主要是利用輸入和輸出的限制，得到PID三個參數(shù)，然后進行PID系統(tǒng)的控制

%Fuzzy Tunning PID Control clear all; close all;a=newfis('fuzzpid'); %新建模糊推理系統(tǒng)a=addvar(a,'input','e',[-3,3]); %Parameter e 添加模糊語言變量 a=addmf(a,'input',1,'NB','zmf',[-3,-1]); a=addmf(a,'input',1,'NM','trimf',[-3,-2,0]); %添加 a=addmf(a,'input',1,'NS','trimf',[-3,-1,1]); a=addmf(a,'input',1,'Z','trimf',[-2,0,2]); % 三角形的隸屬函數(shù) 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 kp 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); %添加模糊規(guī)則函數(shù) a=setfis(a,'DefuzzMethod','centroid'); %設(shè)置模糊推理特性 writefis(a,'fuzzpid'); %保存模糊推理系統(tǒng)a=readfis('fuzzpid');%從磁盤讀模糊推理系統(tǒng)figure(1); plotmf(a,'input',1); figure(2); plotmf(a,'input',2); figure(3); plotmf(a,'output',1); figure(4); plotmf(a,'output',2); figure(5); plotmf(a,'output',3); figure(6); plotfis(a);%圖像顯示模糊推理系統(tǒng)fuzzy fuzzpid; showrule(a); %顯示模糊規(guī)則函數(shù) ruleview fuzzpid;%% %pid 控制 ts=0.001; sys=tf([187],[160 1],'inputdelay',117); dsys=c2d(sys,ts,'tustin'); [num den]=tfdata(dsys,'v'); u_1=0.0;u_2=0.0;u_3=0; y_1=0;y_2=0;y_3=0; x=[0 0 0]'; error_1=0; e_1=0; ec_1=0; kp0=0.4; kd0=1.0; ki0=0.0; for k=1:1:1000time(k)=k*ts;rin(k)=1;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==300u(k)=u(k)+1;endif u(k)>=10u(k)=10endif u(k)<=-10u(k)=-10;endyout(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;u_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=error_1;error_1=error(k); end %% figure(1); plot(time,rin,'b',time,yout,'r'); xlabel('time(s)'); ylabel('rin,yout'); %% figure(2);plot(time,error,'r');xlabel('time');ylabel('error');figure(3);plot(time,u,'r');xlabel('time');ylabel('u');figure(4);plot(time,kp,'r');xlabel('time');ylabel('kp');figure(5);plot(time,ki,'r');xlabel('time');ylabel('ki');figure(6);plot(time,kd,'r');xlabel('time');ylabel('kd');figure(7);

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