1、模糊PID控制器的設(shè)計(jì)與仿真設(shè)計(jì)模糊PID控制器時(shí)，首先要將精確量轉(zhuǎn)換為模糊量，并且要把轉(zhuǎn)換后的 模糊量映射到模糊控制論域當(dāng)中，這個(gè)過(guò)程就是精確量模糊化的過(guò)程。模糊化的主要功能就是將輸入量精確值轉(zhuǎn)換成為一個(gè)模糊變量的值，最終形成一個(gè)模糊集 合。本次設(shè)計(jì)系統(tǒng)的精確量包括以下變量：變化量 e，變化量的變化速率ec還 有參數(shù)整定過(guò)程中的輸出量 Kp， Kd， K,在設(shè)計(jì)模糊PID的過(guò)程中，需要 將這些精確量轉(zhuǎn)換成為模糊論域上的模糊值。本系統(tǒng)的誤差與誤差變化率的模糊 論域與基本論域?yàn)椋篍=-6,-4,-2,0,2,4,6;Ec=-6,-4,-2,0,2,4,6。模糊PID控制器的設(shè)計(jì)選用二維模糊控制器

2、。以給定值的偏差 e和偏差變化ec為輸入； Kp， Kd， K為輸出的自適應(yīng)模糊PID控制器，見(jiàn)圖1。圖1模糊PID控制器(1) 模糊變量選取輸入變量E和EC的模糊化將一定范圍(基本論域)的輸入變量映射到離散區(qū) 間(論域)需要先驗(yàn)知識(shí)來(lái)確定輸入變量的范圍。 就本系統(tǒng)而言，設(shè)置語(yǔ)言變量取 七個(gè)，分別為 NB, NM NS ZQ PS, PM PB(2) 語(yǔ)言變量及隸屬函數(shù)根據(jù)控制要求，對(duì)各個(gè)輸入，輸出變量作如下劃定：e，ec 論域：-6，-5，-4，-3，-2，-1，0，1，2，3，4，5，6心， Kd， K 論域：-6，-5，-4，-3，-2，-1，0，1，2，3，4，5，6應(yīng)用模糊合成推理

3、PID參數(shù)的整定算法。第k個(gè)采樣時(shí)間的整定為Kp(k)二 Kp。：Kp(k) , K,k)二 Ki。 K(k) , ©(k)二 Kd。 *D(k).式中Kp0,K|0,Kd0為經(jīng)典PID控制器的初始參數(shù)。設(shè)置輸入變量隸屬度函數(shù)如圖2所示，輸出變量隸屬度函數(shù)如圖 3所示Membership Function Editor; fuzzylFile Edit ViewFIS vriable&kikclMembership fuitctlon plots- otat oonis：181Current Van ableCurrent Membershiip Function (clic

4、k on MF to select)NameeNamezoTypeinputTyP®gLaussmfvRange-6 6Params0.B493 OJDisplay Range-6 &Ready圖2輸入變量隸屬度函Membership Function Editor: fuz2y1File Edit ViewFIS vulablaseckiwkdhtemi祐活術(shù)p funaBon pkk憎“刃m肝詠101圖3輸出變量隸屬度函(3) 編輯模糊規(guī)則庫(kù)的控制規(guī)則如下所示：1. If (e is NB) and (ec is NB) then (kp is NB)(ki is PB)

5、(kd is NS)(1)2. If (e is NB) and (ec is NM) then (kp is NB)(ki is PB)(kd is PS)(1)3. If (e is NB) and (ec is NS) then (kp is NM)(ki is PM)(kd is PB)(1)4. If (e is NB) and (ec is ZO) then (kp is NM)(ki is PM)(kd is PB)(1)5. If (e is NB) and (ec is PS) then (kp is NS)(ki is PS)(kd is PB)(1)6. If (e is

6、 NB) and (ec is PM) then (kp is ZO)(ki is ZO)(kd is PM)(1)7. If (e is NB) and (ec is PB) then (kp is ZO)(ki is ZO)(kd is NS)(1)8. If (e is NM) and (ec is NB) then (kp is NB)(ki is PB)(kd is NS)(1)9. If (e is NM) and (ec is NM) then (kp is NB)(ki is PB)(kd is PS)(1)10. If (e is NM) and (ec is NS) the

7、n (kp is NM)(ki is PM)(kd is PB)(1)11. If (e is NM) and (ec is ZO) then (kp is NS)(ki is PS)(kd is PM)(1)12. If (e is NM) and (ec is PS) then (kp is NS)(ki is PS)(kd is PM)(1)13. If (e is NM) and (ec is PM) then (kp is ZO)(ki is ZO)(kd is PS)(1)14. If (e is NM) and (ec is PB) then (kp is PS)(ki is Z

8、O)(kd is ZO)(1)15. If (e is NS) and (ec is NB) then (kp is NM)(ki is PB)(kd is ZO)(1)16. If (e is NS) and (ec is NM) then (kp is NM)(ki is PM)(kd is PS)(1)17. If (e is NS) and (ec is NS) then (kp is NM)(ki is PS)(kd is PM)(1)18. If (e is NS) and (ec is ZO) then (kp is NS)(ki is PS)(kd is PM)(1)19. I

9、f (e is NS) and (ec is PS) then (kp is ZO)(ki is ZO)(kd is PS)(1)20. If (e is NS) and (ec is PM) then (kp is PS)(ki is NS)(kd is PS)(1)21. If (e is NS) and (ec is PB) then (kp is PS)(ki is NS)(kd is ZO)(1)22. If (e is ZO) and (ec is NB) then (kp is NM)(ki is PM)(kd is ZO)(1)23. If (e is ZO) and (ec

