CSTR模糊PID.rar_CSTR control_PID cstr_cstr 仿真_cstr模型_fuzzy cstr

% 本程序用来实现CSTR模型的模糊PID控制仿真 % % 作者： clear % 创建一个模糊推理系统 a = newfis('fuzzcontrol'); % 添加输入变量e和隶属度函数 a = addvar(a,'input','e',[-3,3]); a = addmf(a,'input',1,'NB','zmf',[-3,-1]); a = addmf(a,'input',1,'NM','trimf',[-3,-2,0]); a = addmf(a,'input',1,'NS','trimf',[-3,-1,1]); a = addmf(a,'input',1,'Z','trimf',[-2,0,2]); a = addmf(a,'input',1,'PS','trimf',[-1,1,3]); a = addmf(a,'input',1,'PM','trimf',[0,2,3]); a = addmf(a,'input',1,'PB','smf',[1,3]); % figure(1); % plotmf(a,'input',1); % 添加输入变量ec和隶属度函数 a = addvar(a,'input','ec',[-3,3]); a = addmf(a,'input',2,'NB','zmf',[-3,-1]); a = addmf(a,'input',2,'NM','trimf',[-3,-2,0]); a = addmf(a,'input',2,'NS','trimf',[-3,-1,1]); a = addmf(a,'input',2,'Z','trimf',[-2,0,2]); a = addmf(a,'input',2,'PS','trimf',[-1,1,3]); a = addmf(a,'input',2,'PM','trimf',[0,2,3]); a = addmf(a,'input',2,'PB','smf',[1,3]); % figure(2); % plotmf(a,'input',2); % 添加输出变量U和隶属度函数 a = addvar(a,'output','U',[-3,3]); a = addmf(a,'output',1,'NB','trimf',[-4,-3,-2]); a = addmf(a,'output',1,'NM','trimf',[-3,-2,-1]); a = addmf(a,'output',1,'NS','trimf',[-2,-1,0]); a = addmf(a,'output',1,'Z','trimf',[-1,0,1]); a = addmf(a,'output',1,'PS','trimf',[0,1,2]); a = addmf(a,'output',1,'PM','trimf',[1,2,3]); a = addmf(a,'output',1,'PB','trimf',[2,3,4]); % figure(3); % plotmf(a,'output',1); % 推理规则表 rulelist = [ 1 1 1 1 1; 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); % 解模糊方法 a = setfis(a,'DefuzzMethod','centroid'); % 模糊推理系统创建完毕 % ***************************************************************** % 仿真参数 N = 200; h = 0.1; % 控制变量初值 Q(1) = 100.0; Qc(1) = 15.0; % 状态变量初值 Ca(1) = 0.037; T(1) = 402.35; Tc(1) = 345.44; H(1) = 6.0; % 单位是分米 % 被控变量设定值 Cas = 0.06; Ts = 405.0; Tcs = 350.0; % PID调节参数、模糊控制比例因子 % 控制Ca % Kp = 20.0; % Ti = 0.05; % Td = 0.0; % Ke = 120; % Kc = 10; % Ku = 0.1; % 控制T % Kp = 1.5; % Ti = 1.0; % Td = 0.0; % Ke = 0.3; % Kc = 0.1; % Ku = 0.2; % 控制Tc Kp = 0.5; Ti = 0.2; Td = 0.0; Ke = 0.5; Kc = 0.05; Ku = 0.1; q0 = Kp*(1+h/Ti+Td/h); q1 = -1*Kp*(1+2*Td/h); q2 = Kp*Td/h; % 误差变量 ek = 0; ek_1 = 0; ek_2 = 0; % 控制仿真 for i = 1:N % % 控制生成物浓度Ca % ek_2 = ek_1; % ek_1 = ek; % ek = Cas-Ca(i); % e(i) = ek; % ec(i) = (ek-ek_1)/h; % % if abs(ek)>0.005 % dQ =(evalfis([ek*Ke,(ek-ek_1)/h*Kc],a))*Ku; % Q(i+1) = Q(i)+dQ; % else % dQ = q0*ek+q1*ek_1+q2*ek_2; % Q(i+1) = Q(i)+dQ; % end % % [Ca(i+1), T(i+1), Tc(i+1), H(i+1)] = CSTR_RK4(Q(i+1), Qc, Ca(i), T(i), Tc(i), H(i)); % % 控制反应温度 T % ek_2 = ek_1; % ek_1 = ek; % ek = Ts-T(i); % e(i) = ek; % ec(i) = (ek-ek_1)/h; % % if abs(ek)>0.5 % dQc =(evalfis([ek*Ke,(ek-ek_1)/h*Kc],a))*Ku; % Qc(i+1) = Qc(i)-dQc; % else % dQc = q0*ek+q1*ek_1+q2*ek_2; % Qc(i+1) = Qc(i)-dQc; % end % % [Ca(i+1), T(i+1), Tc(i+1), H(i+1)] = CSTR_RK4(Q, Qc(i+1), Ca(i), T(i), Tc(i), H(i)); % 控制冷却液温度 Tc ek_2 = ek_1; ek_1 = ek; ek = Tcs-Tc(i); e(i) = ek; ec(i) = (ek-ek_1)/h; if abs(ek)>0.5 dQc =(evalfis([ek*Ke,(ek-ek_1)/h*Kc],a))*Ku; Qc(i+1) = Qc(i)-dQc; else dQc = q0*ek+q1*ek_1+q2*ek_2; Qc(i+1) = Qc(i)-dQc; end [Ca(i+1), T(i+1), Tc(i+1), H(i+1)] = CSTR_RK4(Q, Qc(i+1), Ca(i), T(i), Tc(i), H(i)); end % ********************************************** % figure(1) % plot(Ca,'b.-') % grid on % figure(2) % plot(T,'b.-') % grid on figure(3) plot(Tc,'b.-') grid on % figure(2) % plot(e) % grid on % % figure(4) % plot(ec) % grid on % figure(4) % plot(Qc) % grid on % figure(5) % plot(Q) % grid on