www.pudn.com > mohu.rar > CHAP3_3.M

%Fuzzy Immune PID Control 
clear all; 
close all; 
 
a=newfis('fuzz_ljk'); 
 
f1=1.0; 
a=addvar(a,'input','u',[-f1*1,f1*1]);             %Parameter e 
a=addmf(a,'input',1,'NB','zmf',[-f1*1,f1*1]); 
a=addmf(a,'input',1,'PB','smf',[-f1*1,f1*1]); 
 
f2=1.0; 
a=addvar(a,'input','du',[-f2*1,f2*1]);            %Parameter ec 
a=addmf(a,'input',2,'NB','zmf',[-f2*1,f2*1]); 
a=addmf(a,'input',2,'PB','smf',[-f2*1,f2*1]); 
 
f3=1.0; 
a=addvar(a,'output','f',[-f3*1,f3*1]);            %Parameter u 
a=addmf(a,'output',1,'NB','zmf',[-f3*1,0]); 
a=addmf(a,'output',1,'Z','trimf',[-f3*1,0,f3*1]); 
a=addmf(a,'output',1,'PB','smf',[0,f3*1]); 
 
rulelist=[2 2 1 1 1;     % Edit rule base 
          2 1 2 1 1; 
          1 2 2 1 1; 
          1 1 3 1 1;]; 
           
a=addrule(a,rulelist); 
%showrule(a)             % Show fuzzy rule base 
 
a1=setfis(a,'DefuzzMethod','mom');  % Defuzzy 
writefis(a1,'ljk');      % save to fuzzy file "ljk.fis" which can be 
                         % simulated with fuzzy tool 
a2=readfis('ljk'); 
%plotfis(a2); 
 
%%%%%%%%%%%%%%%%%% Using Fuzzy Controller%%%%%%%%%%%%%%%%% 
ts=20; 
sys=tf([1],[60,1],'inputdelay',80); 
dsys=c2d(sys,ts,'zoh'); 
[num,den]=tfdata(dsys,'v'); 
 
u_1=0;u_2=0;u_3=0;u_4=0;u_5=0; 
y_1=0; 
e_1=0;e_2=0; 
for k=1:1:1000 
time(k)=k*ts; 
 
rin(k)=1.0*sign(sin(3*pi*k*0.001)); 
 
%Linear model 
yout(k)=-den(2)*y_1+num(2)*u_5; 
 
e(k)=rin(k)-yout(k); 
ec(k)=e(k)-e_1; 
 
f(k)=evalfis([u_1 u_1-u_2],a2); 
 
K=0.30; 
xite=0.80; 
Kp(k)=K*(1-xite*f(k)); 
 
u(k)=u_1+Kp(k)*((e(k)-e_1)+0.3*e(k)+0.3*(e(k)-2*e_1+e_2)); 
 
if k==500 
   u(k)=u(k)+1.0; 
end 
 
%Return of parameters 
u_5=u_4;u_4=u_3;u_3=u_2;u_2=u_1;u_1=u(k); 
y_1=yout(k); 
e_2=e_1; 
e_1=e(k); 
end 
figure(1); 
plot(time,rin,'b',time,yout,'r'); 
xlabel('time(s)');ylabel('rin,yout'); 
figure(2); 
plot(time,e,'r'); 
xlabel('time(s)');ylabel('error'); 
figure(3); 
plot(time,u,'r'); 
xlabel('time(s)');ylabel('u'); 
figure(4); 
plot(time,Kp,'r'); 
xlabel('time(s)');ylabel('Kp'); 
figure(5); 
plotmf(a,'input',1); 
figure(6); 
plotmf(a,'input',2); 
figure(7); 
plotmf(a,'output',1);