10、is NM) then (kp is NM)(ki is PM)(kd is PS)(1)24. If (e is ZO) and (ec is NS) then (kp is NS)(ki is PS)(kd is PS)(1)25. If (e is ZO) and (ec is ZO) then (kp is ZO)(ki is ZO)(kd is PS)(1)26. If (e is ZO) and (ec is PS) then (kp is PS)(ki is NS)(kd is PS)(1)27. If (e is ZO) and (ec is PM) then (kp is P

11、M)(ki is NM)(kd is PS)(1)28. If (e is ZO) and (ec is PB) then (kp is PM)(ki is NM)(kd is ZO)(1)29. If (e is PS) and (ec is NB) then (kp is NS)(ki is PM)(kd is ZO)(1)30. If (e is PS) and (ec is NM) then (kp is NS)(ki is PS)(kd is ZO)(1)31. If (e is PS) and (ec is NS) then (kp is ZO)(ki is ZO)(kd is Z

12、O)(1)32. If (e is PS) and (ec is ZO) then (kp is PS)(ki is NS)(kd is ZO)(1)33. If (e is PS) and (ec is PS) then (kp is PS)(ki is NS)(kd is ZO)(1)34. If (e is PS) and (ec is PM) then (kp is PM)(ki is NM)(kd is ZO)(1)35. If (e is PS) and (ec is PB) then (kp is PM)(ki is NB)(kd is ZO)(1)36. If (e is PM

13、) and (ec is NB) then (kp is NS)(ki is ZO)(kd is NB)(1)37. If (e is PM) and (ec is NM) then (kp is ZO)(ki is ZO)(kd is PS)(1)38. If (e is PM) and (ec is NS) then (kp is PS)(ki is NS)(kd is NS)(1)39. If (e is PM) and (ec is ZO) then (kp is PM)(ki is NS)(kd is NS)(1)40. If (e is PM) and (ec is PS) the

14、n (kp is PM)(ki is NM)(kd is NS)(1)41. If (e is PM) and (ec is PM) then (kp is PM)(ki is NB)(kd is NS)(1)42. If (e is PM) and (ec is PB) then (kp is PB)(ki is NB)(kd is NB)(1)43. If (e is PB) and (ec is NB) then (kp is ZO)(ki is ZO)(kd is NB)(1)44. If (e is PB) and (ec is NM) then (kp is ZO)(ki is Z

15、O)(kd is NM)(1)45. If (e is PB)and(ec is NS)then(kp is PM)(kiisNS)(kd is NM)(1)46. If (e is PB)and(ec is ZO)then(kp is PM)(kiisNM)(kd is NM)(1)47. If (e is PB)and(ec is PS)then(kp is PM)(kiisNM)(kd is NS)(1)48. If (e is PB)and(ec is PM)then(kp is PB)(kiisNB)(kd is NS)(1)49. If (e is PB)and(ec is PB)

16、then(kp is PB)(kiisNB)(kd is NB)(1)把這49條控制邏輯規(guī)則，鍵入到模糊規(guī)則庫(kù)中，如圖4。Rule Editor： fuzzyl1 If俚jg卅日）and阻逗N日小的（kp jg毋日凹閥馬N尋）口File Edit View Options2. If (e is NB and (ec is NB) than (kp is NBXki is PBXkd is PS)(1) 3 If (e is NB即d (ec 衍 NS) then (kp 19 iNMXki isi號(hào) PB) (1)4. If(e is NB) and (ec is ZO then (kp is

17、 NM»ki is PM)(kd is PB) (1) 5 If (e is NB) and (k i? PS) then (kp 13 MSki 13 PSXkd is PB) (1) 6. If (e is NB) and (« is PM) then (kp is ZO)(陌 is ZONW is PM) (1)7 If (e is NB an-d 怛匚 is PB) then (kp is ZO)(ki is ZOkd is NS) (1)8 If (e is NM) and (k is NB) then (kp is NBRkj is P9)(kdl is NS)

18、 (1)9 If (e is NM) and (ec is MM) llhen 伙p is NB)ki 治 PS>(kd i-s PS)10 IT(e is NM) and (»c is NSJ lhwi (kp is NMMki is PM)(kd is PM) (1) 11. Ife is NM) and (« is 20 Ih&n (kp is NSXki is PSXkd is PM 12 lf (e is NM) andl (ec is PS) lhen (kp is NSXki is PSMbl is PM) (1) 13. IF (a is NM) and («c is PM) then (kpis ZO腳 由 ZOKkd is PS) 14 If fg jg 時(shí)胡)拠 fgg jg FMI) then Qcp jg 亙ZQKkd 亙型口FIS Name, fuzzy 1Close圖4模糊規(guī)則庫(kù)利用MATLAB件中的Simulink仿真環(huán)境，可以對(duì)模糊PID控制器系統(tǒng)進(jìn)行 模擬仿真實(shí)驗(yàn)，來(lái)檢驗(yàn)設(shè)計(jì)是否達(dá)到要求。針對(duì)本次控制器設(shè)計(jì)，我們?cè)O(shè)置被控 對(duì)象為10，根據(jù)被控對(duì)象，設(shè)置相應(yīng)的PID參數(shù)(s+1)( s+2)( s +