模糊控制倒立摆源代码及课件

运用模糊控制方法实现一级倒立摆稳定。里面有相应的源程序代码及其课件，简单易懂。

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 倒立摆平衡控制问题
% 模糊控制器（S函数）
% 2009/06
% 栗丽英（20081135）
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
function[sysx0strts]=spacemodel（txuflag）
switch flag
    case 0
        [sysx0strts]=mdlInitializeSizes;
        case 3
    sys=mdlOutputs（txu）;
    case {249}
    sys=[];
    otherwise
    error（[‘Unhandled flag=‘num2str（flag）]）;
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

function[sysx0strts]=mdlInitializeSizes
sizes=simsizes;
% 连续状态个数
sizes.NumContStates  =0;
% 离散状态个数
sizes.NumDiscStates  =0;
% 输出值个数
sizes.NumOutputs     =1;
% 输入值个数
sizes.NumInputs      =2;
sizes.DirFeedthrough =1;
% 采样时间
sizes.NumSampleTimes =1;
sys=simsizes（sizes）;
x0=[];
str=[];
ts=[0 0];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

function sys=mdlOutputs（txu）
x=[u（1）;u（2）];
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%load K_file;%
K1=[357.4135   45.3333];
K2=[341.4135   45.3333];
K3=[662.5861  102.6667];
K4=[680.4563  109.5949];
K5=[680.4563  95.7385];

ut1=K1*x;
ut2=K2*x;
ut3=K3*x;
ut4=K4*x;
ut5=K5*x;
% 辅初始值
h40=0;
h41=0;
h30=0;
h31=0; 
h40=0;
h41=0;
h50=0;
h51=0;
h10=0;
h11=0;
h20=0;
h21=0;

L1=-pi/2;
L2=pi/2;
L=L2-L1;

N=2;
for i=1:N+1
    e（i）=（L1+L/N*（i-1））;
end
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% 定义模糊规则
h10=trimf（u（1）[e（1）e（2）e（3）]）;   %The middle
h11=trimf（u（2）[e（1）e（2）e（3）]）;   %The middle

if     x（1）<0  x（2）>0
   h50=trimf（x（1）[e（1）e（1）e（2）]）;   %The last
    h51=trimf（x（2）[e（2）e（2）e（3）]）;   %The last
elseif  x（1）>0  x（2）<0
    h50=trimf（x（1）[e（2）e（2）e（3）]）;
    h51=trimf（x（1）[e（1）e（1）e（2）]）;
end
if   x（1）>0  x（2）>0  
    h40=trimf（x（1）[e（2）e（3）e（3）]）;   %The last
    h41=trimf（x（2）[e（2）e（3）e（3）]）;   %The last
    elseif  x（1）<0   x（2）<0
        h40=trimf（x（1）[e（1）e（1）e（2）]）;   %The last
    h41=trimf（x（2）[e（1）e（1）e（2）]）;   %The last
end

if  x（1）>0   x（2）=0 
    h30=trimf（x（1）[e（2）e（3）e（3）]）;   %The last
    h31=trimf（x（2）[e（1）e（2）e（3）]）;   %The last
    elseif  x（1）<0  x（2）=0
        h30=trimf（x（1）[e（1）e（1）e（2）]）;   %The last
    h31=trimf（x（2）[e（1）e（2）e（3）]）;   %The last
end

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%h1+h2
ut=h10*h11*ut1+h30*h31*ut3+h40*h41*ut4+h50*h51*ut5;

%ut=ut1+ut2+ut3+ut4+ut5
%ut=ut1*5/13+ut2*2/13+ut3*2/13+ut4*2/13+ut5*2/13
sys（1）=8*ut;

 属性            大小     日期    时间   名称
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     文件      10280  2009-06-15 13:11  6.倒立摆\chap4_10sim.mdl

     文件       2793  2009-06-28 21:49  6.倒立摆\Control.m

     文件      17427  2009-06-29 16:05  6.倒立摆\daolibai.mdl

     文件       1426  2009-06-28 21:50  6.倒立摆\Plant.m

    ..A.SH.      5120  2009-06-29 18:29  6.倒立摆\Thumbs.db

     文件     254464  2009-06-29 19:17  6.倒立摆\倒立摆.ppt

     目录          0  2009-08-20 12:33  6.倒立摆

----------- ---------  ---------- -----  ----

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