用博图SCL语言写模糊PID算法

以下是用博图SCL语言写的模糊PID算法的示例代码：

FUNCTION_BLOCK Fuzzy_PID
VAR_INPUT
    PV : REAL; // 过程量值
    SP : REAL; // 设定量值
END_VAR
VAR_OUTPUT
    MV : REAL; // 控制量值
END_VAR
VAR
    // 模糊控制器输入变量
    e : REAL; // 误差
    ec : REAL; // 误差变化率
    // 模糊控制器输出变量
    u : REAL; // 模糊控制器输出
    // PID控制器参数
    Kp : REAL := 1.0; // 比例系数
    Ki : REAL := 0.0; // 积分系数
    Kd : REAL := 0.0; // 微分系数
    // PID控制器状态变量
    e_prev : REAL := 0.0; // 上一次误差
    e_int : REAL := 0.0; // 误差积分
END_VAR

// 模糊控制器输入变量的模糊集定义
FUZZIFY E
    TERM NB := (SP - PV) / (SP - 0.8 * PV); // 负大
    TERM NM := (SP - PV) / (SP - 0.6 * PV); // 负中
    TERM NS := (SP - PV) / (SP - 0.4 * PV); // 负小
    TERM ZO := (SP - PV) / (SP + 0.4 * PV); // 零
    TERM PS := (SP - PV) / (SP + 0.6 * PV); // 正小
    TERM PM := (SP - PV) / (SP + 0.8 * PV); // 正中
    TERM PB := (SP - PV) / PV; // 正大
END_FUZZIFY

// 模糊控制器输入变量的模糊集定义
FUZZIFY EC
    TERM NB := -1.0; // 负大
    TERM NM := -0.6; // 负中
    TERM NS := -0.2; // 负小
    TERM ZO := 0.0; // 零
    TERM PS := 0.2; // 正小
    TERM PM := 0.6; // 正中
    TERM PB := 1.0; // 正大
END_FUZZIFY

// 模糊控制器输出变量的模糊集定义
DEFUZZIFY U
    TERM NB := -1.0; // 负大
    TERM NM := -0.5; // 负中
    TERM NS := -0.2; // 负小
    TERM ZO := 0.0; // 零
    TERM PS := 0.2; // 正小
    TERM PM := 0.5; // 正中
    TERM PB := 1.0; // 正大
METHOD : COG; // 采用中心重心法
DEFAULT := (SP - PV) / SP; // 默认输出值
END_DEFUZZIFY

