转矩的模糊控制Matlab程序

以下是一个简单的模糊控制的Matlab程序示例，用于控制一个转矩系统：

% 模糊转矩控制示例

% 定义输入和输出变量
theta = 0:0.1:10;  % 角度
dtheta = 0:0.1:10; % 角速度
T = -10:0.1:10;    % 转矩

% 定义模糊集合
theta_N = trimf(theta, [0 0 5]);
theta_Z = trimf(theta, [1 5 9]);
theta_P = trimf(theta, [5 10 10]);

dtheta_N = trimf(dtheta, [0 0 5]);
dtheta_Z = trimf(dtheta, [1 5 9]);
dtheta_P = trimf(dtheta, [5 10 10]);

T_N = trimf(T, [-10 -10 -5]);
T_Z = trimf(T, [-5 0 5]);
T_P = trimf(T, [5 10 10]);

% 绘制模糊集合图
figure(1);
subplot(3,1,1); plot(theta,theta_N,theta,theta_Z,theta,theta_P); title('Theta');
subplot(3,1,2); plot(dtheta,dtheta_N,dtheta,dtheta_Z,dtheta,dtheta_P); title('dTheta');
subplot(3,1,3); plot(T,T_N,T,T_Z,T,T_P); title('T');

% 定义模糊规则
rule1 = min(theta_N, dtheta_N);
rule2 = min(theta_Z, dtheta_N);
rule3 = min(theta_P, dtheta_N);
rule4 = min(theta_N, dtheta_Z);
rule5 = min(theta_Z, dtheta_Z);
rule6 = min(theta_P, dtheta_Z);
rule7 = min(theta_N, dtheta_P);
rule8 = min(theta_Z, dtheta_P);
rule9 = min(theta_P, dtheta_P);

% 绘制规则图
figure(2);
subplot(3,3,1); plot(T,rule1); title('R1');
subplot(3,3,2); plot(T,rule2); title('R2');
subplot(3,3,3); plot(T,rule3); title('R3');
subplot(3,3,4); plot(T,rule4); title('R4');
subplot(3,3,5); plot(T,rule5); title('R5');
subplot(3,3,6); plot(T,rule6); title('R6');
subplot(3,3,7); plot(T,rule7); title('R7');
subplot(3,3,8); plot(T,rule8); title('R8');
subplot(3,3,9); plot(T,rule9); title('R9');

% 定义输出变量
out_N = max(min(T_N, rule1), min(T_Z, rule4));
out_Z = max(min(T_N, rule2), max(min(T_Z, rule5), min(T_P, rule8)));
out_P = max(min(T_Z, rule6), min(T_P, rule9));

% 绘制输出变量图
figure(3);
subplot(3,1,1); plot(T,out_N); title('Out_N');
subplot(3,1,2); plot(T,out_Z); title('Out_Z');
subplot(3,1,3); plot(T,out_P); title('Out_P');

% 定义模糊输出
fuzzy_out = max(max(out_N), max(out_Z), max(out_P));

% 绘制模糊输出图
figure(4);
plot(T,fuzzy_out); title('Fuzzy Output');

% 计算模糊输出的解模糊值
defuzzified_out = centroid(T, fuzzy_out);

% 输出解模糊值
fprintf('Defuzzified Output: %f\n', defuzzified_out);

这个程序定义了输入变量 $\theta$（角度）和 $\dot{\theta}$（角速度），以及输出变量 $T$（转矩）。然后，模糊集合和规则被定义，并绘制出来。最后，模糊输出被计算并解模糊化得到一个确定的输出值。