模糊控制详细讲解实例.docx

1、模糊控制详细讲解实例、速度控制算法: 首先定义速度偏差-50 km/h e (k) w50km/h , -20 ec (i) = e (k) - e (k-1 )W20 ,阀值 eswith =10km/h设计思想：油门控制采用增量式PID控制算法,刹车控制采用模糊控制算法，最 后通过选择规则进行选择控制量输入。选择规则:e (k) - e swith and throttlr_1 工0 选择油门控制否则：先将油门控制量置0，再选择刹车控制1.确定模糊语言变量e基本论域取-50,50，ec基本论域取-20,20，刹车控制量输出u基本论域取-30,30，这里我将这三个变量按照下面的公式进行离散化

2、:_ 2n . a b. y b(X )其中，x a,b，n为离散度。E、ec和u均取离散度n=3，离散化后得到三个量的语言值论域分别为:E=EC=U=-3,-2,-1,0,1,2,3其对应语言值为 NB,NM,NS,ZO, PS,PM,PB 2.确定隶属度函数E/EC和U取相同的隶属度函数即: g(x, 5, 1) trig (x, 3, 2,0) trig (x, 3, 1,1) uE EC u trig (x, 2,0, 2)trig (x, 1,1,3) trig (x,0, 2,3) g(x,1,5)说明：边界选择钟形隶属度函数，中间选用三角形隶属度函数，图像略实际EC和E输入值若超

3、出论域范围，则取相应的端点值。3.模糊控制规则由隶属度函数可以得到语言值隶属度（通过图像直接可以看出）如下表:表1 : E/EC和U语言值隶属度向量表-3-2-10123NB10.00000P05NM010.0000P15NS00.10.000P255ZO000.10.00P355PS0000.10.0P455PM00000.10P55PB000000.1P65设置模糊规则库如下表:表2 :模糊规则表UENBNMNSZOPSPMPBNBPBPBPMPMPSZOZONMPBPMPMPSZOZONSNSPMPMPSPSZONSNSZOPMPSPSZOZONSNMPSPSPSZOZOZONSNMPM

4、PSZOZOZONSNMNBPBZOZOZONS*NMNMNBEC3.模糊推理由模糊规则表3可以知道输入E与EC和输出U的模糊关系，这里我取两个 例子做模糊推理如下:then (J is PB)if (E is NB) and (EC is NM)那么他的模糊关系子矩阵为:其中，Re1 P0 (1,0.5,0,R1 RE1 REC2 KjI,0)17,即表1中NB对应行向量，同理可以得到,RE1 EC 2 (0,1,0.5,0,0,0,0,0,0.5,0.5,0, ,0)1 490 49 7P VB)R2 Re1 ReC1 Ru1 结果略按此法可得到27个关系子矩阵，对所有子矩阵取并集得到模糊

5、关系矩阵如下:由R可以得到模拟量输出为:U (E EC)I：|R4.去模糊化由上面得到的模拟量输出为1 X7的模糊向量，每一行的行元素(u (Zij) 对应相应的离散变量Zj,则可通过加权平均法公式解模糊:21u(Zij)Zju -01 (i j 1,2, ,21)u(Zj)i 0从而得到实际刹车控制量的精确值油门控制:二、程序实现及参数调节clear all模糊算法%*%/* 隶属度向量 *%P 0=1,0.5,0,0,0,0,0;%*nbP 1=0,1,0.5,0,0,0,0;%*nmP 2=0,0.5,1,0.5,0,0,0;%*NSP 3=0,0,0.5,1,0.5,0,0;%*ZOP

6、 4=0,0,0,0.5,1,0.5,0;%* PSP 5=0,0,0,0,0.5,1,0;%* PMP 6=0,0,0,0,0,0.5,1;%* PB%* 语言*%NB=-3;NM=-2;NS=-1;ZO=0; PS=1; PM=2; PB=3;%/* 模糊规则表 *%Pg=PB PB PM PM PS ZO ZO;PB PM PM PS ZO ZO NS;PM PM PS PS ZO NS NS;PM PS PS ZO ZO NS NM;PS PS ZO ZO ZO NS NM;PS ZO ZO ZO NS NM NB;ZO ZO ZO NS NM NM NB;%/* 根据规则表计算模糊关

