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)

1、 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523500G（S）=Ps387.35s210470s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113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。%fuzzytunningPIDcontrolclearall;clearall;a=newfis(fuzzpid);a=addvar(a,input,e,-3,3);%parameterea=add

2、mf(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);%parametereca=addmf(a,input,2,NB,zmf,-3,-1

3、);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);%parameterkpa=addmf(a,output,1,NB,zmf,-0.3,-0.1);a=addmf(a,out

4、put,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);%parameterkia=addmf(a,output,2,NB,zmf,-0.

5、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

6、kda=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=1171511;TOC o 1-5 h z271311;362111;462111;553

7、111;644211;744511;171511;271311;362111;453211;553211;644311;734411;161411;262311;363211;453211;544311;635311;735411;162411;262311;353311;444311;535311;626311;726411;152411;253411;344411;435411;535411;626411;727411;154711;244511;335511;425511;526511;627511;717711;144711;244611;325611;426611;526511;61

8、7511;717711;mom);1.047e004,0);a=addrule(a,rulelist);a=setfis(a,DefuzzMethod,writefis(a,fuzzpid);a=readfis(fuzzpid);%PIDcontrollerts=0.001;sys=tf(5.235e005,1,87.35,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;error_1=0;e_1=0.0;ec_1=0.0;kp0=0.40;kd0=1.0;ki0=0

9、.0;fork=1:1:500time(k)=k*ts;rin(k)=1;%usingfuzzyinferencetotunningPIDk_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);ifk=300%addingdisturbance(1.0vattime0.3s)u(k)=u(k)+1.0;endifu(k)=10u(k)=10;endifu(k)=-10u(k)=-10;endyout(k)=-d

10、en(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);%returnofpidparameters%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);%calculatingPx(2)=error(k)-error_1;%calculatingDx(3)=x(3)+error(k);%calculatingDe_1=x(1);ec_1=x(2);error_2=er

11、ror_1;error_1=error(k);endshowrule(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);fuzzyf