给我发个模糊神经网络PID控制的代码

以下是一个简单的模糊神经网络PID控制的示例代码，仅供参考：

import numpy as np
import skfuzzy as fuzz
from skfuzzy import control as ctrl

# 创建输入和输出变量
error = ctrl.Antecedent(np.arange(-5, 5, 1), 'error')
change_error = ctrl.Antecedent(np.arange(-3, 3, 1), 'change_error')
output = ctrl.Consequent(np.arange(-5, 5, 1), 'output')

# 创建模糊集合
error['NB'] = fuzz.trimf(error.universe, [-5, -5, -2])
error['NM'] = fuzz.trimf(error.universe, [-4, -2, 0])
error['NS'] = fuzz.trimf(error.universe, [-2, 0, 2])
error['ZO'] = fuzz.trimf(error.universe, [0, 2, 4])
error['PS'] = fuzz.trimf(error.universe, [2, 0, 4])
error['PM'] = fuzz.trimf(error.universe, [2, 4, 4])
error['PB'] = fuzz.trimf(error.universe, [2, 5, 5])

change_error['NB'] = fuzz.trimf(change_error.universe, [-3, -3, -1])
change_error['NM'] = fuzz.trimf(change_error.universe, [-2, -1, 0])
change_error['NS'] = fuzz.trimf(change_error.universe, [-1, 0, 1])
change_error['ZO'] = fuzz.trimf(change_error.universe, [0, 1, 2])
change_error['PS'] = fuzz.trimf(change_error.universe, [1, 0, 3])
change_error['PM'] = fuzz.trimf(change_error.universe, [2, 3, 3])
change_error['PB'] = fuzz.trimf(change_error.universe, [3, 3, 3])

output['NB'] = fuzz.trimf(output.universe, [-5, -5, -2])
output['NM'] = fuzz.trimf(output.universe, [-4, -2, 0])
output['NS'] = fuzz.trimf(output.universe, [-2, 0, 2])
output['ZO'] = fuzz.trimf(output.universe, [0, 2, 4])
output['PS'] = fuzz.trimf(output.universe, [2, 0, 4])
output['PM'] = fuzz.trimf(output.universe, [2, 4, 4])
output['PB'] = fuzz.trimf(output.universe, [2, 5, 5])