7、系矩阵 *%R1_=dikaer(xbi ng( PO, P1),7, P0,7);R1_=resha pe(R1_,1,49);R2_=dikaer(xbi ng( P2, P3),7, P0,7);R2_=resha pe(R2_,1,49);R2=dikaer(R2_,49, P5,7);R3_=dikaer( P0,7 ,P 1,7);R3_=resha pe(R3_,1,49);R3=dikaer(R2_,49, P6,7);R4_=dikaer(xbi ng( P1,P 2),7 ,P 1,7);R4_=resha pe(R4_,1,49);R4=dikaer(R4_,49, P5

8、,7);R5_=dikaer( P3,7 ,P 1,7);R5_=resha pe(R5_,1,49);R5=dikaer(R5_,49, P4,7);R6_=dikaer(xbi ng( P0, P1),7, P2,7);R6_=resha pe(R6_,1,49);R6=dikaer(R6_,49, P5,7);R7_=dikaer(xbi ng( P2, P3),7, P2,7);R7_=resha pe(R7_,1,49);R7=dikaer(R7_,49, P4,7);R8_=dikaer( P0,7, P3,7);R8_=resha pe(R8_,1,49);R8=dikaer(R

9、8_,49, P5,7);R9_=resha pe(R9_,1,49);R9=dikaer(R9_,49, P4,7);R10_=dikaer( P3,7, P3,7);R10_=resha pe(R10_,1,49);R10=dikaer(R10_,49, P3,7);R11_=dikaer(xbi ng( PO, P1),7, P4,7);R11_=resha pe(R11_,1,49);R11=dikaer(R11_,49, P4,7);P45=xbi ng(P 4, P5);R12_=dikaer(xbi ng( P2, P3),7, P45,7);R12_=resha pe(R12_

10、,1,49);R12=dikaer(R12_,49, P3,7);R13_=dikaer( P0,7, P5,7);R13_=resha pe(R13_,1,49);R13=dikaer(R13_,49, P4,7);R14_=dikaer( P1,7 ,P 5,7);R14_=resha pe(R14_,1,49);R14=dikaer(R14_,49, P3,7);P 01=xbi ng( P0, P1);R15_=dikaer(xbi ng( P01, P2),7, P6,7);R15_=resha pe(R15_,1,49);R16_=dikaer( P3,7, P6,7);R16_=

11、resha pe(R16_,1,49);R16=dikaer(R16_,49, P2,7);R17_=dikaer( P4,7 ,P 0,7);R17_=resha pe(R17_,1,49);R17=dikaer(R17_,49, P4,7);R18_=dikaer(xbi ng( P5, P6),7, P0,7);R18_=resha pe(R18_,1,49);R18=dikaer(R18_,49, P3,7);R19_=dikaer(xbi ng( P4, P5),7, P1,7);R19_=resha pe(R19_,1,49);R19=dikaer(R19_,49, P3,7);R

12、20_=dikaer( P6,7,xbi ng(P 1, P2),7);R20_=resha pe(R20_,1,49);R20=dikaer(R20_,49, P2,7);P23=xbi ng(P 2, P3);R21_=dikaer( P4,7,xb in g( P23, P4),7);R21_=resha pe(R21_,1,49);R21=dikaer(R21_,49, P3,7);R22_=dikaer( P5,7,xb in g( P23, P4),7);R22_=resha pe(R22_,1,49);R22=dikaer(R22_,49, P2,7);R23_=resha pe

