模糊PID控制的C程序

1、/e:-3,3ec:-3,3kp:-0.3,0.3#include<stdio.h>#defineNB0#defineNM1#defineNS2#defineZO3#definePS4#definePM5#definePB6/*floatuf(floatx,floata,floatb,floatc);floatcuf(floatx,floata,floatb,floatc);floatufl(floatx,floata,floatb);floatcufl(floatx,floata,floatb);floatufr(floatx,floata,floatb);floatcufr(f

2、loatx,floata,floatb);floatufr(floatx,floata,floatb);floatcufr(floatx,floata,floatb);floatfand(floata,floatb);floatforr(floata,floatb);floatFuzzyKp(floate,floatec);/主程序voidmain()floata,b,Kp;printf("TheEis:");scanf("%f",&a);printf("TheEcis:");scanf("%f",&

3、;b);Kp=FuzzyKp(a,b);printf("TheparameterKpis:%fnn",Kp);floatFuzzyKp(floate,floatec)floates7;floatecs7;/*模糊推理规则的可信度通过取小点运算得到*/floatform77；/(表X7)(隶属度表)inti,j;/*求得的最大值赋给formab*/inta=0,b=0;floatlsd;intp;floatdetkp;/*/intkp77=PB,PB,PM,PS,PS,ZO,ZO,PB,PB,PM,PS,PS,ZO,NS,PM,PM,PM,PS,ZO,NS,NS,PM,PM,

4、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,-3,-1);/ececsNM=uf(ec,-3,-2,0);ecsNS=uf(ec,-3,-1,1);ecsZO=uf(ec,-2,0,2);ecsPS=uf(ec,

5、-1,1,3);ecsPM=uf(ec,0,2,3);ecsPB=ufr(ec,1,3);for(i=0;i<7;i+)floatw,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=formab;/es和ecs最值中的最大值p=kpab;if(p=NB)detkp=cufl(lsd,-0.3,-0.1);elseif(p=NM)detkp=cuf(lsd,-0.3,0.2,0);elseif

6、(p=NS)detkp=cuf(lsd,-0.3,-0.1,0.1);elseif(p=ZO)detkp=cuf(lsd,-0.2,0,0.2);elseif(p=PS)detkp=cuf(lsd,-0.1,0.1,0.3);elseif(p=PM)detkp=cuf(lsd,0,0.2,0.3);elseif(p=PB)detkp=cufr(lsd,0.1,0.3);returndetkp;*/*求隶属度（三角形）模糊化处理*/floatuf(floatx,floata,floatb,floatc)if(x<=a)return(0);elseif(a<x)&&(x

7、<=b)return(x-a)/(b-a);elseif(b<x)&&(x<=c)return(c-x)/(c-b);elseif(x>c)return(0);/*三角形反模糊化处理(最大隶属度法)*/return1;float cuf( float float y,z; z=(b-a)*x+a; y=c-(c-b)*x; return (y+z)/2;/* float ufl( float if (x<=a)x,x,float a, float b, float c)梯形 ( 左 ) 求隶属度模糊化*/float a, float b)elseif(a<x)&&(x<=b)return(b-x)/(b-a);elseif(x>b)return0;/*floatcufl(floatreturnb-(b-a)*x;/*梯形反模糊化*/x,floata,floatb)梯形（右）求隶属度模糊化*/floatufr(floatx,floata,floatb)if(x<=a)return0;if(a<x)&&(x<b)return(x-a)/(b-a);if(x>=b)return1;/*梯形反模糊化*/floatcufr(floatx,floata,floatb)re