模糊PID控制算法.rar_模糊_模糊 PID_模糊pid_模糊控制PID_模糊算法

#include<iostream> #include<iostream> #include"fuzzy_PID.h" //之后是简单的测试： #define NB -3 #define NM -2 #define NS -1 #define ZO 0 #define PS 1 #define PM 2 #define PB 3 int main() { float target=600; float actual=0; float u=0; int deltaKpMatrix[7][7]={{PB,PB,PM,PM,PS,ZO,ZO}, {PB,PB,PM,PS,PS,ZO,NS}, {PM,PM,PM,PS,ZO,NS,NS}, {PM,PM,PS,ZO,NS,NM,NM}, {PS,PS,ZO,NS,NS,NM,NM}, {PS,ZO,NS,NM,NM,NM,NB}, {ZO,ZO,NM,NM,NM,NB,NB}}; int deltaKiMatrix[7][7]={{NB,NB,NM,NM,NS,ZO,ZO}, {NB,NB,NM,NS,NS,ZO,ZO}, {NB,NM,NS,NS,ZO,PS,PS}, {NM,NM,NS,ZO,PS,PM,PM}, {NM,NS,ZO,PS,PS,PM,PB}, {ZO,ZO,PS,PS,PM,PB,PB}, {ZO,ZO,PS,PM,PM,PB,PB}}; int deltaKdMatrix[7][7]={{PS,NS,NB,NB,NB,NM,PS}, {PS,NS,NB,NM,NM,NS,ZO}, {ZO,NS,NM,NM,NS,NS,ZO}, {ZO,NS,NS,NS,NS,NS,ZO}, {ZO,ZO,ZO,ZO,ZO,ZO,ZO}, {PB,NS,PS,PS,PS,PS,PB}, {PB,PM,PM,PM,PS,PS,PB}}; float e_mf_paras []={-3,-3,-2,-3,-2,-1,-2,-1,0,-1,0,1,0,1,2,1,2,3,2,3,3}; float de_mf_paras[]={-3,-3,-2,-3,-2,-1,-2,-1,0,-1,0,1,0,1,2,1,2,3,2,3,3}; float Kp_mf_paras[]={-3,-3,-2,-3,-2,-1,-2,-1,0,-1,0,1,0,1,2,1,2,3,2,3,3}; float Ki_mf_paras[]={-3,-3,-2,-3,-2,-1,-2,-1,0,-1,0,1,0,1,2,1,2,3,2,3,3}; float Kd_mf_paras[]={-3,-3,-2,-3,-2,-1,-2,-1,0,-1,0,1,0,1,2,1,2,3,2,3,3}; FuzzyPID fuzzypid(1500,650,0.3,0.9,0.6,0.01,0.04,0.01); fuzzypid.setMf("trimf",e_mf_paras,"trimf",de_mf_paras,"trimf",Kp_mf_paras,"trimf",Ki_mf_paras,"trimf",Kd_mf_paras); fuzzypid.setRuleMatrix(deltaKpMatrix,deltaKiMatrix,deltaKdMatrix); cout<<"num target actual"<<endl; /*fuzzy.showInfo();*/ for(int i=0;i<50;i++) { u=fuzzypid.realize(target,actual); actual+=u; cout<<i<<""<<target<<""<<actual<<endl; } fuzzypid.showInfo(); system("pause"); return 0; }