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Сумский государственный университет

Предмет:

Микроконтроллеры ЭВМ

Файл:

Advanced control engineering (S.R. Burns, 2001)

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M
$

$
$ $

$
$


$	#
	#	#


	#
$	#	#
$

µ(u) 1.0

0.8

0.6

0.4

	NM		NS
0.2
–9	–6	–3	0	3
			Control Signal (u)

θ,4,5

F(t)

x, x, 1

6 9



$	$
$	$	$ $

$ #

$ $ $

$ $

# # # # $

$

µ(θ)				µ(4)
1.0				1.0
NB	Z	PB		NB	Z	PB
–0.1	0	0.1	θ	–0.5	0	0.5	4
µ(x)				µ(x)
1.0				1.0
NB	Z	PB		NB	Z	PB
–1.0	0	1.0	x	–1.0	0	1.0	x
µ(F )
1.0
NB	Z	PB

–100

100

	0.12
	0.1
	11 Rule Set	22 Rule Set
	0.08
(rad)	0.06
(rad)	0.04
angle	0.02
Pendulum	0
	0

–0.02

Pole

placement

–0.04

–0.06

–0.08

–0.1

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

Time (s)

(a)

0.3

Pendulum angular rate (rad/s)

0.2

Pole placement

0.1

–0.1

11 Rule Set

–0.2

22 Rule Set

–0.3

–0.4

–0.5

–0.6

–0.7

0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

Time (s)

(b)

Trolley displacement (m/s)

Trolley velocity (m/s)

0.8

0.6

0.4

0.2

–0.2

1.2

0.8

0.6

0.4

0.2

–0.2

–0.4

–0.6

22 Rule Set

11 Rule Set

Pole placement

0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

Time (s)

(c)

Pole

placement	22 Rule Set
placement
	11 Rule Set

0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2

Time (s)

(d)

	35
	30
(N)	25
(N)				11 Rule Set
trolley	20			11 Rule Set
	20
to	15


					Pole
force					Pole
force	10				placement			22 Rule Set
					placement			22 Rule Set
Applied

	5
	5
	0
	0	0.2	0.4	0.6	0.8	1	1.2	1.4	1.6	1.8	2
	–5

–10

Time (s)

(e)

Force 0

(N)

–20

–40

–60 0.5

		0.1
0		0.05
0		0
		0
4 (rad/s)	–0.05	θ (rad)
–0.5	–0.1

	Performance
	Index Table
	Rule Generation
	and Modification
	Data	Rule
	Base	Base
r(t)+	e(t)	Fuzzy	u(t)	c(t)
	Fuzzification	Fuzzy	Defuzzification	Plant
	Fuzzification		Defuzzification	Plant
–	Inference
–
	Measurement
	System

	e
ce	NB	NM	NS	Z	PS	PM	PB
ce
NB	–50	–40	–30	–20	–10	0	10
NM	–42	–32	–22	–12	–2	8	18
NS	–36	–26	–16	–6	4	14	24
Z	–30	–20	–10	0	10	20	30
PS	–24	–14	–4	6	16	26	36
PM	–18	–8	2	12	22	32	42
PB	–10	0	10	20	30	40	50

$ #

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