// 模糊规则
RULEBLOCK Fuzzy_PID_Rules
    AND : MIN; // 采用最小值原则
    ACT : MIN; // 采用最小值原则
    ACCU : MAX; // 采用最大值原则
    RULE 1 : IF E IS NB AND EC IS NB THEN U IS NB;
    RULE 2 : IF E IS NB AND EC IS NM THEN U IS NB;
    RULE 3 : IF E IS NB AND EC IS NS THEN U IS NM;
    RULE 4 : IF E IS NB AND EC IS ZO THEN U IS NS;
    RULE 5 : IF E IS NB AND EC IS PS THEN U IS ZO;
    RULE 6 : IF E IS NB AND EC IS PM THEN U IS PS;
    RULE 7 : IF E IS NB AND EC IS PB THEN U IS PM;
    RULE 8 : IF E IS NM AND EC IS NB THEN U IS NB;
    RULE 9 : IF E IS NM AND EC IS NM THEN U IS NM;
    RULE 10: IF E IS NM AND EC IS NS THEN U IS NS;
    RULE 11: IF E IS NM AND EC IS ZO THEN U IS ZO;
    RULE 12: IF E IS NM AND EC IS PS THEN U IS PS;
    RULE 13: IF E IS NM AND EC IS PM THEN U IS PM;
    RULE 14: IF E IS NM AND EC IS PB THEN U IS PB;
    RULE 15: IF E IS NS AND EC IS NB THEN U IS NB;
    RULE 16: IF E IS NS AND EC IS NM THEN U IS NS;
    RULE 17: IF E IS NS AND EC IS NS THEN U IS ZO;
    RULE 18: IF E IS NS AND EC IS ZO THEN U IS PS;
    RULE 19: IF E IS NS AND EC IS PS THEN U IS PM;
    RULE 20: IF E IS NS AND EC IS PM THEN U IS PB;
    RULE 21: IF E IS NS AND EC IS PB THEN U IS PB;
    RULE 22: IF E IS ZO AND EC IS NB THEN U IS NM;
    RULE 23: IF E IS ZO AND EC IS NM THEN U IS NS;
    RULE 24: IF E IS ZO AND EC IS NS THEN U IS ZO;
    RULE 25: IF E IS ZO AND EC IS ZO THEN U IS ZO;
    RULE 26: IF E IS ZO AND EC IS PS THEN U IS ZO;
    RULE 27: IF E IS ZO AND EC IS PM THEN U IS PS;
    RULE 28: IF E IS ZO AND EC IS PB THEN U IS PM;
    RULE 29: IF E IS PS AND EC IS NB THEN U IS ZO;
    RULE 30: IF E IS PS AND EC IS NM THEN U IS PS;
    RULE 31: IF E IS PS AND EC IS NS THEN U IS PM;
    RULE 32: IF E IS PS AND EC IS ZO THEN U IS PM;
    RULE 33: IF E IS PS AND EC IS PS THEN U IS PB;
    RULE 34: IF E IS PS AND EC IS PM THEN U IS PB;
    RULE 35: IF E IS PS AND EC IS PB THEN U IS PB;
    RULE 36: IF E IS PM AND EC IS NB THEN U IS NS;
    RULE 37: IF E IS PM AND EC IS NM THEN U IS ZO;
    RULE 38: IF E IS PM AND EC IS NS THEN U IS PS;
    RULE 39: IF E IS PM AND EC IS ZO THEN U IS PM;
    RULE 40: IF E IS PM AND EC IS PS THEN U IS PB;
    RULE 41: IF E IS PM AND EC IS PM THEN U IS PB;
    RULE 42: IF E IS PM AND EC IS PB THEN U IS PB;
    RULE 43: IF E IS PB AND EC IS NB THEN U IS ZO;
    RULE 44: IF E IS PB AND EC IS NM THEN U IS PS;
    RULE 45: IF E IS PB AND EC IS NS THEN U IS PM;
    RULE 46: IF E IS PB AND EC IS ZO THEN U IS PM;
    RULE 47: IF E IS PB AND EC IS PS THEN U IS PB;
    RULE 48: IF E IS PB AND EC IS PM THEN U IS PB;
    RULE 49: IF E IS PB AND EC IS PB THEN U IS PB;
END_RULEBLOCK

// 模糊PID控制器主程序
MV := Kp * (SP - PV) + Ki * e_int + Kd * (e - e_prev);
e_prev := e;
e := SP - PV;
ec := e - e_prev;
Fuzzy_PID_Rules(e, ec, u);
e_int := e_int + e;
MV := MV + u;

在这个示例代码中，我们定义了一个名为Fuzzy_PID的函数块，在其中实现了模糊PID控制器的逻辑。该函数块的输入变量为过程量值PV和设定量值SP，输出变量为控制量值MV。在函数块内部，我们定义了模糊控制器的输入变量e和ec，以及输出变量u。我们还定义了PID控制器的比例系数Kp、积分系数Ki和微分系数Kd，以及状态变量e_prev、e_int。在FUZZIFY和DEFUZZIFY中，我们分别定义了模糊控制器输入、输出变量的模糊集，并通过RULEBLOCK定义了模糊规则。最后，在主程序中，我们通过模糊PID控制器计算出控制量值MV，并将其输出。