模糊PID控制的C程序5页

1、/e:-3,3 ec:-3,3 kp:-0.3,0.3#include <stdio.h>#define NB 0#define NM 1#define NS 2#define ZO 3#define PS 4#define PM 5#define PB 6/*/float uf(float x,float a,float b,float c);float cuf(float x,float a,float b,float c);float ufl(float x,float a,float b);float cufl(float x,float a,float b);float

2、ufr(float x,float a,float b);float cufr(float x,float a,float b);float ufr(float x,float a,float b);float cufr(float x,float a,float b);float fand(float a,float b);float forr(float a,float b);float FuzzyKp(float e,float ec);/主程序void main() float a,b,Kp; printf("The E is:"); scanf("%f&

3、quot;,&a); printf("The Ec is:"); scanf("%f",&b); Kp=FuzzyKp(a,b); printf("The parameter Kp is: %fnn",Kp);float FuzzyKp(float e,float ec)float es7;float ecs7;/*模糊推理规则的可信度通过取小点运算得到*/float form77;/(表X7)（隶属度表）int i,j;/*求得的最大值赋给formab*/int a=0,b=0;float lsd;int p;flo

4、at detkp;/*/int kp77=PB,PB,PM,PS,PS,ZO,ZO, PB,PB,PM,PS,PS,ZO,NS, 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);e

5、csNB=ufl(ec,-3,-1);/ececsNM=uf(ec,-3,-2,0);ecsNS=uf(ec,-3,-1,1);ecsZO=uf(ec,-2,0,2);ecsPS=uf(ec,-1,1,3);ecsPM=uf(ec,0,2,3);ecsPB=ufr(ec,1,3);for(i=0;i<7;i+)float w,h,r; for(j=0;j<7;j+) h=esi;r=ecsj;w=fand(h,r);formij=w; for(i=0;i<7;i+) for(j=0;j<7;j+) if(formab<formij) a=i; b=j; lsd=f

6、ormab;/es和ecs最值中的最大值p=kpab;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=PM)detkp=cuf(lsd,0,0.2,0.3);else if(p=PB)detkp=cufr(lsd,0.1,0.3);ret

7、urn detkp;/*以下为附属子函数*/*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(a<x)&&(x<=b)return( (x-a)/(b-a);else if(b<x)&&(x<=c)return( (c-x)/(c-b);else if(x>c)return (0);/*三角形反模糊化处理(最大隶属度法)*/float cuf(float x,float a,float b,float c)

8、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(a<x)&&(x<=b)return (b-x)/(b-a);else if(x>b)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(a<x)&&(x<b)return (x-a)/(b-a);if(x>=b)return 1;/*梯形反模糊化*/float cufr(float x,float a,float b)retur