模糊PID参数自整定(共9页)

1、模糊PID参数自整定设被控对象为采样时间为1ms，采样模糊PID控制进行阶跃响应，在第300个采样时间时控制加1.0的干扰，相应的响应结果如下图：Ki的录属度函数Kp的录属度函数e的录属度函数ec的录属度函数下面是系统在外界有干扰输入时普通PID和模糊PID参数自整定控制的阶跃响应曲线：模糊PID控制阶跃响应普通PID控制阶跃响应. 从上面的仿真图可以看出，经过模糊PID参数自整定后，在外界干扰输入时，可以得到很好的控制效果。下面是PID参数的整定曲线：. Kp的自整定调整 Ki的自整定调整Kd的自整定调整程序文本：%Fuzzy Tunning PID Controlclear all;clo

2、se all; a=newfis('fuzzpid'); a=addvar(a,'input','e',-3,3); %Parameter ea=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,&

3、#39;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); %Parameter

4、 eca=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'

5、;,'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); %Parameter kpa=addmf(a,'output',1,'NB','zmf',-0.3,-0.1);a=addmf(a,'ou

6、tput',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,

7、9;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); %Parameter kia=addmf(a,'output',2,'NB','zmf',-0.06,-0.02);a=addmf(a,'output',2,'NM','trimf',-0.

8、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

9、.06);a=addmf(a,'output',2,'PB','smf',0.02,0.06); a=addvar(a,'output','kd',-3,3); %Parameter kpa=addmf(a,'output',3,'NB','zmf',-3,-1);a=addmf(a,'output',3,'NM','trimf',-3,-2,0);a=addmf(a,'output',3,'NS

10、','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=1

11、1 7 1 5 1 1; 1 2 7 1 3 1 1; 1 3 6 2 1 1 1; 1 4 6 2 1 1 1; 1 5 5 3 1 1 1; 1 6 4 4 2 1 1; 1 7 4 4 5 1 1; 2 1 7 1 5 1 1; 2 2 7 1 3 1 1; 2 3 6 2 1 1 1; 2 4 5 3 2 1 1; 2 5 5 3 2 1 1; 2 6 4 4 3 1 1; 2 7 3 4 4 1 1; 3 1 6 1 4 1 1; 3 2 6 2 3 1 1; 3 3 6 3 2 1 1; 3 4 5 3 2 1 1; 3 5 4 4 3 1 1; 3 6 3 5 3 1 1; 3

12、7 3 5 4 1 1; 4 1 6 2 4 1 1; 4 2 6 2 3 1 1; 4 3 5 3 3 1 1; 4 4 4 4 3 1 1; 4 5 3 5 3 1 1; 4 6 2 6 3 1 1; 4 7 2 6 4 1 1; 5 1 5 2 4 1 1; 5 2 5 3 4 1 1; 5 3 4 4 4 1 1; 5 4 3 5 4 1 1; 5 5 3 5 4 1 1; 5 6 2 6 4 1 1; 5 7 2 7 4 1 1; 6 1 5 4 7 1 1; 6 2 4 4 5 1 1; 6 3 3 5 5 1 1; 6 4 2 5 5 1 1; 6 5 2 6 5 1 1; 6

13、6 2 7 5 1 1; 6 7 1 7 7 1 1; 7 1 4 4 7 1 1; 7 2 4 4 6 1 1; 7 3 2 5 6 1 1; 7 4 2 6 6 1 1; 7 5 2 6 5 1 1; 7 6 1 7 5 1 1; 7 7 1 7 7 1 1; a=addrule(a,rulelist);a=setfis(a,'DefuzzMethod','mom');writefis(a,'fuzzpid'); a=readfis('fuzzpid'); %PID Controllerts=0.001;sys=tf(5.23

14、5e005,1,87.35,1.047e004,0);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; x=0,0,0' error_1=0;e_1=0.0;ec_1=0.0; kp0=0.40;kd0=1.0;ki0=0.0; for k=1:1:500time(k)=k*ts; rin(k)=1;%Using fuzzy inference to tunning PIDk_pid=evalfis(e_1,ec_

15、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); if k=300 % Adding disturbance(1.0v at time 0.3s) u(k)=u(k)+1.0;endif u(k)>=10 u(k)=10;endif u(k)<=-10 u(k)=-10;end yout(k)=-den(2)*y_1-den(3)*y_2-den(4)*y_3+num(1)*u(k)+num(2)*u_1+num(3)*u_2+nu

16、m(4)*u_3;error(k)=rin(k)-yout(k); %Return of PID parameters% 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); % Calculating P x(2)=error(k)-error_1; % Calculating D x(3)=x(3)+error(k); % Calculating I e_1=x(1); ec_1=x(2); error_2=error_1; error_1=error(k);endshowrule(a)figur

17、e(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