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IC693MDL633

IC693MDL633

IC693MDL633

IC693MDL633

模糊控制器主要由以下四部分組成：模糊化、模糊推理、清晰化和知識庫。模糊化的作用是將輸入的精確量轉(zhuǎn)換成模糊化量，并用相應(yīng)的模糊集合來表示。模糊推理是模糊控制器的核心，它具有模擬人的基于模糊概念的推理能力。該推理過程是基于模糊邏輯中的蘊涵關(guān)系及推理規(guī)則來進(jìn)行的。清晰化的作用是將模糊推理得到的控制量變換為實際用于控制的清晰量。知識庫中包含了具體應(yīng)用領(lǐng)域的知識和要求的控制目標(biāo)。它通常由數(shù)據(jù)庫和模糊控制規(guī)則庫兩部分組成。在模糊控制中，一般通過用一組語言描述的規(guī)則來表示專家的知識，專家知識通常具有如下的形式：IF(滿族一組條件)THEN(可以推出一組結(jié)論)。  當(dāng)論域為離散量時，經(jīng)過量化后的輸入量個數(shù)是有限的?？梢葬槍斎肭闆r的不同組合離線計算出相應(yīng)的控制量，從而組成一張控制表，能夠減少在線的運算量。這種模糊控制方法很容易滿足實時控制的要求。在這種模糊控制結(jié)構(gòu)中，通常用誤差e和誤差的導(dǎo)數(shù)de/dt作為模糊控制器的輸入量。如圖2所示:
三、模糊控制器的設(shè)計：  設(shè)控制系統(tǒng)的輸入為單位階躍信號r，輸出為y，誤差為e，誤差導(dǎo)數(shù)為de;被控對象的輸入為u;模糊控制器與e，de對應(yīng)的輸入分別為e1,de1，與u對應(yīng)的輸出為u1。e1,de1,u1的論域取[-6,+6]，語言值取5個，分別為“負(fù)大NB”,“負(fù)小NS”,“零ZR”,“正小PS”和“正大PB”。NB,NS,PS,PB取梯形隸屬度函數(shù)，ZR取三角形隸屬度函數(shù)。

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