模糊算法篇：12 模糊控制实现解耦控制.zip

%% 学习目标：模糊控制实现解耦控制 clear all clc %初始化 p1=0.5;q1=0.5;p2=0.5;q2=0.5; p3=0.5;q3=0.5;p4=0.95;q4=0.5; p5=0.95;q5=0.5;p6=0.95;q6=0.5; p7=0.5;q7=0.5;p8=0.95;q8=0.5; p9=0.5;q9=0.5;p10=0.95;q10=0.5; p11=0.95;q11=0.5;p12=0.95;q12=0.5; p13=0.65;q13=0.05; %隶属函数型神经网的中心值、尺度因子和权向量初始化部分 a10=[-2 0 2];a11=[-2 0 2];a20=[-2 0 2];a21=[-2 0 2]; b10=[1.5 1.5 1.5];b11=[1.5 1.5 1.5]; b20=[1.5 1.5 1.5];b21=[1.5 1.5 1.5]; v0=[-1 -0.5 -0.5;-0.5 0 0.5;0.5 0.5 1]; v1=[-1 -0.5 -0.5;-0.5 0 0.5;0.5 0.5 1]; %系统部分的初值 yp0=0;yp1=0; ep0=0;ep1=0; up0=1.05;up1=1.39;x1=0.12;x2=0.24; y0=0;y1=0; u1=0;e0=0;e1=0;sp=10; k=1;se=0.02;sd=0.02;su=0.0522; %开始 kp=0.284;ki=0.03;kd=0.626; p12=0.5;q12=0.5;p22=0.5;q22=0.5; p32=0.5;q32=0.5;p42=0.95;q42=0.5; p52=0.95;q52=0.5;p62=0.95;q62=0.5; p72=0.5;q72=0.5;p82=0.95;q82=0.5; p92=0.5;q92=0.5;p102=0.95;q102=0.5; p112=0.95;q112=0.5;p122=0.95;q122=0.5; p132=0.65;q132=0.05; %系统部分的初值 yp02=0;yp12=0;ep02=0;ep12=0; up02=1.05;up12=1.39;x12=0.12;x22=0.24; y02=0;y12=0;u12=0;e02=0;e12=0;sp2=5; k=1;se2=0.02;sd2=0.02;su2=0.0522; kp2=0.284;ki2=0.03;kd2=0.626; %子系统1(SUB1)的J循环开始 for J=1:50 ep1=10-yp1; pid=kp*(ep1-ep0)+ki*ep1; up2=up1+pid; yp2=0.5*yp1+2.5*up2+2.5*up1; yp(:,J)=yp2; up0=up1; up1=up2; ep0=ep1; yp0=yp1; yp1=yp2; end time=[1:1:50]; n=0.28*rand(size(time)); %产生的SUB1随机噪声 n1=0.3*rand(size(time));%产生的SUB2随机噪声 while(k<=50) %function deal with for(T=1:20) X1=x1*se; X2=x2*sd; if(X1<=-2) X1=-2; elseif(X1>=2) X1=2; end if(X2<=-2) X2=-2; elseif(X2>=2) X2=2; end % FNN隐含层输出 for i=1:3 for j=1:3 A=[(X1-a11(:,i))/b11(:,i)].^2; B=[(X2-a21(:,j))/b21(:,j)].^2; h(i,j)=exp(-(A+B)/2); end end %输出 sum=0; for i=1:3 for j=1:3 sum=sum+h(i,j)*v1(i,j); end end ot=sum;cu=su*ot;u2=u1+cu;disp(u2); if(u2<0) u2=0; elseif(u2>=1) u2=1; end y2=0.5*y1+2.5*u2+2.5*u1+n1(:,k)+0.01*y12; %+n1(:,k)+0.01*y12表示随机噪声和子系统间的相互耦合 disp(['the output y number is' int2str(T)]); disp(y2); Y(:,k)=y2;E=0.5*(sp-y2).^2;e2=sp-y2; Es(:,k)=e2; x1=e2;x2=e2-e1;e0=e1;e1=e2; delot=(sp-y2)*2.5*su; for i=1:3 for j=1:3 dv=v1(i,j)-v0(i,j); v2=v1(i,j)+p13*delot+q13*dv; v3(i,j)=v2; end end %更新中心值与权矩阵 s1=0; for j=1:3 s1=s1+v1(1,j)*h(1,j); end pa11=s1; a110=a10(:,1); a111=a11(:,1); dela11=pa11*(X1-a111)/b11(:,1).