模糊PID的C语言程序.doc

论域e:[-3,3] ec:[-0.3,0.3] kp:[-0.3,0.3]

#define NB 0
#define NM 1
#define NS 2
#define ZO 3
#define PS 4
#define PM 5
#define PB 6
/**************求隶属度（三角形）模糊化处理***************/
float uf(float x,float a,float b,float c)
{
if(x<=a)
return 0;
else if((a<x)&&(x<=b))
return (x-a)/(b-a);
else if((b<x)&&(x<=c))
return (c-x)/(c-b);
else if(x>c)
return 0;
}
/****************三角形反模糊化处理**********************/
float cuf(float x,float a,float b,float c)
{
float y,z;
z=(b-a)*x+a;
y=c-(c-b)*x;
return (y+z)/2;
}
/*****************梯形(左)求隶属度 模糊化*******************/
float ufl(float x,float a,float b)
{
if(x<=a) 
return 1;
else if((a<x)&&(x<=b))
return (b-x)/(b-a);
else if(x>b)
return 0;
}
/*******************梯形反模糊化***********************/
float cufl(float x,float a,float b)
{
return b-(b-a)*x;
}

/*****************梯形(右)求隶属度 模糊化*******************/
float ufr(float x,float a,float b)
{
if(x<=a)
return 0;
if((a<x)&&(x<b))
return (x-a)/(b-a);
if(x>=b)
return 1;
}
/*******************梯形反模糊化***********************/
float cufr(float x,float a,float b)
{
return (b-a)*x +a;
}
/*******************求交集***********************/
float fand(float a,float b)
{
return (a<b)?a:b;
}
/*******************求并集***********************/
float forr(float a,float b)
{
return (a<b)?b:a;
}
/*******************主函数***********************/
void main()
{
/*******************模糊规则表***********************/
int kp[7][7]={{PB,PB,PM,PM,PS,ZO,ZO},
{PB,PB,PM,PS,PS,ZO,ZO},
{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}};
es[NB]=ufl(e,-3,-1);
es[NM]=uf(e,-3,-2,0);
es[NS]=uf(e,-3,-1,1);
es[ZO]=uf(e,-2,0,2);
es[PS]=uf(e,-1,1,3);
es[PM]=uf(e,0,2,3);
es[PB]=ufr(e,1,3);

ecs[NB]=ufl(ec,-0.3,-0.1);//ec
ecs[NM]=uf(ec,-0.3,-0.2,0);
ecs[NS]=uf(ec,-0.3,-0.1,0.1);
ecs[ZO]=uf(ec,-0.2,0,0.2);
ecs[PS]=uf(ec,-0.1,0.1,0.3);
ecs[PM]=uf(ec,0,0.2,0.3);
ecs[PB]=ufr(ec,0.1,0.3);
/******模糊推理 规则的可信度通过取小点运算得到*****/
float form[7][7];
int i,j;
for(i=0;i<7;i++)
{
float w,h,r;
for(j=0;j<7;j++)
 {
h=es[i];
r=ecs[j];
w=fand(h,r);
form[i][j]=w;
 }
}
/*************求得的最大值赋给form[a][b]*********/
int a=0,b=0;
for(i=0;i<7;i++)
{
 for(j=0;j<7;j++)
 {
if(form[a][b]<form[i][j]) 
 {
a=i;
b=j;
 }
}
}

float lsd;int p;
lsd=form[a][b];//es和ecs最值中的最大值
p=kp[a][b];
float detkp；
if(p==NB)
detkp=cufl(lsd,-0.3,-0.1);
else if(p==NM)
detkp=cuf(lsd,-0.3,0.2,0);
else if(p==NS)
detkp=cuf(lsd,-0.3,0.1,0.1);
else if(p==ZO)
detkp=cuf(lsd,-0.2,0,0.2);
else if(p==PS)
detkp=cuf(lsd,-0.1,0.1,0.3);
else if(p==PM)
detkp=cuf(lsd,0,0.2,0.3);
else if(p==PB)
detkp=cufr(lsd,0.1,0.3);

float kpint；
kpint+=detkp;
}