13、(R23_,1,49);R23=dikaer(R23_,49 ,P 1,7);R24_=dikaer( P4,7, P5,7);R24_=resha pe(R24_,1,49);R24=dikaer(R24_,49, P2,7);R25_=dikaer( P5,7, P5,7);R25_=resha pe(R25_,1,49);R25=dikaer(R25_,49 ,P 1,7);R26_=dikaer( P6,7,xbi ng(P 6, P5),7);R26_=resha pe(R26_,1,49);R26=dikaer(R26_,49, P0,7);R27_=dikaer(xbi ng(

14、P4, P5),7, P6,7);R27_=resha pe(R27_,1,49);R27=dikaer(R27_,49 ,P 1,7);m=R1,R2,R3,R4,R5,R6,R7,R8,R9,R10,R11,R12,R13,R14,R15,R16,R17,R18,R19,R20,R21,R2 2,R23,R24,R25,R26,R27;R=bi ngji(m);%* 初始化参量e=0;ec=0;y_1=0;y_2=0;u=0;u_1=0;u_2=0;u_3=0;e_1=0;e_2=0;x=0 0 0;ts=0.001;sys=tf(1,1,2,1, inp utdelay ,0.5);ds

15、ys=c2d(sys,ts, zoh);num,den=tfdata(dsys, v);for k=1:1:40000%* 制系统time(k)=k*ts;if (k2000)throttle=2000;end%*油门PID控制刹车控制%/* 压缩输入变量*%E=lisa n(-50,50,3,e);EC=lisa n(-20,20,3,ec);%/* 计算实际输入变量隶属度向量 *%E_R(1)=lbell(E,1,4,-3);E_R( 2)=trig(E,-3,-2,0);E_R( 3)=trig(E,-3,-1,1);E_R=trig(E,-2,0,2);E_R(5)=trig(E,-1

16、,1,3);E_R( 6)=trig(E,0,2,3);E_R=rbell(E,1,4,3);ECIRU)H_be_(Ecl43EcR(2耳 g(EC-029ECR(3)ig(Ecm =EcR(4耳 g(EC2o2=ECR(5)ig(EC1-1-3=ECR(6)ig(ECO2-3=ECIR(7)Hrbe_(EC-143=UIFdHdikaer(EIR-7-ECIR-7=UIFdHreshape(UIR1-1-49UIR2=jdikaer(UIR1 -49R7XUIRHmax(UIR2UILHmean(UIRbrakeHd-isan(150-150-3-UILel2Hel1 -elld0一0 *

17、i 二 eAO)if(ey Eswifh)=(fh ro注elso)ifahroff_eAHfhroff_el1)fhroff-ellHfhroff-wu=throttle;Q(k)=u;W(k)=O;elsethrottle=0;throttle_1=throttle;u=throttle;Q(k)=u;W(k)=O;endelse if(throttle_1=0)brake_1=brake;u=brake;W(k)=u;Q(k)=O;elsethrottle=O;throttle_1=throttle;u=throttle;Q(k)=u;W(k)=O;endendelseif(e=O)if

18、(brake_1=0)throttle_1=throttle;u=throttle;Q(k)=u;W(k)=O;endelseendelseendbrake=O;brake_1=brake;u=brake;u=0;W(k)=O;Q(k)=O;%* *?1 ? e ?3? a ? o?M(k)=u;%*迟滞环节if (time(k)v=0.5)u=0;endendelseu=M(k-0.5/ts);%* j田 夂Ifigure(l);plot(time,vd, r ,time,y, k ,linewidth ,2);xlabel( time(s);ylabel( vd,y);legend( ? ui，？e 卩?; efigure(2);plot(time,Q, r,li newidth ,2);xlabel( time(s);ylabel( u);figure);plot(time,W, r ,linewidth ,2);xlabel( time(s);ylabel( u);figure(4);plot(time,N, b);xlabel( time S; ?ylabel( e);程序说明:仿真分加速和加速两个阶段，加速阶段主要应用油门控制，加速阶段主要由刹车控制。加速过程中，调节PID的三个参数kp、Ti、Td，调节过程中不难发现，kp越大调节时间越长，Ti越小稳态误差越大,