基于matlab的倒立擺模糊控制_課程設(shè)計(jì)報(bào)告-文庫吧資料
2024-09-03 15:22本頁面
【正文】 1) ? 3. If (in1 is in1mf1) and (in2 is in2mf1) and (in3 is in3mf2) and (in4 is in4mf1) then (out is mf3) (1) ? 4. If (in1 is in1mf1) and (in2 is in2mf1) and (in3 is in3mf2) and (in4 is in4mf2) then (out is mf4) (1) ? 5. If (in1 is in1mf1) and (in2 is in2mf2) and (in3 is in3mf1) and (in4 is in4mf1) then (out is mf5) (1) ? 6. If (in1 is in1mf1) and (in2 is in2mf2) and (in3 is in3mf1) and (in4 is in4mf2) then (out is mf6) (1) ? 7. If (in1 is in1mf1) and (in2 is in2mf2) and (in3 is in3mf2) and (in4 is in4mf1) then (out is mf7) (1) ? 8. If (in1 is in1mf1) and (in2 is in2mf2) and (in3 is in3mf2) and 基于 MATLAB 的倒立擺模糊控制 caymi 第 12 頁 共 24 頁 (in4 is in4mf2) then (out is mf8) (1) ? 9. If (in1 is in1mf2) and (in2 is in2mf1) and (in3 is in3mf1) and (in4 is in4mf1) then (out is mf9) (1) ? 10. If (in1 is in1mf2) and (in2 is in2mf1) and (in3 is in3mf1) and (in4 is in4mf2) then (out is mf10) (1) ? 11. If (in1 is in1mf2) and (in2 is in2mf1) and (in3 is in3mf2) and (in4 is in4mf1) then (out is mf11) (1) ? 12. If (in1 is in1mf2) and (in2 is in2mf1) and (in3 is in3mf2) and (in4 is in4mf2) then (out is mf12) (1) ? 13. If (in1 is in1mf2) and (in2 is in2mf2) and (in3 is in3mf1) and (in4 is in4mf1) then (out is mf13) (1) ? 14. If (in1 is in1mf2) and (in2 is in2mf2) and (in3 is in3mf1) and (in4 is in4mf2) then (out is mf14) (1) ? 15. If (in1 is in1mf2) and (in2 is in2mf2) and (in3 is in3mf2) and (in4 is in4mf1) then (out is mf15) (1) ? 16. If (in1 is in1mf2) and (in2 is in2mf2) and (in3 is in3mf2) and (in4 is in4mf2) then (out is mf16) (1) 其中， in1mf1 和 in1mf2 表示角 θ 是 “大 ”和 “小 ”， in2mf1 和 in2mf2表示角速度??是 “快 ”和 “慢 ”， in3mf1 和 in3mf2 表示 位移x的 “遠(yuǎn) ”和“近 ”、 in4mf1 和 in4mf2 表示 速度?x是 “快 ”和 “慢 ”。 確定擺角θ的論域 [ ， ]，將其劃分為兩個(gè)語言變量“大”和“小”，隸屬 度函數(shù)如圖 ； 擺角角速度??的論域 [1 ,1]，劃分兩個(gè)語言變量為“快”和“慢”；隸屬 度函數(shù)如圖 ； 小車位移x的論域 [3， 3]，劃分兩個(gè)語言變量為“遠(yuǎn)”和“近”；隸屬 度函數(shù)如圖 ； 速度?x的論域 [3， 3]，劃分兩個(gè)語言變量為“快”和“慢”；隸屬 度函數(shù)如圖 ；輸出變量的論域?yàn)?[ 10， 10]，如圖 。所以分別在四個(gè)輸入變量的空間建立相應(yīng)的隸屬度函數(shù)。MaMaFmaGmF xxx???? ? ? ? ?? ? ? ?13cossinsin22222222?????? ??????????????dtddtdmldtxdmMldtdmdtxdmM????? 規(guī)定逆時(shí)針方向的力矩為正，以擺與小車的連接 點(diǎn)為原點(diǎn)，列出擺的力矩
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