# 创建规则
rule1 = ctrl.Rule(error['NB'] & change_error['NB'], output['NB'])
rule2 = ctrl.Rule(error['NB'] & change_error['NM'], output['NM'])
rule3 = ctrl.Rule(error['NB'] & change_error['NS'], output['NS'])
rule4 = ctrl.Rule(error['NB'] & change_error['ZO'], output['ZO'])
rule5 = ctrl.Rule(error['NB'] & change_error['PS'], output['PS'])
rule6 = ctrl.Rule(error['NB'] & change_error['PM'], output['PM'])
rule7 = ctrl.Rule(error['NB'] & change_error['PB'], output['PB'])
rule8 = ctrl.Rule(error['NM'] & change_error['NB'], output['NM'])
rule9 = ctrl.Rule(error['NM'] & change_error['NM'], output['NS'])
rule10 = ctrl.Rule(error['NM'] & change_error['NS'], output['ZO'])
rule11 = ctrl.Rule(error['NM'] & change_error['ZO'], output['PS'])
rule12 = ctrl.Rule(error['NM'] & change_error['PS'], output['PM'])
rule13 = ctrl.Rule(error['NM'] & change_error['PM'], output['PB'])
rule14 = ctrl.Rule(error['NM'] & change_error['PB'], output['PB'])
rule15 = ctrl.Rule(error['NS'] & change_error['NB'], output['NS'])
rule16 = ctrl.Rule(error['NS'] & change_error['NM'], output['ZO'])
rule17 = ctrl.Rule(error['NS'] & change_error['NS'], output['PS'])
rule18 = ctrl.Rule(error['NS'] & change_error['ZO'], output['PM'])
rule19 = ctrl.Rule(error['NS'] & change_error['PS'], output['PB'])
rule20 = ctrl.Rule(error['NS'] & change_error['PM'], output['PB'])
rule21 = ctrl.Rule(error['NS'] & change_error['PB'], output['PB'])
rule22 = ctrl.Rule(error['ZO'] & change_error['NB'], output['ZO'])
rule23 = ctrl.Rule(error['ZO'] & change_error['NM'], output['PS'])
rule24 = ctrl.Rule(error['ZO'] & change_error['NS'], output['PM'])
rule25 = ctrl.Rule(error['ZO'] & change_error['ZO'], output['PB'])
rule26 = ctrl.Rule(error['ZO'] & change_error['PS'], output['PB'])
rule27 = ctrl.Rule(error['ZO'] & change_error['PM'], output['PB'])
rule28 = ctrl.Rule(error['ZO'] & change_error['PB'], output['PB'])
rule29 = ctrl.Rule(error['PS'] & change_error['NB'], output['PS'])
rule30 = ctrl.Rule(error['PS'] & change_error['NM'], output['PM'])
rule31 = ctrl.Rule(error['PS'] & change_error['NS'], output['PB'])
rule32 = ctrl.Rule(error['PS'] & change_error['ZO'], output['PB'])
rule33 = ctrl.Rule(error['PS'] & change_error['PS'], output['PB'])
rule34 = ctrl.Rule(error['PS'] & change_error['PM'], output['PB'])
rule35 = ctrl.Rule(error['PS'] & change_error['PB'], output['PB'])
rule36 = ctrl.Rule(error['PM'] & change_error['NB'], output['PM'])
rule37 = ctrl.Rule(error['PM'] & change_error['NM'], output['PB'])
rule38 = ctrl.Rule(error['PM'] & change_error['NS'], output['PB'])
rule39 = ctrl.Rule(error['PM'] & change_error['ZO'], output['PB'])
rule40 = ctrl.Rule(error['PM'] & change_error['PS'], output['PB'])
rule41 = ctrl.Rule(error['PM'] & change_error['PM'], output['PB'])
rule42 = ctrl.Rule(error['PM'] & change_error['PB'], output['PB'])
rule43 = ctrl.Rule(error['PB'] & change_error['NB'], output['PB'])
rule44 = ctrl.Rule(error['PB'] & change_error['NM'], output['PB'])
rule45 = ctrl.Rule(error['PB'] & change_error['NS'], output['PB'])
rule46 = ctrl.Rule(error['PB'] & change_error['ZO'], output['PB'])
rule47 = ctrl.Rule(error['PB'] & change_error['PS'], output['PB'])
rule48 = ctrl.Rule(error['PB'] & change_error['PM'], output['PB'])
rule49 = ctrl.Rule(error['PB'] & change_error['PB'], output['PB'])

# 创建控制器
system = ctrl.ControlSystem([
    rule1, rule2, rule3, rule4, rule5, rule6, rule7,
    rule8, rule9, rule10, rule11, rule12, rule13, rule14,
    rule15, rule16, rule17, rule18, rule19, rule20, rule21,
    rule22, rule23, rule24, rule25, rule26, rule27, rule28,
    rule29, rule30, rule31, rule32, rule33, rule34, rule35,
    rule36, rule37, rule38, rule39, rule40, rule41, rule42,
    rule43, rule44, rule45, rule46, rule47, rule48, rule49
])

pid = ctrl.ControlSystemSimulation(system)

# 设置输入
pid.input['error'] = 2
pid.input['change_error'] = 1

# 计算输出
pid.compute()

# 输出结果
print(pid.output['output'])

请注意，这仅是一个简单的示例代码。在实际应用中，您需要根据具体的问题调整变量的范围、模糊集合和规则，以及调整模糊控制器的参数。