智能控制概论报告资料

智能控制概论报告—模糊控制器设计原尧燊08010439目录一、设计要求 (3)二、控制器设计 (3)1.确定模糊控制器输入输出变量 (3)2. 确定各输入输出变量的变化范围、量化等级和量化因子 (3)3. 在各输入和输出语言变量的量化域内定义模糊子集 (4)4. 模糊控制规则的确定 (5)5. 求模糊控制表 (5)三、程序设计 (6)四、测试与仿真 (7)1. Simulink搭建 (7)2. 比例因子K3对响应曲线的影响 (7)五、总结 (10)六、使用方法 (10)七、代码附录 (11)一、设计要求：已知被控对象模型，给定阶跃响应幅值为30，系统初值为0，完成以下内容：(a) 设计常规的模糊逻辑控制器；(b) 当通过改变模糊逻辑控制器比例因子时，分析系统响应有什么变化？(c) 联系、结合模糊逻辑控制器设计过程（结构设计、模糊化设计、规则设计、精确化设计）以及控制系统响应情况，谈谈本人对模糊逻辑控制系统的一些认识和看法。

要求：（1）先进行系统分析，然后给出完整详细的设计过程，可参见P59-61 页直流调速系统的模糊逻辑控制器设计过程；（2）提交完整的报告，包括：封面(题目、个人学号姓名等信息)、目录、任务要求叙述、系统分析及控制设计原理(包括控制系统原理图及文字分析)、完整的设计实现过程(包括模糊控制器每部分的选择与实现、计算、原理过程等)、仿真验证(算法流程图、软件实现手段介绍、系统参数选择、响应曲线图、结合调参对响应曲线的影响给出必要的分析)、讨论与分析，其中对(b)(c)部分的分析字数要求在500~2000 字以内。

（3）提交可运行的软件程序，计算机上可检验结果；必须在根目录下附软件/程序使用说明，运行说明(可能的话，附那些参数可调及具体效果的说明)二、控制器设计1. 确定模糊控制器输入输出变量本控制器设计参考中文书P54~P61中的二维控制器设计，输入为偏差E和偏差变化量ES来进行调节。

另外模糊控制器通过查表法实现。

控制表方式的模糊逻辑控制器基本结构图图2-12. 确定各输入输出变量的变化范围、量化等级和量化因子取三个语言变量的量化等级都为7级，即x, y, z, = { -3, -2, -1, 0, 1, 2, 3 }。

由于在设计控制器的时候已经把量化因子涵盖在程序中了，所以三个量化因子并没有出现在simulink当中。

初始设定误差e的论域为[-30,30]，误差变化de的论域为[-60,60]，控制输出u的论域为[-9,9]，此处的u是控制变化量。

K1=3/30=0.1, K2=3/60, K3=9/3=33. 在各输入和输出语言变量的量化域内定义模糊子集这里采用5个模糊子集，包括：PB, PS, ZE, NS, NB。

模糊子集通过隶属度函数来定义。

这里采用非线性量化以提高控制精度。

误差率de表2-24. 模糊控制规则的确定根据模糊控制规则可得出控制规则库，如下表所示。

5. 求模糊控制表通过模糊控制表，模糊控制器可以快速地通过判断输入量的等级来得出相应的输出量，从而避免了影响实时控制的复杂计算。

比如当系统无处e的量化值为假设系统误差e的量化值为1、误差变化de的量化值为-2。

则由控制规则表2-4可得出相应的隶属度值，如：对于误差e, Unb(-2)=0.5 Uns(-2)=0.5; 误差变化de, Uze(0)=1通过查表可知，对应NB和ZE的控制输出为PB；对应NS和ZE的控制输出为PS；由模糊逻辑推理可得:Upb(-2, 0)=min(0.5, 1)=0.5, 即U1’=0.5/PB;Ups(-2, 0)=min(0.5, 1)=0.5, 即U2’=0.5/PS;最终通过并运算得到输出量U’。

U’=U1’∨U2’=0.5/PB + 0.5/PS=2最后通过重心法得出U’= 1×0.5+2×0.5+3×0.50.5+0.5+0.5同理可得其他输出等级U’，如下表模糊控制表表2-5通过找到输出等级后再乘以相应的量化因子K3即可得出实际的输出量。

三、程序设计程序设计流程图3-1图3-1四、测试与仿真1. Simulink搭建2. 比例因子K3对响应曲线的影响这里PID控制器选取的P=1, I=1, D=0。

