帮我写一个模糊pid代码
时间: 2023-08-20 20:12:52 浏览: 53
好的,以下是一个简单的模糊PID控制器的代码示例,你可以根据自己的实际需求进行修改和优化:
```python
# 导入模糊控制库
import skfuzzy as fuzz
# 初始化模糊控制器
def fuzzy_PID_controller():
# 设置输入变量
error = ctrl.Antecedent(np.arange(-10, 11, 1), 'error')
error_dot = ctrl.Antecedent(np.arange(-10, 11, 1), 'error_dot')
# 设置输出变量
output = ctrl.Consequent(np.arange(-10, 11, 1), 'output')
# 设置输入变量的模糊集合和隶属度函数
error['NB'] = fuzz.trapmf(error.universe, [-10, -10, -5, -3])
error['NM'] = fuzz.trimf(error.universe, [-5, -3, 0])
error['NS'] = fuzz.trimf(error.universe, [-3, 0, 3])
error['Z'] = fuzz.trimf(error.universe, [0, 3, 5])
error['PS'] = fuzz.trimf(error.universe, [3, 5, 10])
error['PM'] = fuzz.trimf(error.universe, [0, 3, 5])
error['PB'] = fuzz.trapmf(error.universe, [3, 5, 10, 10])
error_dot['NB'] = fuzz.trapmf(error_dot.universe, [-10, -10, -5, -3])
error_dot['NM'] = fuzz.trimf(error_dot.universe, [-5, -3, 0])
error_dot['NS'] = fuzz.trimf(error_dot.universe, [-3, 0, 3])
error_dot['Z'] = fuzz.trimf(error_dot.universe, [0, 3, 5])
error_dot['PS'] = fuzz.trimf(error_dot.universe, [3, 5, 10])
error_dot['PM'] = fuzz.trimf(error_dot.universe, [0, 3, 5])
error_dot['PB'] = fuzz.trapmf(error_dot.universe, [3, 5, 10, 10])
# 设置输出变量的模糊集合和隶属度函数
output['NB'] = fuzz.trapmf(output.universe, [-10, -10, -5, -3])
output['NM'] = fuzz.trimf(output.universe, [-5, -3, 0])
output['NS'] = fuzz.trimf(output.universe, [-3, 0, 3])
output['Z'] = fuzz.trimf(output.universe, [0, 3, 5])
output['PS'] = fuzz.trimf(output.universe, [3, 5, 10])
output['PM'] = fuzz.trimf(output.universe, [0, 3, 5])
output['PB'] = fuzz.trapmf(output.universe, [3, 5, 10, 10])
# 设置规则库
rule1 = ctrl.Rule(error['NB'] & error_dot['NB'], output['NB'])
rule2 = ctrl.Rule(error['NB'] & error_dot['NM'], output['NM'])
rule3 = ctrl.Rule(error['NB'] & error_dot['NS'], output['NS'])
rule4 = ctrl.Rule(error['NB'] & error_dot['Z'], output['NS'])
rule5 = ctrl.Rule(error['NB'] & error_dot['PS'], output['Z'])
rule6 = ctrl.Rule(error['NB'] & error_dot['PM'], output['PS'])
rule7 = ctrl.Rule(error['NB'] & error_dot['PB'], output['PB'])
rule8 = ctrl.Rule(error['NM'] & error_dot['NB'], output['NM'])
rule9 = ctrl.Rule(error['NM'] & error_dot['NM'], output['NS'])
rule10 = ctrl.Rule(error['NM'] & error_dot['NS'], output['Z'])
rule11 = ctrl.Rule(error['NM'] & error_dot['Z'], output['PS'])
rule12 = ctrl.Rule(error['NM'] & error_dot['PS'], output['PM'])
rule13 = ctrl.Rule(error['NM'] & error_dot['PM'], output['PB'])
rule14 = ctrl.Rule(error['NM'] & error_dot['PB'], output['PB'])
rule15 = ctrl.Rule(error['NS'] & error_dot['NB'], output['NS'])
rule16 = ctrl.Rule(error['NS'] & error_dot['NM'], output['Z'])
rule17 = ctrl.Rule(error['NS'] & error_dot['NS'], output['PS'])
rule18 = ctrl.Rule(error['NS'] & error_dot['Z'], output['PM'])
rule19 = ctrl.Rule(error['NS'] & error_dot['PS'], output['PB'])
rule20 = ctrl.Rule(error['NS'] & error_dot['PM'], output['PB'])
rule21 = ctrl.Rule(error['NS'] & error_dot['PB'], output['PB'])
rule22 = ctrl.Rule(error['Z'] & error_dot['NB'], output['NS'])
rule23 = ctrl.Rule(error['Z'] & error_dot['NM'], output['PS'])
rule24 = ctrl.Rule(error['Z'] & error_dot['NS'], output['PM'])
rule25 = ctrl.Rule(error['Z'] & error_dot['Z'], output['Z'])
rule26 = ctrl.Rule(error['Z'] & error_dot['PS'], output['NM'])
rule27 = ctrl.Rule(error['Z'] & error_dot['PM'], output['NS'])
rule28 = ctrl.Rule(error['Z'] & error_dot['PB'], output['NS'])
rule29 = ctrl.Rule(error['PS'] & error_dot['NB'], output['Z'])
rule30 = ctrl.Rule(error['PS'] & error_dot['NM'], output['PM'])
rule31 = ctrl.Rule(error['PS'] & error_dot['NS'], output['PB'])
rule32 = ctrl.Rule(error['PS'] & error_dot['Z'], output['NS'])
rule33 = ctrl.Rule(error['PS'] & error_dot['PS'], output['NS'])
rule34 = ctrl.Rule(error['PS'] & error_dot['PM'], output['Z'])
rule35 = ctrl.Rule(error['PS'] & error_dot['PB'], output['NM'])
rule36 = ctrl.Rule(error['PM'] & error_dot['NB'], output['PS'])
rule37 = ctrl.Rule(error['PM'] & error_dot['NM'], output['PB'])
rule38 = ctrl.Rule(error['PM'] & error_dot['NS'], output['PB'])
rule39 = ctrl.Rule(error['PM'] & error_dot['Z'], output['NS'])
rule40 = ctrl.Rule(error['PM'] & error_dot['PS'], output['Z'])
rule41 = ctrl.Rule(error['PM'] & error_dot['PM'], output['NM'])
rule42 = ctrl.Rule(error['PM'] & error_dot['PB'], output['NS'])
rule43 = ctrl.Rule(error['PB'] & error_dot['NB'], output['PB'])
rule44 = ctrl.Rule(error['PB'] & error_dot['NM'], output['PB'])
rule45 = ctrl.Rule(error['PB'] & error_dot['NS'], output['PB'])
rule46 = ctrl.Rule(error['PB'] & error_dot['Z'], output['NS'])
rule47 = ctrl.Rule(error['PB'] & error_dot['PS'], output['NS'])
rule48 = ctrl.Rule(error['PB'] & error_dot['PM'], output['NS'])
rule49 = ctrl.Rule(error['PB'] & error_dot['PB'], output['NS'])
# 设置控制系统
ctrl_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])
# 返回模糊控制器
return ctrl.ControlSystemSimulation(ctrl_system)
```
这是一个简单的模糊控制器,其中使用了模糊变量以及隶属度函数来模拟控制变量的状态,通过上述代码,你可以根据自己的需求进行修改和优化。