模糊控制一级倒立摆仿真.zip

%-- 2013/10/16 16:57 --% clc close all; clear all; tc=newfis('tc','sugeno'); tc=addvar(tc,'input','theta',[-90 90]); tc=addmf(tc,'input',1,'about 0','trimf',[-90 0 90]); tc=addmf(tc,'input',1,'about 90','trimf',[0 90 90]); tc=addmf(tc,'input',1,'about-90','trimf',[-90 -90 0]); tc=addvar(tc,'input','omega',[-5 5]); tc=addmf(tc,'input',2,'NG','gaussmf',[1.8 -5]); tc=addmf(tc,'input',2,'ZR','gaussmf',[1.8 0]); tc=addmf(tc,'input',2,'PO','gaussmf',[1.8 5]); tc=addvar(tc,'output','u',[-2 2]); tc=addmf(tc,'output',1,'No.1','linear',[126.07 26.3 0]); tc=addmf(tc,'output',1,'No.2','linear',[2722.3 883.4 0]); rulelist=[1 0 1 1 1;2 0 2 1 1;3 0 2 1 1]; tc=addrule(tc,rulelist); model=newfis('model','sugeno'); model=addvar(model,'input','theta',[-90 90]); model=addmf(model,'input',1,'about 0','trimf',[-90 0 90]); model=addmf(model,'input',1,'about 90','trimf',[0 90 90]); model=addmf(model,'input',1,'about-90','trimf',[-90 -90 0]); model=addvar(model,'input','omega',[-5 5]); model=addmf(model,'input',2,'NG','gaussmf',[1.8 -5]); model=addmf(model,'input',2,'ZR','gaussmf',[1.8 0]); model=addmf(model,'input',2,'PO','gaussmf',[1.8 5]); model=addvar(model,'input','u',[-5 5]); model=addmf(model,'input',3,'any','gaussmf',[1.5 -5]); model=addvar(model,'output','d_theta',[-2 2]); model=addmf(model,'output',1,'No.1','linear',[0 1 0 0]); model=addmf(model,'output',1,'No.2','linear',[0 1 0 0]); model=addvar(model,'output','d_omega',[-2 2]); model=addmf(model,'output',2,'No.1','linear',[17.2941 0 -0.1765 0]); model=addmf(model,'output',2,'No.2','linear',[14.4706 0 -0.1765 0]); rulelist1=[1 0 0 1 1 1 1;2 0 0 2 2 1 1;3 0 0 2 2 1 1]; model=addrule(model,rulelist1); showrule(tc) showrule(model) N=1000;h=0.005; %N为迭代次数，h为步长 x=[1.309;0]; %设定系统的初值 y=zeros(2,N); u=zeros(1,N); for k=2:N %R-K迭代法 u(k)=evalfis([x(1),x(2)],tc); k0=evalfis([x(1),x(2),u(k)],model)'; x1=x+h*k0/2; k1=evalfis([x1(1),x1(2),u(k)],model)'; x1=x+h*k1/2; k2=evalfis([x1(1),x1(2),u(k)],model)'; x1=x+h*k2; k3=evalfis([x1(1),x1(2),u(k)],model)'; x=x+(k0+2*k1+2*k2+k3)*h/6; y(:,k)=x; end kk=[1:N]*h; figure plot(kk,y),grid on xlabel('x'),ylabel('系统状态') axis([0 5 -2 1.5]) figure plot(kk,u),grid on xlabel('u(k)'),ylabel('模糊控制器输出') axis([0 5 0 250] clc clear all