模糊pid控制温度的c语言

以下是模糊PID控制温度的C语言示例代码：

#include <stdio.h>

// 模糊 PID 控制器参数
#define Kp 1.0
#define Ki 0.5
#define Kd 0.1

// 模糊参数
#define NB 5
#define NM 7
#define NS 9
#define ZO 11
#define PS 13
#define PM 15
#define PB 17

// 模糊输入域和输出域
#define TEMP_MIN 0
#define TEMP_MAX 100
#define POWER_MIN 0
#define POWER_MAX 100

// 模糊集合函数
double fuzzySet[NB+NM+NS+1+PS+PM+PB];

// 模糊控制规则
double fuzzyRules[NB][NB+NM+NS+1+PS+PM+PB];

// 模糊PID控制器
double fuzzyPIDController(double error, double last_error, double sum_error) {
    // 计算误差的模糊值
    int nb = error < -10 ? NB : (error < -5 ? (NB+NM)/2 : (error < 0 ? (NB+NM+NS)/3 : (error < 5 ? (NB+NM+NS+ZO)/4 : (error < 10 ? (NB+NM+NS+ZO+PS)/5 : PB))));
    int nm = error < -10 ? NB : (error < -5 ? (NB+NM)/2 : (error < 0 ? (NB+NM+NS)/3 : (error < 5 ? (NB+NM+NS+ZO)/4 : (error < 10 ? (NB+NM+NS+ZO+PS)/5 : PB))));
    int ns = error < -10 ? NB : (error < -5 ? (NB+NM)/2 : (error < 0 ? (NB+NM+NS)/3 : (error < 5 ? (NB+NM+NS+ZO)/4 : (error < 10 ? (NB+NM+NS+ZO+PS)/5 : PB))));
    int zo = error < -5 ? (NB+NM)/2 : (error < 0 ? (NB+NM+NS)/3 : (error < 5 ? (NB+NM+NS+ZO)/4 : (error < 10 ? (NB+NM+NS+ZO+PS)/5 : PM)));
    int ps = error < 0 ? (NB+NM+NS+ZO)/4 : (error < 5 ? (NB+NM+NS+ZO+PS)/5 : (error < 10 ? (NB+NM+NS+ZO+PS+PM)/6 : (NB+NM+NS+ZO+PS+PM+PB)/7));
    int pm = error < 0 ? (NB+NM+NS+ZO)/4 : (error < 5 ? (NB+NM+NS+ZO+PS)/5 : (error < 10 ? (NB+NM+NS+ZO+PS+PM)/6 : (NB+NM+NS+ZO+PS+PM+PB)/7));
    int pb = error < 5 ? PM : (error < 10 ? (PM+PB)/2 : PB);
    
    // 计算误差的模糊输出
    for (int i = 0; i <= PB; i++) {
        if (i < nb) {
            fuzzySet[i] = 0;
        } else if (i < nm) {
            fuzzySet[i] = (double)(i-nb)/(nm-nb);
        } else if (i < ns) {
            fuzzySet[i] = (double)(ns-i)/(ns-nm);
        } else if (i < zo) {
            fuzzySet[i] = (double)(zo-i)/(zo-ns);
        } else if (i < ps) {
            fuzzySet[i] = (double)(i-zo)/(ps-zo);
        } else if (i < pm) {
            fuzzySet[i] = (double)(pm-i)/(pm-ps);
        } else if (i < pb) {
            fuzzySet[i] = (double)(pb-i)/(pb-pm);
        } else {
            fuzzySet[i] = 0;
        }
    }
    
    // 计算模糊控制规则
    for (int i = 0; i < NB; i++) {
        for (int j = 0; j <= PB; j++) {
            if (j < nb) {
                fuzzyRules[i][j] = 0;
            } else if (j < nm) {
                fuzzyRules[i][j] = (double)(j-nb)/(nm-nb);
            } else if (j < ns) {
                fuzzyRules[i][j] = (double)(ns-j)/(ns-nm);
            } else if (j < zo) {
                fuzzyRules[i][j] = (double)(zo-j)/(zo-ns);
            } else if (j < ps) {
                fuzzyRules[i][j] = (double)(j-zo)/(ps-zo);
            } else if (j < pm) {
                fuzzyRules[i][j] = (double)(pm-j)/(pm-ps);
            } else if (j < pb) {
                fuzzyRules[i][j] = (double)(pb-j)/(pb-pm);
            } else {
                fuzzyRules[i][j] = 0;
            }
        }
    }
    
    // 计算模糊输出
    double output = 0;
    double sum_weight = 0;
    for (int i = 0; i <= PB; i++) {
        double weight = fuzzySet[i];
        double delta_error = error - last_error;
        double power = (double)i/(PB-PM)*100;
        double control = Kp*fuzzyRules[nm][i] + Ki*fuzzyRules[ns][i] + Kd*fuzzyRules[pm][i]*(delta_error/sum_error);
        output += weight*control*power;
        sum_weight += weight;
    }
    output /= sum_weight;
    
    // 输出控制器参数
    printf("fuzzySet:");
    for (int i = 0; i <= PB; i++) {
        printf(" %.2f", fuzzySet[i]);
    }
    printf("\n");
    printf("fuzzyRules:\n");
    for (int i = 0; i < NB; i++) {
        for (int j = 0; j <= PB; j++) {
            printf("%.2f ", fuzzyRules[i][j]);
        }
        printf("\n");
    }
    
    return output;
}

int main() {
    // 模拟温度控制
    double target_temp = 50;
    double current_temp = 20;
    double last_error = 0;
    double sum_error = 0;
    while (1) {
        double error = target_temp - current_temp;
        double control_power = fuzzyPIDController(error, last_error, sum_error);
        // 更新温度
        current_temp += control_power/10;
        last_error = error;
        sum_error += error;
        // 输出温度和控制力
        printf("temp=%.2f, power=%.2f\n", current_temp, control_power);
    }
    return 0;
}

注意：以上代码仅供参考，实际应用中需要根据具体需求进行修改和优化。