^2; da11=a111-a110;a112=a111+p1*dela11+q1*da11; a10(:,1)=a111;a11(:,1)=a112; %a12 s2=0; for j=1:3 s2=s2+v1(2,j)*h(2,j); end pa12=s2; a120=a10(:,2);a121=a11(:,2); dela12=pa12*(X1-a121)/b11(:,2).^2; da12=a121-a120;a122=a121+p2*dela12+q2*da12; a10(:,2)=a121;a11(:,2)=a122; %a13 s3=0; for j=1:3 s3=s3+v1(3,j)*h(3,j); end pa13=s3;a130=a10(:,3);a131=a11(:,3); dela13=pa13*(X1-a131)/b11(:,3).^2; da13=a131-a130;a132=a131+p3*dela13+q3*da13; a10(:,3)=a131;a11(:,3)=a132; % b11 pb11=pa11;b110=b10(:,1);b111=b11(:,1); delb11=pb11*[(X1-a111)].^2/b111.^3; db11=b111-b110; b112=b111+p4*delb11+q4*db11; b10(:,1)=b111;b11(:,1)=b112; %b12 pb12=pa12;b120=b10(:,2);b121=b11(:,2); delb12=pb12*[(X1-a121)].^2/b121.^3; db12=b121-b120;b122=b121+p5*delb12+q5*db12; b10(:,2)=b121;b11(:,2)=b122; %b13 pb13=pa13;b130=b10(:,3);b131=b11(:,3); delb13=pb13*[(X1-a131)].^2/b131.^3; db13=b131-b130; b132=b131+p6*delb13+q6*db13; b10(:,3)=b131;b11(:,3)=b132; %a21 s4=0; for i=1:3 s4=s4+v1(i,1)*h(i,1); end pa21=s4;a210=a20(:,1);a211=a21(:,1); dela21=pa21*(X2-a211)/b21(:,1).^2; da21=a211-a210; a212=a211+p7*dela21+q7*da21; a20(:,1)=a211;a21(:,1)=a212; %a22 s5=0; for i=1:3 s5=s5+v1(i,2)*h(i,2); end pa22=s5;a220=a20(:,2);a221=a21(:,2); dela22=pa22*(X2-a221)/b21(:,2).^2; da22=a221-a220; a222=a221+p8*dela22+q8*da22; a20(:,2)=a221;a21(:,2)=a222; %a23 s6=0; for i=1:3 s6=s6+v1(i,3)*h(i,3); end pa23=s6; a230=a20(:,3);a231=a21(:,3); dela23=pa23*(X2-a231)/b21(:,3).^2; da23=a231-a230; a232=a231+p9*dela23+q3*da23; a20(:,3)=a231;a21(:,3)=a232; %b21 pb21=pa21; b210=b20(:,1);b211=b21(:,1); delb21=pb21*[(X2-a211)].^2/b211.^3; db21=b211-b210; b212=b211+p10*delb21+q10*db21; b20(:,1)=b211;b21(:,1)=b212; %b22 pb22=pa22; b220=b20(:,2);b221=b21(:,2); delb22=pb22*[(X2-a221)].^2/b221.^3; db22=b221-b220; b222=b221+p11*delb22+q11*db22; b20(:,2)=b221;b21(:,2)=b222; %b23 pb23=pa23; b230=b20(:,3);b231=b21(:,3); delb23=pb23*[(X2-a231)].^2/b231.^3; db23=b231-b230; b232=b231+p12*delb23+q12*db23; b20(:,3)=b231;b21(:,3)=b232; v0=v1;v1=v3; if(abs(e1)<0.00015) break; end end y0=y1;y1=y2;u0=u1;u1=u2; %权向量初始化部分 a102=[-2 0 2];a112=[-2 0 2];% FNN隐层的权值阵 a202=[-2 0 2];a212=[-2 0 2]; b102=[1.5 1.5 1.5];b112=[1.5 1.5 1.5];% 尺度因子 b202=[1.5 1.5 1.5];b212=[1.5 1.5 1.5]; v02=[-1 -0.5 -0.5;-0.5 0 0.5;0.5 0.5 1];% FNN输出层权值阵 v12=[-1 -0.5 -0.5;-0.5 0 0.5;0.5 0.5 1]; %子系统2(SUB2)的J循环开始 for J=1:100 ep2=5-yp12; pid2=kp2*(ep12-ep02)+ki2*ep12; up22=up12+pid2; yp22=0.5*yp12+1.25*up22+1.25*up12; yp2(:,J)=yp22; up02=up12;up12=up22;ep02=ep12;yp02=yp12; yp12=yp22; end %while(k<=250) %处理权矩阵 for(T=1:20) X12=x12*se2;X22=x22*sd2; if(X12<=-2) X12=-2; elseif(X12>=2) X12=2; end if(X22<=-2) X22=-2; elseif(X22>=2) X22=2; end %FNN隐含层输出 for i=1:3 for j=1:3 A=[(X12-a112(:,i))/b112(:,i)].^2; B=[(X22-a212(:,j))/b212(:,j)].^2; h(i,j)=exp(-(A+B)/2); end end %输出 sum2=0; for i=1:3 for j=1:3 sum2=sum2+h(i,j)*v12(i,j); end end ot=sum2;cu=su2*ot;u22=u12+cu; disp(u22); if(u22<0) u22=0; elseif(u22>=1) u22=1; end y22=0.5*y12+1.25*u22+1.25*u12+n(:,k)+0.01*y1; %+n(:,k)+0.01*y1表示随机噪声和子系统间的相互耦合 disp(['the output y2 number is' int2str(T)]); disp(y22);Y2(:,k)=y22;E2=0.5*(sp2-y22).^2;e22=sp2-y22; E22(:,k)=e22;x12=e22;x22=e22-e12;e02=e12;e12=e22; delot=(sp2-y22)*1.25*su2; for i=1:3 for j=1:3 dv=v12(i,j)-v02(i,j); v22=v12(i,j)+p132*delot+q132*dv; v32(i,j)=v22; end end s12=0; for j=1:3 s12=s12+v12(1,j)*h(1,j); end pa112=s12; a1102=a102(:,1);a1112=a112(:,1); dela112=pa112*(X12-a1112)/b112(:,1).^2; da112=a1112-a1102;a1122=a1112+p12*dela112+q12*da112; a102(:,1)=a1112;a112(:,1)=a1122; %a12 s22=0; for j=1:3 s22=s22+v12(2,j)*h(2,j); end pa122=s22; a1202=a102(:,2);a1212=a112(:,2); dela122=pa122*(X12-a121)/b112(:,2).^2; da122=a1212-a1202; a1222=a1212+p22*dela122+q22*da122; a102(:,2)=a1212;a112(:,2)=a1222; %a13 s32=0; for j=1:3 s32=s32+v12(3,j)*h(3,j); end pa132=s32; a1302=a102(:,3);a1312=a112(:,3); dela132=pa132*(X12-a1312)/b112(:,3).^2; da132=a1312-a1302; a1322=a1312+p32*dela132+q32*da132; a102(:,3)=a1312;a112(:,3)=a1322; % b11 pb112=pa112; b1102=b102(:,1);b1112=b112(:,1); delb112=pb112*[(X12-a111)].^2/b1112.^3; db112=b1112-b1102; b1122=b1112+p42*delb112+q42*db112; b102(:,1)=b1112;b112(:,1)=b1122; %b12 pb122=pa122; b1202=b102(:,2);b1212=b112(:,2); delb122=pb122*[(X12-a1212)].^2/b1212.^3; db122=b1212-b1202; b1222=b1212+p52*delb122+q52*db122; b102(:,2)=b1212;b112(:,2)=b1222; %b13 pb132=pa132; b1302=b102(:,3);b1312=b112(:,3); delb132=pb132*[(X12-a1312)].^2/b1312.^3; db132=b1312-b1302; b1322=b1312+p62*delb132+q62*db132; b102(:,3)=b1312;b112(:,3)=b1322; %a21 s42=0; for i=1:3