2022年模糊PID参数自整定 .pdf

《2022年模糊PID参数自整定 .pdf》由会员分享，可在线阅读，更多相关《2022年模糊PID参数自整定 .pdf（9页珍藏版）》请在淘文阁 - 分享文档赚钱的网站上搜索。

1、1 模糊 PID 参数自整定设被控对象为ssssGP1047035.87523500)(23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-0.06-0.04-0.0200.020.040.0600.20.40.60.81kiDegreeofmembershipNBNMNSZPSPMPBKp的录属度函数-0.25 -0.2 -0.15 -0.1 -0.0500.05 0.10.15 0.20.2500.20.40.60.81kpDegreeofmembershipNBNMNSZPSPMPB名师资料总结 -

2、 - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 1 页，共 9 页 - - - - - - - - - 2 -3-2-1012300.20.40.60.81eDegreeofmembershipNBNMNSZPSPMPBe的录属度函数-3-2-1012300.20.40.60.81ecDegreeofmembershipNBNMNSZPSPMPBec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：名师资料总结 - - -精品资料欢迎下载 - - - -

3、- - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 2 页，共 9 页 - - - - - - - - - 3 00.050.10.150.20.250.30.350.40.450.500.20.40.60.811.21.4time(s)rin,yout模糊 PID控制阶跃响应00.050.10.150.20.250.30.350.40.450.500.20.40.60.811.21.4time(s)rin,yout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

4、PID参数的整定曲线：. 名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 3 页，共 9 页 - - - - - - - - - 4 00.050.10.150.20.250.30.350.40.450.50.30.320.340.360.380.40.42time(s)kpKp的自整定调整00.050.10.150.20.250.30.350.40.450.5-0.00500.0050.010.0150.020.025time(s)kiKi 的自整定调整00.050.10.150.

5、20.250.30.350.40.450.5-0.200.20.40.60.811.2time(s)kdKd的自整定调整名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 4 页，共 9 页 - - - - - - - - - 5 程序文本：%Fuzzy Tunning PID Controlclear all;close all;a=newfis(fuzzpid);a=addvar(a,input, e,-3,3); %Parameter ea=addmf(a,input,1,NB,

6、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,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 eca=addmf(a,input,2,NB, zmf,-3,-1);a=ad

7、dmf(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, 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

8、,output,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,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

9、,2,NB, zmf,-0.06,-0.02);a=addmf(a,output,2,NM, trimf,-0.06,-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,0,0.04,0.06);a=addmf(a,output,2,PB, smf,0.02,0.06);a=addvar(a,output

10、, kd,-3,3); %Parameter kp名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 5 页，共 9 页 - - - - - - - - - 6 a=addmf(a,output,3,NB, zmf,-3,-1);a=addmf(a,output,3,NM, trimf,-3,-2,0);a=addmf(a,output,3,NS, trimf,-3,-1,1);a=addmf(a,output,3,Z, trimf,-2,0,2);a=addmf(a,output,3,

11、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 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

12、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 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;名师资料总结 - - -精品资料欢迎下载 - - -

13、 - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 6 页，共 9 页 - - - - - - - - - 7 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 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

14、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(5.235e005,1,87.35,1.047e004,0);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_

15、1=0.0;ec_1=0.0;kp0=0.40;kd0=1.0;名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 7 页，共 9 页 - - - - - - - - - 8 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_1,a);kp(k)=kp0+k_pid(1);ki(k)=ki0+k_pid(2);kd(k)=kd0+k_pi

16、d(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;endyout(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+num(4)*u_3;error(k)=rin(k)-yout(k);%Return of PID parameters% u_3=u_2

17、; 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);名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 8 页，共 9 页 - - - - - - - - - 9 error_2=erro

18、r_1; error_1=error(k);endshowrule(a)figure(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(

19、time(s);ylabel(ki);figure(6);plot(time,kd,r);xlabel(time(s);ylabel(kd);figure(7);plotmf(a,input,1);figure(8);plotmf(a,input,2);figure(9);plotmf(a,output,1);figure(10);plotmf(a,output,2);figure(11);plotmf(a,output,3);plotfis(a);fuzzy fuzzpid.fis名师资料总结 - - -精品资料欢迎下载 - - - - - - - - - - - - - - - - - - 名师精心整理 - - - - - - - 第 9 页，共 9 页 - - - - - - - - -