飞思卡尔智能车竞赛入门资料 控制算法 用MATLAB编写模糊控制表计算程序

1、cic;clear;E = 1,0.8,0.7,0.4,0.0,0,OZO;Q.2,0.7,1,0.7,0.3,0,0,0,0,0,0,0,0;0,0.1,0.3,0.7,!,0.7,0.2,0,0,0,0,0;0,0。0。1,061。0。0。0;0,0,0,0,0,1,0.6,0.1,0,0,0,0;0,0,0,0,0,0,0.2,0.7,1,0.7,03,0.1,0;0,0,0,0,0,0,0,0,0.2,0.7,1,0.7,0.3;0,0,0,0,0,0,0,0,0.1,0.4,0.7,0.8,l%8*13EC =1,0.7,0.3,0,0,0,0,0,0,0,0,0,0;03,0.7,

2、1,0.7,0.3,0,0,0,0,0,0,0,0;0,0,0.3,0.7,1,0.7,03,0,0,0,0,0,0;0,0,0,0,0.3,0.7,1,0.7,0.3,0,0,0,0;0,0,0,0,0,0,03,0.7,1,0.7,0.3,0,0;0,0,0,0,0,0,0,0,0.3,0.7,1,0.7,03;0,0,0,0,0,0,0,0,0,0.3,0.7,1%7*1311=1,0.7,0.3,0,0,0,0,0,0,0,0,0;03,0.7,1,0.7,0.3,0,0,0,0,0,0,0,0;0,0,0.3,0.7, l/0.7,0.3,0,0,0,0,0,0;0,0,0,0,03

3、,0.7,1,0.7,0.3,0,0,0,0;0,0,0,0,0,0,0.3,0,7,1,0.7,0.3,0,0;0,0,0,0,0,0,0,0,03,0.7,1,0.7,0.3;0,0/0/0/0,0,0,0,0,0,0.3,0.7,1%7*13rulelist= 1,1,1,l,2,4AiLLLL244;2,222,4,5,5;223,4,5,6,6;2,2,3,4,5,6,6;33/4,6,6,6,6;4,4,6,7,77,7;4,4,6,7,77,刀%8*7foriii=l:13%偏差E的模糊值控制for jjj=l:13%偏差率EC的模糊值控制forii=l:8%偏差E的模糊规那么控

4、制forjj=l:7%偏差变化率EC的模糊规那么控制A_rulelist = rulelist(iijj); %查模糊规那么表%*计算 2A*A=E(ii,:); %取 AC_A = U(Aulelist,:); %取 Cifor i=l:13 %求 RIAfor j=l:13elseRa(ij) = A(i);endendendAA = zeros(l,13); %取 AA=A 如 AA=1,0,0,0,0,0,0,0,0,0,0,0,0;%AA(l,iii) = E(iijii);AA(l,iii) = 1;for i=l:13%先取小for j=l:13if(AA(j) Ra(j,i)A

5、_qux(j,i) = Ra(j,i);elseA_qux(j,i)= AA(j);endendendfor i=l:13%再取大，一求和CiAmax = A_qux(lJ);for j=l:13if(max Rb(jJ)B_qux(j,i) = Rb(j,i);elseB_qux(j,i) = BB(j);endendendfor i=l:13%再取大，一 求和CiAmax = B_qux(l,i);for j=l:13if(max CiB(i)Ci(i) = CiB(i);elseCi(i) = CiA(i);endendC(ii-l)*7+jj,:) = Ci; % 将 Ci 存到数组 C 中，C 是 56*13 的数组 endend%根据式Ui二C=Cl并C2并并C56for i=l:13max = C(l,i);for j=l:56if(max C(jJ)max = C(j,i);endendUi(i) = max;end%用重心法进行解模糊运算，并映射为实际的控制量sum_fenz = 0;sum_fenm = 0;for i=l:13sum_fenz = sum_fenz + (i-7)*Ui(i);sum_fenm = sum_fenm + Ui(i);endcore = sum_fenz/sum_fenm;U