matlab-基于simulink的PID控制器和模糊PID控制器控制输出对比-源码

clc; clear; close all; warning off; addpath(genpath(pwd)); % Fungsi transfer Plant Ts = 0.01; J = 0.01; b = 0.1; Ke = 0.01; Kt = 0.01; R = 1; L = 0.5; syms s; K = Ke; num = K; den = sym2poly((J*s+b)*(L*s+R)+K^2); sys = tf(num,den); Plant = c2d(sys,Ts,'zoh'); figure step(Plant) title('Respon Sistem Awal') open_system('Runme') open_system('Runme/Fuzzy PID') % Mendesain kendali PID konvensional open_system('Runme/PID') C0 = pid(1,1,1,'Ts',Ts,'IF','B','DF','B'); % PID structure C = pidtune(Plant,C0) % design PID [Kp, Ki, Kd] = piddata(C); % Parameter PID % Asumsikan sinyal referensi bernilai 1, sehingga max. error |e|=1 % Rentang input |E| adalah [-10 10], sehingga atur |GE| = 10. GE = 100; GCE = GE*(Kp-sqrt(Kp^2-4*Ki*Kd))/2/Ki; % Kp = GCU * GCE + GU * GE GCU = Ki/GE; % Ki = GCU * GE GU = Kd/GCE; % Kd = GU * GCE % Fuzzy inference system Sugeno: FIS = newfis('FIS','FISType','sugeno'); % Fungsi keanggotaan input error |E|: FIS = addvar(FIS,'input','E',[-100 100]); FIS = addmf(FIS,'input',1,'Negative','gaussmf',[70 -100]); FIS = addmf(FIS,'input',1,'Positive','gaussmf',[70 100]); % Fungsi keanggotaan input perubahan error |CE|: FIS = addvar(FIS,'input','CE',[-100 100]); FIS = addmf(FIS,'input',2,'Negative','gaussmf',[70 -100]); FIS = addmf(FIS,'input',2,'Positive','gaussmf',[70 100]); % Fungsi keanggotaan output |u|: FIS = addvar(FIS,'output','u',[-200 200]); FIS = addmf(FIS,'output',1,'Min','constant',-200); FIS = addmf(FIS,'output',1,'Zero','constant',0); FIS = addmf(FIS,'output',1,'Max','constant',200); % Aturan Fuzzy ruleList = [1 1 1 1 1;... % If |E| is Negative and |CE| is Negative then |u| is -200 (MIN) 1 2 2 1 1;... % If |E| is Negative and |CE| is Positive then |u| is 0 (ZERO) 2 1 2 1 1;... % If |E| is Positive and |CE| is Negative then |u| is 0 (ZERO) 2 2 3 1 1]; % If |E| is Positive and |CE| is Positive then |u| is 200 (MAX) FIS = addrule(FIS,ruleList); sim('Runme') load('StepPID') load('StepFP') figure plot(StepPID(1,1:401),StepPID(2,101:501)) hold on plot(StepFP(1,1:401),StepFP(2,101:501)) hold off title('Respon Sistem Setelah Dikendalikan') legend('PID','Fuzzy-PID')