模糊pid的c语言程序.doc

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);/ececsnm=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=