模糊pid的C语言程序.docx

模糊pid的c语言程序论域e:-3,3 ec:-0.3,0.3 kp:-0.3,0.3 #define NB 0 #define NM 1 #define NS 2 #define ZO 3 #define PS 4 #define PM 5 #define PB 6 /*求隶属度(三角形)模糊化处理*/ float uf(float x,float a,float b,float c) if(x=a) return 0; else if(ax)&(x=b) return (x-a)/(b-a); else if(bx)&(xc) return 0; /*三角形反模糊化处理*/ float cuf(float x,float a,float b,float c) float y,z; z=(b-a)*x+a; y=c-(c-b)*x; return (y+z)/2; /*梯形(左)求隶属度 模糊化*/ float ufl(float x,float a,float b) if(x=a) return 1; else if(ax)&(xb) return 0; /*梯形反模糊化*/ float cufl(float x,float a,float b) return b-(b-a)*x; /*梯形(右)求隶属度 模糊化*/ float ufr(float x,float a,float b) if(x=a) return 0; if(ax)&(x=b) return 1; /*梯形反模糊化*/ float cufr(float x,float a,float b) return (b-a)*x +a; /*求交集*/ float fand(float a,float b) return (ab)?a:b; /*求并集*/ float forr(float a,float b) return (ab)?b:a; /*主函数*/ void main() /*模糊规则表*/ int kp77=PB,PB,PM,PM,PS,ZO,ZO, PB,PB,PM,PS,PS,ZO,ZO, PM,PM,PM,PS,ZO,NS,NS, PM,PM,PS,ZO,NS,NM,NM, PS,PS,ZO,NS,NS,NM,NM, PS,ZO,NS,NM,NM,NM,NB, ZO,ZO,NM,NM,NM,NB,NB; esNB=ufl(e,-3,-1); esNM=uf(e,-3,-2,0); esNS=uf(e,-3,-1,1); esZO=uf(e,-2,0,2); esPS=uf(e,-1,1,3); esPM=uf(e,0,2,3); esPB=ufr(e,1,3); ecsNB=ufl(ec,-0.3,-0.1);/ec ecsNM=uf(ec,-0.3,-0.2,0); ecsNS=uf(ec,-0.3,-0.1,0.1); ecsZO=uf(ec,-0.2,0,0.2); ecsPS=uf(ec,-0.1,0.1,0.3); ecsPM=uf(ec,0,0.2,0.3); ecsPB=ufr(ec,0.1,0.3); /*模糊推理 规则的可信度通过取小点运算得到*/ float form77; int i,j; for(i=0;i7;i+) float w,h,r; for(j=0;j7;j+) h=esi; r=ecsj; w=fand(h,r); formij=w; /*求得的最大值赋给formab*/ int a=0,b=0; for(i=0;i7;i+) for(j=0;j7;j+) if(formabformij) a=i; b=j; float lsd;int p; lsd=formab;/es和ecs最值中的最大值 p=kpab; float detkp; if(p=NB) detkp=cufl(lsd,-0.3,-0.1); else if(p=NM) detkp=cuf(lsd,-0.3,0.2,0); else if(p=NS) detkp=cuf(lsd,-0.3,0.1,0.1); else if(p=ZO) detkp=cuf(lsd,-0.2,0,0.2); else if(p=PS) detkp=cuf(lsd,-0.1,0.1,0.3); else if(p=P