一阶倒立摆模糊控制matlab仿真.doc

一阶倒立摆模糊控制仿真实验分析报告 %main clear close all %load table.mat global Table; global RULE; global UCenter; global Width; global num; global RuleMatch; %前件匹配方式 0 取小； 1乘积 global Defuzzy; %反模糊化方法 0: COG ; 1:COA; 2:MAX global g0; global g1; global h; x=[0.4,0,0]; RuleMatch = 1; %前件匹配方式 0 取小； 1乘积 Defuzzy = 0;%反模糊化方法 0: COG ; 1:COA; 2:MAX g0=1.5; g1=0.1; h=1; % u=0; % Table = u; % [m,n]=size(u); % num = (m-1)/2; %u=[]; RULE =[2, 2, 2, 1, 0; ... 2, 2, 1, 0,-1;... 2, 1, 0,-1,-2;... 1, 0,-1,-2,-2;... 0,-1,-2,-2,-2]; % % RULE =[2,2,1,1,0; ... % 2,1,1,0,-1;... % 1,1,0,-1,-1;... % 1,0,-1,-1,-2;... % 0,-1,-1,-2,-2]; RULE=RULE + 3*ones(size(RULE)); %原始的 %UCenter=[-20,-10,0,10,20]; %改进的 %UCenter=[-25,-15,0,15,25]; UCenter=[-20,-15,0,15,20]; Width(1)=(UCenter(5)-UCenter(4))/2; Width(2)=(UCenter(5)-UCenter(3)); Width(3)=(UCenter(4)-UCenter(3))*2; Width(4)=Width(2); Width(5)=Width(1); x=x; [t,y]= ode45(P_Pendulum,[0,5],x); % [t,y]= ode45(P_Pendulum_tab,[0,10],x); % y2=y.*y; % inty = intnum(t,y2) % % int_e2 = inty(1)+inty(2); % int_u2 = inty(3); %int_y2 = sum(y.^2); %int_e2 = int_y2(1)+int_y2(2); %int_u2 = int_y2(3); figure subplot(2,1,1) plot(t,y(:,1 ),r,t,y(:,2),k) %xlabel(t(sec)) % str1 = sprintf(x(0)=[%2.2f,%2.2f],x(1),x(2)); % Title(str1,Interpreter,latex,fontsize,14) % % str1=sprintf(t(sec)---index:$\\int{e^{T}(t)e(t)dt}=$ %f, int_e2); %str1 = $\int{e^2}dt$ % text(6,0,str1,Interpreter,latex,fontsize,14) % % xlabel(str1,Interpreter,latex,fontsize,14) legend(x1(rad), x2(rad/s)) title(输出隶属函数中心值：[-20,-15,0,15,20]) subplot(2,1,2) plot(t,y(:,3),r) xlabel(t(sec)) ylabel(u(N)) % str1=sprintf(t(sec)--index:$\\int{u^{2}(t)dt}$= %f, int_u2); % %H = Title(str1,Interpreter,latex,fontsize,14) % xlabel(str1,Interpreter,latex,fontsize,14) % inverted pendulum stabilized % pr