例2-21 模糊PID控制器代码

close all; clear all; clc; %水位模糊控制算法 FIS = mamfis; FIS = addInput(FIS,[-10 10],'Name','E');%输入水位的偏差，负数为当前水位在标准水位以下，正数为当前水位在标准水位以上 FIS = addMF(FIS,'E','trimf',[-15 -10 -5],'Name','NB'); FIS = addMF(FIS,'E','trimf',[-10 -5 0],'Name','NS'); FIS = addMF(FIS,'E','trimf',[-5 0 5],'Name','ZO'); FIS = addMF(FIS,'E','trimf',[0 5 10],'Name','PS'); FIS = addMF(FIS,'E','trimf',[5 10 15],'Name','PB'); plotmf(FIS,'input',1,101) % gensurf(FIS) FIS = addOutput(FIS,[-10 10],'Name','u');%输出 FIS = addMF(FIS,'u','trimf',[-15 -10 -5],'Name','NB'); FIS = addMF(FIS,'u','trimf',[-10 -5 0],'Name','NS'); FIS = addMF(FIS,'u','trimf',[-5 0 5],'Name','ZO'); FIS = addMF(FIS,'u','trimf',[0 5 10],'Name','PS'); FIS = addMF(FIS,'u','trimf',[5 10 15],'Name','PB'); plotmf(FIS,'output',1,101) %建立模糊规则 ruleList = [1 5 1 1; 2 4 1 1; 3 3 1 1; 4 2 1 1; 5 1 1 1]; FIS = addRule(FIS,ruleList); %设置反模糊化算法 setfis(FIS,'DefuzzMethod','centroid'); % writefis(a1,'tank'); % a2 = readfis('tank'); figure(1); plotfis(FIS); % figure(2); % plotmf(FIS,'input',1); % figure(3); % plotmf(FIS,'output',1); showrule(FIS); ruleview(FIS); for i=1:1:21 e(i)=i-11; Ulist(i)=evalfis(FIS,e(i)); end Ulist = round(Ulist); %对决策结果四舍五入取整 % OUT=evalfis(FIS,1); disp('------------------------------------------------------'); disp('----------模糊控制表：e =[-10,10], u = [-10,10]-----------'); disp('------------------------------------------------------'); fprintf('| e |'); fprintf(' %d |',e); fprintf('\n'); fprintf('| u |'); fprintf(' %d |',Ulist); fprintf('\n');