通过控制PID数值来研究比例因子K3对系统的影响。

由于这里采取的是非线性量化，所以输出将由一组分段函数构成。

(1)u={−9 (degree≤−3)4.5×degree+4.5 (−3<degree≤−2) 3×degree+1.5 (−2<degree≤−1)1.5×degree （−1<degree≤0)1.5×degree (0<degree<1)3×degree−1.5 (1≤degree<2) 4.5×degree−4,5 (2≤degree<3)9 (degree≥3)(2) u ={9×degree +9 (−3<degree ≤−2)6×degree +3 (−2<degree ≤−1)3×degree （−1<degree ≤0)3×degree (0<degree <1)6×degree −3 (1≤degree <2)9×degree −9 (2≤degree <3)18 (degree ≥3)(3) u ={−30 (degree ≤−3)15×degree +15 (−3<degree ≤−2)10×degree +5 (−2<degree ≤−1)5×degree （−1<degree ≤0)5×degree (0<degree <1)10×degree −5 (1≤degree <2)15×degree −15 (2≤degree <3)30 (degree ≥3)(4) u ={18×degree +18 (−3<degree ≤−2)12×degree +6 (−2<degree ≤−1)6×degree （−1<degree ≤0)6×degree (0<degree <1)12×degree −6 (1≤degree <2)18×degree −18 (2≤degree <3)36 (degree ≥3)(5) u ={−42 (degree ≤−3)21×degree +21 (−3<degree ≤−2)14×degree +7 (−2<degree ≤−1)7×degree （−1<degree ≤0)7×degree (0<degree <1)14×degree −7 (1≤degree <2)21×degree −21 (2≤degree <3)42 (degree ≥3)如果进一步增大量化因子K3值，响应曲线将会变得越来越不稳定。

因此最终数值K3取第(4)、(5)个分段函数比较好，响应速度快，其中t p和t s都相对于不加模糊控制器的曲线小，并且超调量也比不加模糊控制器的系统小。

五、总结这次上机编程实验主要目的是模糊控制器的实现，把理论知识转换为实际仿真运算。

由于毕竟是仿真实验，与实际操作仍不相同，在一些数值选取，比如论域、隶属度函数的确定，都是通过主观意愿而不是实际经验来操作的。

但是关键部分的运算比如模糊控制表的生成的确增强了我对模糊控制的理解。

通过仿真可以发现增加了模糊控制器的系统的确比单纯地PID 调节有着更强的控制效果，这也是学习的成果和目标之一。

由于个人较为熟悉C语言，所以这次是用s-function中的C语言来实现模糊控制器的。

以后可以是用.m文件来进行编程，以利用matlab自带的强大功能。

六、使用方法(1) 用simulink打开Artificial_Control_Design(2) 再在Matlab的Command Window中选取将要导入s-function中的.c文件所在的文件，如下图。

