滑模控制MATLAB仿真仿真程序.rar

clear all;close all; %%%%%%%%%%%%%%%%%%%%% Fuzzy System Design %%%%%%%%%%%%%%%%%%%% a=newfis('fuzz_smc'); k1=1.0; a=addvar(a,'input','s',[-3*k1,3*k1]); % Parameter s a=addmf(a,'input',1,'NB','zmf',[-3*k1,-1*k1]); a=addmf(a,'input',1,'NM','trimf',[-3*k1,-2*k1,0]); a=addmf(a,'input',1,'NS','trimf',[-3*k1,-1*k1,1*k1]); a=addmf(a,'input',1,'Z','trimf',[-2*k1,0,2*k1]); a=addmf(a,'input',1,'PS','trimf',[-1*k1,1*k1,3*k1]); a=addmf(a,'input',1,'PM','trimf',[0,2*k1,3*k1]); a=addmf(a,'input',1,'PB','smf',[1*k1,3*k1]); k2=1.0; a=addvar(a,'input','ds',[-3*k2,3*k2]); % Parameter ds a=addmf(a,'input',2,'NB','zmf',[-3*k2,-1*k2]); a=addmf(a,'input',2,'NM','trimf',[-3*k2,-2*k2,0]); a=addmf(a,'input',2,'NS','trimf',[-3*k2,-1*k2,1*k2]); a=addmf(a,'input',2,'Z','trimf',[-2*k2,0,2*k2]); a=addmf(a,'input',2,'PS','trimf',[-1*k2,1*k2,3*k2]); a=addmf(a,'input',2,'PM','trimf',[0,2*k2,3*k2]); a=addmf(a,'input',2,'PB','smf',[1*k2,3*k2]); k3=1.0; a=addvar(a,'output','du',[-3*k3,3*k3]); % Parameter du a=addmf(a,'output',1,'NB','zmf',[-3*k3,-1*k3]); a=addmf(a,'output',1,'NM','trimf',[-3*k3,-2*k3,0]); a=addmf(a,'output',1,'NS','trimf',[-3*k3,-1*k3,1*k3]); a=addmf(a,'output',1,'Z','trimf',[-2*k3,0,2*k3]); a=addmf(a,'output',1,'PS','trimf',[-1*k3,1*k3,3*k3]); a=addmf(a,'output',1,'PM','trimf',[0,2*k3,3*k3]); a=addmf(a,'output',1,'PB','smf',[1*k3,3*k3]); rulelist=[1 1 1 1 1; % Fuzzy rule base 1 2 1 1 1; 1 3 2 1 1; 1 4 2 1 1; 1 5 3 1 1; 1 6 3 1 1; 1 7 4 1 1; 2 1 1 1 1; 2 2 2 1 1; 2 3 2 1 1; 2 4 3 1 1; 2 5 3 1 1; 2 6 4 1 1; 2 7 5 1 1; 3 1 2 1 1; 3 2 2 1 1; 3 3 3 1 1; 3 4 3 1 1; 3 5 4 1 1; 3 6 5 1 1; 3 7 5 1 1; 4 1 2 1 1; 4 2 3 1 1; 4 3 3 1 1; 4 4 4 1 1; 4 5 5 1 1; 4 6 5 1 1; 4 7 6 1 1; 5 1 3 1 1; 5 2 3 1 1; 5 3 4 1 1; 5 4 5 1 1; 5 5 5 1 1; 5 6 6 1 1; 5 7 6 1 1; 6 1 3 1 1; 6 2 4 1 1; 6 3 5 1 1; 6 4 5 1 1; 6 5 6 1 1; 6 6 6 1 1; 6 7 7 1 1; 7 1 4 1 1; 7 2 5 1 1; 7 3 5 1 1; 7 4 6 1 1; 7 5 6 1 1; 7 6 7 1 1; 7 7 7 1 1]; a=addrule(a,rulelist); %showrule(a) % Show fuzzy rule base %ruleview(a) a1=setfis(a,'DefuzzMethod','centroid'); % Defuzzy writefis(a1,'fsmc'); % Save to fuzzy file "fsmc.fis" a2=readfis('fsmc'); %%%%%%%%%%%%%%%%%%%%% Fuzzy SMC Control %%%%%%%%%%%%%%%%%%%% ts=0.001; sys=tf([133],[1,25,0]); dsys=c2d(sys,ts,'z'); [num,den]=tfdata(dsys,'v'); e_1=0;de_1=0;s_1=0; u_1=0.0;u_2=0.0; y_1=0.0;y_2=0.0; for k=1:1:2000 time(k)=k*ts; M=1; if M==1 rin(k)=1; %Step Signal end if M==2 rin(k)=sign(sin(1*2*pi*k*ts)); %Square Signal end if M==3 rin(k)=sin(2*2*pi*k*ts); %Sine Signal end %Linear model yout(k)=-den(2)*y_1-den(3)*y_2+num(2)*u_1+num(3)*u_2; e(k)=rin(k)-yout(k); de(k)=(e(k)-e_1)/ts; c=15; s(k)=c*e(k)+1*de(k); s1(k)=s(k)-s_1; du(k)=evalfis([s(k) s1(k)],a2); %Fuzzy Slide Mode Controler u(k)=u_1+du(k); if u(k)>=10 u(k)=10; end if u(k)<=-10 u(k)=-10; end e_1=e(k); de_1=de(k); s_1=s(k); u_2=u_1;u_1=u(k); y_2=y_1;y_1=yout(k); end figure(1); plot(time,rin,'r',time,yout,'b'); xlabel('time(s)');ylabel('rin,yout'); figure(2); plot(e,de,'b',e,-c*e,'r'); xlabel('e');ylabel('de'); figure(3); plot(time,s,'r'); xlabel('time(s)');ylabel('s'); figure(4); plot(time,u,'r'); xlabel('time(s)');ylabel('u'); figure(5); plotmf(a2,'input',1); figure(6); plotmf(a2,'input',2); figure(7); plotmf(a2,'output',1);