带有自调整因子模糊控制器与模糊控制器比较.docxVIP

带有自调整因子的模糊控制器与模糊控制器比较程序 num=1; den=[2,3,1] [a1,b,c,d]=tf2ss(num,den); %系统参数 T=0.01;h=T; N=500; td=0.02;Nd=td/T; R=1*ones(1,N); uu=zeros(1,N); yy=zeros(3,N); kt=1;%%%生成模糊控制规则 alpha=0.4 for i=1:13 for j=1:13 rr1(i,j)=-round(alpha*(i-7)+(1-alpha)*(j-7)); end end alpha=0.5 for i=1:13 for j=1:13 rr2(i,j)=-round(alpha*(i-7)+(1-alpha)*(j-7)); end end alpha=0.6 for i=1:13 for j=1:13 rr3(i,j)=-round(alpha*(i-7)+(1-alpha)*(j-7)); end end alpha=0.7 for i=1:13 for j=1:13 rr4(i,j)=-round(alpha*(i-7)+(1-alpha)*(j-7)); end end e=0;de=0;ie=0;x=[0;0]; ke=15;kd=50;ku=0.8;ki=12; dke=ke/10; dkd=kd/20; dku=ku/30; for k=1:N e1=round(ke*e+0.5); de1=round(kd*de+0.5); if e1=6 e1=6; elseif e1=-6 e1=-6; end if de1=6 de1=6; elseif de1=-6 de1=-6; end i=e1+7; j=de1+7; if abs(e1)==5abs(e1)==4 u1=rr4(i,j); elseif abs(e1)==2abs(e1)==3 u1=rr3(i,j); elseif abs(e1)==1 u1=rr2(i,j); else u1=rr1(i,j); end u=ku*u1-ki*ie; uu(1,k)=u; if k=Nd u=0; else u=uu(1,k-Nd); end k0=a1*x+b*u; k1=a1*(x+h*k0/2)+b*u; k2=a1*(x+h*k1/2)+b*u; k3=a1*(x+h*k2/2)+b*u; x=x+(k0+2*k1+2*k2+k3)*h/6; y=c*x+d*u; yy(kt,k)=y; e1=e;e=y-R(1,k); de=(e-e1)/T; ie=e*T+ie; ke=32;kd=1.5;ku=4.5; if e0de0e-0.2 h1=dke; i=0; j=dku; elseif e0de0e-0.2 h1=-dke; i=dkd; j=-dku; elseif e0de0 h1=-dke; i=dkd; j=dku; elseif e0de0 h1=-0.5*dke; i=-sqrt(abs(dkd)); j=-0.5*dku; elseif e0de0 h1=0.5*dke; i=0; j=-dku; elseif e0de0 i=sqrt(abs(dkd)); j=-0.5*dku; end ke=ke+h1; kd=kd+i; ku=ku+j; end kk=[1:N]*T; hold on figure(1); plot(kk,R,k,kk,yy(1,:),k--); grid on xlabel(时间(秒)); ylabel(输出); num=1; den=[2,3,1] [a1,b,c,d]=tf2ss(num,den); x=[0;0]; %系统参数 T=0.01;h=T; N=500; td=0.02;Nd=td/T; R=1*ones(1,N); a=newfis(Simple); a=addvar(a,input,e,[-6 6]); a=addmf(a,input,1,NB,trapmf,[-6,-6,-5,-3]); a=addmf(a,input,1,NS,trimf,[-5,-3,-1]); a=addmf(a,input,1,ZR,trimf,[-2,0,2]); a=