(这里的.c文件是fuzzy_control.c)(3) 编译fuzzy_control.c，在Command Window中输入mex fuzzy_control.c，等待编译完成(4) 双击sinmulink中的s-function模块，在s-function name中输入fuzzy_control，然后点击确定(5) 保存，并编译(6) 运行(7) 双击示波器观测波形七、代码附录/* 1st: mex fuzzy_control.c2nd: save simulink3rd: compile simulink and run*//** sfuntmpl_basic.c: Basic 'C' template for a level 2 S-function.**-------------------------------------------------------------------------* | See matlabroot/simulink/src/sfuntmpl_doc.c for a more detailed template |*-------------------------------------------------------------------------** Copyright 1990-2002 The MathWorks, Inc.* $Revision: 1.27.4.2 $*//** You must specify the S_FUNCTION_NAME as the name of your S-function * (i.e. replace sfuntmpl_basic with the name of your S-function).*/#define S_FUNCTION_NAME fuzzy_control //modified name#define S_FUNCTION_LEVEL 2/** Need to include simstruc.h for the definition of the SimStruct and * its associated macro definitions.*/#include "simstruc.h"char degree_e=0,degree_de=0;double degree_u=0,delta_u=0; //delta_u: the variable added to the controlled variabledouble fuzzy_table[7][7]={{3, 3, 2.5, 2.67, 2, -0.5, -2.67},{2.5, 2, 2, 2, 1, -0.5, -2.5},{2.6, 2.14, 0.5, 0.25, -0.22, -1.375, -2.6},{2.67, 2, 0.5, 0, -0.5, -2, -2.67},{2.6, 1.375, 0.22, -0.25, -0.5, -2.14, -2.6},{2.5, 0.5, -1, -2, -2, -2, -2.5},{2.67, 0.5, -2, -2.67, -2.5, -3, -3}};/* Error handling* --------------** You should use the following technique to report errors encountered within* an S-function:** ssSetErrorStatus(S,"Error encountered due to ...");* return;** Note that the 2nd argument to ssSetErrorStatus must be persistent memory.* It cannot be a local variable. For example the following will cause * unpredictable errors:** mdlOutputs()* {* char msg[256]; {ILLEGAL: to fix use "static charmsg[256];"}* sprintf(msg,"Error due to %s", string);* ssSetErrorStatus(S,msg);* return;* }** See matlabroot/simulink/src/sfuntmpl_doc.c for more details.*//*====================** S-function methods **====================*//* Function: mdlInitializeSizes===============================================* Abstract:* The sizes information is used by Simulink to determine the S-function * block's characteristics (number of inputs, outputs, states, etc.). */static void mdlInitializeSizes(SimStruct *S){/* See sfuntmpl_doc.c for more details on the macros below */ssSetNumSFcnParams(S, 0); /* Number of expected parameters*///MODIFIEDif (ssGetNumSFcnParams(S) != ssGetSFcnParamsCount(S)) {/* Return if number of expected != number of actual parameters */return;}ssSetNumContStates(S, 0);ssSetNumDiscStates(S, 0);if (!ssSetNumInputPorts(S, 3)) return; //modified original:1ssSetInputPortWidth(S, 0, 1); //demension of input0;ssSetInputPortRequiredContiguous(S, 0, true); /*direct input signal access*/ssSetInputPortWidth(S, 1, 1); //demension of input1;ssSetInputPortRequiredContiguous(S, 1, true); /*direct input signal access*/ssSetInputPortWidth(S, 2, 1); //demension of input2;ssSetInputPortRequiredContiguous(S, 1, true); /*direct input signal access*//** Set direct feedthrough flag (1=yes, 0=no).* A port has direct feedthrough if the input is used in either* the mdlOutputs or mdlGetTimeOfNextVarHit functions.* See matlabroot/simulink/src/sfuntmpl_directfeed.txt.*/ssSetInputPortDirectFeedThrough(S, 0, 1);ssSetInputPortDirectFeedThrough(S, 1, 1);ssSetInputPortDirectFeedThrough(S, 2, 1);if (!ssSetNumOutputPorts(S, 1)) return;ssSetOutputPortWidth(S, 0, 1);ssSetNumSampleTimes(S, 0.1); //////SAMPLE TIME!!!!!!!!!!ssSetNumRWork(S, 0);ssSetNumIWork(S, 0);ssSetNumPWork(S, 0);ssSetNumModes(S, 0);ssSetNumNonsampledZCs(S, 0);/* Specify the sim state compliance to be same as a built-in block */ssSetSimStateCompliance(S, USE_DEFAULT_SIM_STATE);ssSetOptions(S, 0);}/* Function: mdlInitializeSampleTimes=========================================* Abstract:* This function is used to specify the sample time(s) for your* S-function. You must register the same number of sample times as * specified in ssSetNumSampleTimes.*/static void mdlInitializeSampleTimes(SimStruct *S){ssSetSampleTime(S, 0, CONTINUOUS_SAMPLE_TIME);ssSetOffsetTime(S, 0, 0.0);}#define MDL_INITIALIZE_CONDITIONS /* Change to #undef to remove function */#if defined(MDL_INITIALIZE_CONDITIONS)/* Function: mdlInitializeConditions========================================* Abstract:* In this function, you should initialize the continuous and discrete * states for your S-function block. The initial states are placed * in the state vector, ssGetContStates(S) orssGetRealDiscStates(S).