模糊PID參數(shù)自整定.doc

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1、模糊PID參數(shù)自整定設(shè)被控對(duì)象為采樣時(shí)間為1ms，采樣模糊PID控制進(jìn)行階躍響應(yīng)，在第300個(gè)采樣時(shí)間時(shí)控制加1.0的干擾，相應(yīng)的響應(yīng)結(jié)果如下圖：Ki的錄屬度函數(shù)Kp的錄屬度函數(shù)e的錄屬度函數(shù)ec的錄屬度函數(shù)下面是系統(tǒng)在外界有干擾輸入時(shí)普通PID和模糊PID參數(shù)自整定控制的階躍響應(yīng)曲線：模糊PID控制階躍響應(yīng)普通PID控制階躍響應(yīng).從上面的仿真圖可以看出，經(jīng)過(guò)模糊PID參數(shù)自整定后，在外界干擾輸入時(shí)，可以得到很好的控制效果。下面是PID參數(shù)的整定曲線：.Kp的自整定調(diào)整Ki的自整定調(diào)整Kd的自整定調(diào)整程序文本：%FuzzyTunningPIDControlclearall;closeal

2、l;a=newfis('fuzzpid');a=addvar(a,'input','e',[-3,3]);%Parameterea=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,

3、'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]);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

4、','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,'output',1,'NM','trimf',[-0.3,-0.2,0]);a=addmf(a,'output',1,'NS','trimf',[-0.3,-0.1,0.1]);a=a

5、ddmf(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',[-0.06,-0.02]);a=addmf(a,'outp

6、ut',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,

7、'output','kd',[-3,3]);%Parameterkpa=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,