模糊控制詳細(xì)講解實例參考模板

1、一、速度控制算法：首先定義速度偏差-50 km/he（k）50km/h，-20ec（i）= e（k）- e（k-1）20，閥值eswith=10km/h設(shè)計思想：油門控制采用增量式PID控制算法,剎車控制采用模糊控制算法，最后通過選擇規(guī)則進(jìn)行選擇控制量輸入。選擇規(guī)則：e（k）- eswith and throttlr_10 選擇油門控制 否則：先將油門控制量置0，再選擇剎車控制0e（k） 先選擇剎車控制，再選擇油門控制e（k）=0 直接跳出選擇剎車控制：剎車采用模糊控制算法1.確定模糊語言變量e基本論域取-50,50，ec基本論域取-20,20，剎車控制量輸出u基本論域取-30,30，這里我將

2、這三個變量按照下面的公式進(jìn)行離散化： 其中，n為離散度。E、ec和u均取離散度n=3，離散化后得到三個量的語言值論域分別為：E=EC=U=-3,-2,-1,0,1,2,3其對應(yīng)語言值為 NB,NM,NS,ZO, PS,PM,PB 2.確定隸屬度函數(shù)E/EC和U取相同的隸屬度函數(shù)即： 說明：邊界選擇鐘形隸屬度函數(shù)，中間選用三角形隸屬度函數(shù)，圖像略實際EC和E輸入值若超出論域范圍，則取相應(yīng)的端點值。3.模糊控制規(guī)則由隸屬度函數(shù)可以得到語言值隸屬度（通過圖像直接可以看出）如下表：表1：E/EC和U語言值隸屬度向量表-3-2-10123NB10.500000P0NM010.50000P1NS00.51

3、0.5000P2ZO000.510.500P3PS0000.510.50P41 / 9PM00000.510P5PB000000.51P6設(shè)置模糊規(guī)則庫如下表：表2：模糊規(guī)則表UEECNBNMNSZOPSPMPBNBPBPBPMPMPSZOZONMPBPMPMPSZOZONSNSPMPMPSPSZONSNSZOPMPSPSZOZONSNMPSPSPSZOZOZONSNMPMPSZOZOZONSNMNBPBZOZOZONS*NMNMNB3.模糊推理由模糊規(guī)則表3可以知道輸入E與EC和輸出U的模糊關(guān)系，這里我取兩個例子做模糊推理如下：if (E is NB) and (EC is NM) then

4、 (U is PB)那么他的模糊關(guān)系子矩陣為：其中，,即表1中NB對應(yīng)行向量，同理可以得到， , if (E is NVB or NB) and (EC is NVB) then (U is PVB) 結(jié)果略按此法可得到27個關(guān)系子矩陣，對所有子矩陣取并集得到模糊關(guān)系矩陣如下：由R可以得到模擬量輸出為：4.去模糊化由上面得到的模擬量輸出為17的模糊向量，每一行的行元素（u（zij）對應(yīng)相應(yīng)的離散變量zj，則可通過加權(quán)平均法公式解模糊：從而得到實際剎車控制量的精確值u。油門控制：油門控制采用增量式PID控制，即：只需要設(shè)置、 、三個參數(shù)即可輸出油門控制量。二、程序?qū)崿F(xiàn)及參數(shù)調(diào)節(jié)clear all

5、%*模糊算法%/*隸屬度向量 *%P0=1,0.5,0,0,0,0,0;%*NBP1=0,1,0.5,0,0,0,0;%*NMP2=0,0.5,1,0.5,0,0,0;%*NSP3=0,0,0.5,1,0.5,0,0;%*ZOP4=0,0,0,0.5,1,0.5,0;%*PSP5=0,0,0,0,0.5,1,0;%*PMP6=0,0,0,0,0,0.5,1;%*PB%*語言值 *%NB=-3;NM=-2;NS=-1;ZO=0;PS=1;PM=2;PB=3;%/*模糊規(guī)則表*%Pg=PB PB PM PM PS ZO ZO; PB PM PM PS ZO ZO NS; PM PM PS PS Z

6、O 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;%/*根據(jù)規(guī)則表計算模糊關(guān)系矩陣*%R1_=dikaer(xbing(P0,P1),7,P0,7);R1_=reshape(R1_,1,49);R1=dikaer(R1_,49,P6,7);R2_=dikaer(xbing(P2,P3),7,P0,7);R2_=reshape(R2_,1,49);R2=dikaer(R2_,49,P5,7);R3_=dikaer(P0,7,P1,7);R3_=reshap

7、e(R3_,1,49);R3=dikaer(R2_,49,P6,7);R4_=dikaer(xbing(P1,P2),7,P1,7);R4_=reshape(R4_,1,49);R4=dikaer(R4_,49,P5,7);R5_=dikaer(P3,7,P1,7);R5_=reshape(R5_,1,49);R5=dikaer(R5_,49,P4,7);R6_=dikaer(xbing(P0,P1),7,P2,7);R6_=reshape(R6_,1,49);R6=dikaer(R6_,49,P5,7);R7_=dikaer(xbing(P2,P3),7,P2,7);R7_=reshape(

8、R7_,1,49);R7=dikaer(R7_,49,P4,7);R8_=dikaer(P0,7,P3,7);R8_=reshape(R8_,1,49);R8=dikaer(R8_,49,P5,7);R9_=dikaer(xbing(P1,P2),7,P3,7);R9_=reshape(R9_,1,49);R9=dikaer(R9_,49,P4,7);R10_=dikaer(P3,7,P3,7);R10_=reshape(R10_,1,49);R10=dikaer(R10_,49,P3,7);R11_=dikaer(xbing(P0,P1),7,P4,7);R11_=reshape(R11_,

