 (1) : 1
3 5 0 0, 3 (1) : 1
4 2 0 0, 2 (1) : 1
4 4 0 0, 4 (1) : 1
4 5 0 0, 5 (1) : 1
4 6 0 0, 6 (1) : 1
5 3 0 0, 5 (1) : 1
5 4 0 0, 5 (1) : 1
6 4 0 0, 6 (1) : 1
4 3 0 0, 3 (1) : 1
5 5 0 0, 6 (1) : 1
3 3 0 0, 2 (1) : 1
0 0 2 2, 6 (1) : 1
0 0 2 1, 2 (1) : 1
0 0 3 2, 7 (1) : 1
0 0 1 1, 1 (1) : 1