智能控制作业仿真报告

SimulationReportonIn ligentControlandApplication Student Master □Doctoral NanjingUniversityofScienceandTechnologyJanuary,2015：班级：三 学号

20e0

20e0G1(s)(2s1)(4s1)，G2(s)(2s1)(4s1)，G3(s)(2s1)(4s1)(2.2sd=0.2（2）T=0.1s。PIDFuzzyKp0.4Ki0.07Kd0.5d=0.2d=1%PIDControllerclearall;closeswitchcase case case fork=1:1:1000 %Step %PIDControllerswitchWcase1ifk==500 %Addingdisturbance(1.0vattime50s)switchcase1case2case2ififu(k)<=-u(k)=-switchScase case2case %Calculating %Calculating %Calculating对以上的程序保存为m文件并进行仿真1.不加扰动时G1s的单位阶跃响应5.不加扰动时G3s的单位阶跃响应PIDPID66PID行中通过不断的检测e和ec，根据模糊控制原理来对三个参数进行修改，模糊控制的设计的是总结工程设计人员的技术知识和实际操作经验，1.Δkp,Δki,ΔkdPIDe,ec={-5,-4,-3,-2,-根据各模糊子集的隶属度表和各PID PID参数的自校正流程如图7 图7.PID参数的自校正流%FuzzyTunningPIDControlclearall;close %Parametere %Parameter %Parameter %Parameter %Parameterrulelist=[1171511;127131136211146211155311164421174451217151227131236211245321255321264431273441316141326231336321345321354431363531373541416241426231435331444431453531462631472641515241525341534441543541553541562641572741615471624451633551642551652651662751671771714471724461732561742661752651761751771771

%PIDswitchcase case case fork=1:1:1000 %StepswitchWcase1ifk==500 %Addingdisturbance(1.0vattime50s)switchcase1case2case2ififu(k)<=-u(k)=-switchScase1 casecase

%Calculating %Calculating %CalculatingI8.PID控制G1s的响应9.PIDG1(s)的误差响应图 模糊PID控制G1(s)时Kp的自适应调整图 模糊PID控制G1s时Ki的自适应调整图 模糊PID控制G1(s)时Kd的自适应调整13.PID控制G2s的响应14.PID控制G2s的响应15.PIDG2(s)的响应16.PIDG3(s)的响应shourule(a)49条模糊规则：If(eisNB)and(ecisNB)then(kpisPB)(kiisNB)(kdisPS)If(eisNB)and(ecisNM)then(kpisPB)(kiisNB)(kdisNS)If(eisNB)and(ecisNS)then(kpisPM)(kiisNM)(kdisNB)If(eisNB)and(ecisZ)then(kpisPM)(kiisNM)(kdisNB)If(eisNB)and(ecisPS)then(kpisPS)(kiisNS)(kdisNB)If(eisNB)and(ecisPM)then(kpisZ)(kiisZ)(kdisNM)If(eisNB)and(ecisPB)then(kpisZ)(kiisZ)(kdisPS)If(eisNM)and(ecisNB)then(kpisPB)(kiisNB)(kdisPS)If(eisNM)and(ecisNM)then(kpisPB)(kiisNB)(kdisNS)If(eisNM)and(ecisNS)then(kpisPM)(kiisNM)(kdisNB)If(eisNM)and(ecisZ)then(kpisPS)(kiisNS)(kdisNM)If(eisNM)and(ecisPS)then(kpisPS)(kiisNS)(kdisNM)If(eisNM)and(ecisPM)then(kpisZ)(kiisZ)(kdisNS)If(eisNM)and(ecisPB)then(kpisNS)(kiisZ)(kdisZ)If(eisNS)and(ecisNB)then(kpisPM)(kiisNB)(kdisZ)If(eisNS)and(ecisNM)then(kpisPM)(kiisNM)(kdisNS)If(eisNS)and(ecisNS)then(kpisPM)(kiisNS)(kdisNM)If(eisNS)and(ecisZ)then(kpisPS)(kiisNS)(kdisNM)If(eisNS)and(ecisPS)then(kpisZ)(kiisZ)(kdisNS)If(eisNS)and(ecisPM)then(kpisNS)(kiisPS)(kdisNS)If(eisNS)and(ecisPB)then(kpisNS)(kiisPS)(kdisZ)If(eisZ)and(ecisNB)then(kpisPM)(kiisNM)(kdisZ)If(eisZ)and(ecisNM)then(kpisPM)(kiisNM)(kdisNS)If(eisZ)and(ecisNS)then(kpisPS)(kiisNS)(kdisNS)If(eisZ)and(ecisZ)then(kpisZ)(kiisZ)(kdisNS)If(eisZ)and(ecisPS)then(kpisNS)(kiisPS)(kdisNS)If(eisZ)and(ecisPM)then(kpisNM)(kiisPM)(kdisNS)If(eisZ)and(ecisPB)then(kpisNM)(kiisPM)(kdisZ)If(eisPS)and(ecisNB)then(kpisPS)(kiisNM)(kdisZ)If(eisPS)and(ecisNM)then(kpisPS)(kiisNS)(kdisZ)If(eisPS)and(ecisNS)then(kpisZ)(kiisZ)(kdisZ)If(eisPS)and(ecisZ)then(kpisNS)(kiisPS)(kdisZ)If(eisPS)and(ecisPS)then(kpisNS)(kiisPS)(kdisZ)If(eisPS)and(ecisPM)then(kpisNM)(kiisPM)(kdisZ)If(eisPS)and(ecisPB)then(kpisNM)(kiisPB)(kdisZ)If(eisPM)and(ecisNB)then(kpisPS)(kiisZ)(kdisPB)If(eisPM)and(ecisNM)then(kpisZ)(kiisZ)(kdisPS)If(eisPM)and(ecisNS)then(kpisNS)(kiisPS)(kdisPS)If(eisPM)and(ecisZ)then(kpisNM)(kiisPS)(kdisPS)If(eisPM)and(ecisPS)then(kpisNM)(kiisPM)(kdisPS)If(eisPM)and(ecisPM)then(kpisNM)(kiisPB)(kdisPS)If(eisPM)and(ecisPB)then(kpisNB)(kiisPB)(kdisPB)If(eisPB)and(ecisNB)then(kpisZ)(kiisZ)(kdisPB)If(eisPB)and(ecisNM)then(kpisZ)(kiisZ)(kdisPM)If(eisPB)and(ecisNS)then(kpisNM)(kiisPS)(kdisPM)If(eisPB)and(ecisZ)then(kpisNM)(kiisPM)(kdisPM)If(eisPB)and(ecisPS)then(kpisNM)(kiisPM)(kdisPS)If(eisPB)and(ecisPM)then(kpisNB