9、1,49);R11=dikaer(R11_,49,P4,7);P45=xbing(P4,P5);R12_=dikaer(xbing(P2,P3),7,P45,7);R12_=reshape(R12_,1,49);R12=dikaer(R12_,49,P3,7);R13_=dikaer(P0,7,P5,7);R13_=reshape(R13_,1,49);R13=dikaer(R13_,49,P4,7);R14_=dikaer(P1,7,P5,7);R14_=reshape(R14_,1,49);R14=dikaer(R14_,49,P3,7);P01=xbing(P0,P1);R15_=dik

10、aer(xbing(P01,P2),7,P6,7);R15_=reshape(R15_,1,49);R15=dikaer(R15_,49,P3,7);R16_=dikaer(P3,7,P6,7);R16_=reshape(R16_,1,49);R16=dikaer(R16_,49,P2,7);R17_=dikaer(P4,7,P0,7);R17_=reshape(R17_,1,49);R17=dikaer(R17_,49,P4,7);R18_=dikaer(xbing(P5,P6),7,P0,7);R18_=reshape(R18_,1,49);R18=dikaer(R18_,49,P3,7)

11、;R19_=dikaer(xbing(P4,P5),7,P1,7);R19_=reshape(R19_,1,49);R19=dikaer(R19_,49,P3,7);R20_=dikaer(P6,7,xbing(P1,P2),7);R20_=reshape(R20_,1,49);R20=dikaer(R20_,49,P2,7);P23=xbing(P2,P3);R21_=dikaer(P4,7,xbing(P23,P4),7);R21_=reshape(R21_,1,49);R21=dikaer(R21_,49,P3,7);R22_=dikaer(P5,7,xbing(P23,P4),7);R

12、22_=reshape(R22_,1,49);R22=dikaer(R22_,49,P2,7);R23_=dikaer(P6,7,xbing(P3,P4),7);R23_=reshape(R23_,1,49);R23=dikaer(R23_,49,P1,7);R24_=dikaer(P4,7,P5,7);R24_=reshape(R24_,1,49);R24=dikaer(R24_,49,P2,7);R25_=dikaer(P5,7,P5,7);R25_=reshape(R25_,1,49);R25=dikaer(R25_,49,P1,7);R26_=dikaer(P6,7,xbing(P6,

13、P5),7);R26_=reshape(R26_,1,49);R26=dikaer(R26_,49,P0,7);R27_=dikaer(xbing(P4,P5),7,P6,7);R27_=reshape(R27_,1,49);R27=dikaer(R27_,49,P1,7);m=R1,R2,R3,R4,R5,R6,R7,R8,R9,R10,R11,R12,R13,R14,R15,R16,R17,R18,R19,R20,R21,R22,R23,R24,R25,R26,R27;R=bingji(m); %*初始化參量e=0;ec=0;y_1=0;y_2=0;u=0;u_1=0;u_2=0;u_3=

14、0;e_1=0;e_2=0;Eswith=10;throttle_1=0;brake_1=0;x=0 0 0;ts=0.001;sys=tf(1,1,2,1,inputdelay,0.5);dsys=c2d(sys,ts,zoh);num,den=tfdata(dsys,v);for k=1:1:40000%*控制系統(tǒng)time(k)=k*ts;if(k2000) throttle=2000;end%*剎車控制%/*壓縮輸入變量*%E=lisan(-50,50,3,e);EC=lisan(-20,20,3,ec);%/*計算實際輸入變量隸屬度向量*%E_R(1)=lbell(E,1,4,-3);

15、E_R(2)=trig(E,-3,-2,0);E_R(3)=trig(E,-3,-1,1);E_R(4)=trig(E,-2,0,2);E_R(5)=trig(E,-1,1,3);E_R(6)=trig(E,0,2,3);E_R(7)=rbell(E,1,4,3);EC_R(1)=lbell(EC,1,4,-3);EC_R(2)=trig(EC,-3,-2,0);EC_R(3)=trig(EC,-3,-1,1);EC_R(4)=trig(EC,-2,0,2);EC_R(5)=trig(EC,-1,1,3);EC_R(6)=trig(EC,0,2,3);EC_R(7)=rbell(EC,1,4,

16、3);%/*模糊推理過程*%U_R1=dikaer(E_R,7,EC_R,7);U_R1=reshape(U_R1,1,49);U_R2=jdikaer(U_R1,49,R,7);U_R=max(U_R2);u_L=mean(U_R);%/*去模糊化*%brake=-flisan(-150,150,3,u_L);e_2=e_1;e_1=e;%/*選擇規(guī)則if (e-Eswith)|(throttle_1=0) if(throttle=throttle_1) throttle_1=throttle; u=throttle; Q(k)=u; W(k)=0; else throttle=0; thr

17、ottle_1=throttle; u=throttle; Q(k)=u; W(k)=0; end else if(throttle_1=0) brake_1=brake; u=brake; W(k)=u; Q(k)=0; else throttle=0; throttle_1=throttle; u=throttle; Q(k)=u; W(k)=0; end endelse if(e=0) if(brake_1=0) throttle_1=throttle; u=throttle; Q(k)=u; W(k)=0; else brake=0; brake_1=brake; u=brake; end else u=0; W(k)=0; Q(k)=0; endend%*M(k)=u;%*遲滯環(huán)節(jié)if (time(k)=0.5) u=0; else u=M(k-0.5/ts);endend%*畫圖figure(1);plot(time,vd,r,time,y,k,linewidth,2);xlabel(time(s);ylabel(vd,y);legend