* You can also perform any other initialization activities that your * S-function may require. Note, this routine will be called at the * start of simulation and if it is present in an enabled subsystem * configured to reset states, it will be call when the enabled subsystem* restarts execution to reset the states.*/static void mdlInitializeConditions(SimStruct *S){}#endif/* MDL_INITIALIZE_CONDITIONS */#define MDL_START /* Change to #undef to remove function */#if defined(MDL_START)/* Function: mdlStart=======================================================* Abstract:* This function is called once at start of model execution. If you * have states that should be initialized once, this is the place * to do it.*/static void mdlStart(SimStruct *S){}#endif/* MDL_START *//* Function: mdlOutputs=======================================================* Abstract:* In this function, you compute the outputs of your S-function* block.*/static void mdlOutputs(SimStruct *S, int_T tid){//real_T *para1 = mxGetPr(ssGetSFcnParam(S,0));//real_T *para2 = mxGetPr(ssGetSFcnParam(S,1));//real_T *para3 = mxGetPr(ssGetSFcnParam(S,2));const real_T *u1 = (const real_T*) ssGetInputPortSignal(S,0);const real_T *u2 = (const real_T*) ssGetInputPortSignal(S,1);const real_T *u3 = (const real_T*) ssGetInputPortSignal(S,2);real_T *y = ssGetOutputPortSignal(S,0);/*convert the input e into the degree of control*/if(u1[0] > 0){if(u1[0] < 5) degree_e = 1;//5else {if(u1[0] < 15) degree_e = 2;//15else degree_e = 3;}}else{if(u1[0] < 0){if(u1[0] > -5) degree_e = -1;else {if(u1[0] > -15) degree_e = -2;else degree_e = -3;}}else degree_e = 0;}/*convert the input de into the degree of control*/if(u2[0] > 0){if(u2[0] < 5) degree_de = 1;//5else if(u2[0] < 20) degree_de = 2;//20else degree_de = 3;}else{if(u2[0] < 0){if(u2[0] > -5) degree_de = -1;else if(u2[0] > -20) degree_de = -2;else degree_de = -3;}else degree_de = 0;}degree_u = fuzzy_table[degree_de+3][degree_e+3];if(degree_u > 0){ //delta_u=3*degree_u;//18.15if(degree_u < 1) delta_u = 20*degree_u;//1.5 *degree_u;//6*degree_u;//7 * degree_u;//3*degree_u;//5 * degree_u; //1.5 * degree_u;else if(degree_u < 2) delta_u =40*degree_u-20;//3 * degree_u - 1.5;//12*degree_u-6;//14 * degree_u - 7;// 6*degree_u-3;//10 * degree_u - 5;//3 * degree_u - 1.5;else if (degree_u < 3) delta_u = 60*degree_u-60;//4.5 * degree_u - 4.5;//18*degree_u-18;//21 * degree_u - 21;//9*degree_u-9;//15 * degree_u - 15;//4.5 * degree_u - 4.5;else delta_u = 120;//18;//9;}else{//delta_u=degree_u*3;//18.15if(degree_u > -1) delta_u = 20 * degree_u;//7 * degree_u;//3*degree_u;// 5 * degree_u;//1.5 * degree_u;else if(degree_u > -2) delta_u = 40 * degree_u + 20;//14 * degree_u + 7;//6*degree_u+3;//10 * degree_u + 5;//3 * degree_u + 1.5;else if (degree_u > -3) delta_u = 60 * degree_u +60;//18*degree_u+18;//21 * degree_u + 21;// 9*degree_u+9;//15 * degree_u + 15;//4.5 * degree_u + 4.5;else delta_u = -120;//-42;//-18;//-9;}y[0] = u3[0] + delta_u;//+20;/*degree_e=0;degree_de=0;degree_u=0;delta_u=0;*/}#define MDL_UPDATE /* Change to #undef to remove function */#if defined(MDL_UPDATE)/* Function: mdlUpdate======================================================* Abstract:* This function is called once for every major integration time step. * Discrete states are typically updated here, but this function is useful* for performing any tasks that should only take place once per* integration step.*/static void mdlUpdate(SimStruct *S, int_T tid){}#endif/* MDL_UPDATE */#define MDL_DERIVATIVES /* Change to #undef to remove function */#if defined(MDL_DERIVATIVES)/* Function: mdlDerivatives=================================================* Abstract:* In this function, you compute the S-function block's derivatives. * The derivatives are placed in the derivative vector, ssGetdX(S). */static void mdlDerivatives(SimStruct *S){}#endif/* MDL_DERIVATIVES *//* Function: mdlTerminate=====================================================* Abstract:* In this function, you should perform any actions that are necessary * at the termination of a simulation. For example, if memory was* allocated in mdlStart, this is the place to free it.*/static void mdlTerminate(SimStruct *S){degree_e=0;degree_de=0;degree_u=0;delta_u=0;}/*======================================================** See sfuntmpl_doc.c for the optional S-function methods **======================================================*//*=============================** Required S-function trailer **=============================*/#ifdef MATLAB_MEX_FILE /* Is this file being compiled as a MEX-file? */#include "simulink.c" /* MEX-file interface mechanism */#else#include "cg_sfun.h" /* Code generation registration function */ #endif。