模糊自适应整定PID控制matlab仿真程序(刘金锟先进PID控制及其MATLAB仿真).doc

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一寸光阴不可轻

这个例子的程序百度文库里有很多版本，但我下了很多都有错误，运行不了。以下程序我一字一字的敲出来的，已经成功运行，绝对无误。仿真实例，被控对象为

523500Gp(s)=3 2s?87.35s?10470s采样时间为1ms，采用模糊PID控制进行阶跃响应，在第300个采样时间时控制器输出加1.0的干扰，相应的运行结果如图1~13所示。

仿真程序如下：将以下程序保存为fuzzypid.m文件，即可得到仿真结果。 %fuzzy tunning PID control clear all; clear all;

a=newfis('fuzzpid');

a=addvar(a,'input','e',[-3,3]); %parameter e a=addmf(a,'input',1,'NB','zmf',[-3,-1]); a=addmf(a,'input',1,'NM','trimf',[-3,-2,0]); a=addmf(a,'input',1,'NS','trimf',[-3,-1,1]); a=addmf(a,'input',1,'Z','trimf',[-2,0,2]); 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]);

一寸光阴不可轻

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 kd 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;

一寸光阴不可轻

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);

a=setfis(a,'DefuzzMethod','mom'); writefis(a,'fuzzpid');

a=readfis('fuzzpid');

%PID controller ts=0.001;

sys=tf(5.235e005,[1,87.35,1.047e004,0]); dsys=c2d(sys,ts,'tustin'); [num,den]=tfdata(dsys,'v');

u_1=0.0;u_2=0.0;u_3=0.0;

y_1=0;y_2=0;y_3=0;

x=[0,0,0]';

error_1=0; e_1=0.0; ec_1=0.0;

一寸光阴不可轻

kp0=0.40; kd0=1.0; ki0=0.0;

for k=1:1:500 time(k)=k*ts;

rin(k)=1;

%using fuzzy inference to tunning PID 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==300 -ding disturbance(1.0v at time 0.3s) u(k)=u(k)+1.0; end

if u(k)>=10 u(k)=10; end

if u(k)<=-10 u(k)=-10; end

yout(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);

%%%%%%%%%%%%%%%%%%%%%%%%%return of pid parameters%%%%%%%%%%%%%%%%%%%%%%%% u_3=u_2; u_2=u_1; u_1=u(k);

y_3=y_2; y_2=y_1; y_1=yout(k);

x(1)=error(k); êlculating P

x(2)=error(k)-error_1; êlculating D x(3)=x(3)+error(k); êlculating D

e_1=x(1);

一寸光阴不可轻

ec_1=x(2);

error_2=error_1; error_1=error(k); end

showrule(a)

figure(1);plot(time,rin,'b',time,yout,'r'); xlabel('time(s)');ylabel( 'rin,yout');

figure(2);plot(time,error,'r');

xlabel('time(s)');ylabel( 'error ');

figure(3);plot(time,u,'r');

xlabel('time(s)');ylabel( 'u ');

figure(4);plot(time,kp,'r');

xlabel('time(s)');ylabel( 'kp ');

figure(5);plot(time,ki,'r');

xlabel('time(s)');ylabel( 'ki ');

figure(6);plot(time,kd,'r');

xlabel('time(s)');ylabel( 'kd ');

figure(7);plotmf(a,'input',1); figure(8);plotmf(a,'input',2); figure(9);plotmf(a,'output',1); figure(10);plotmf(a,'output',2); figure(11);plotmf(a,'output',3);

plotfis(a);

fuzzy fuzzpid.fis

仿真运行结果：