1、3.1 3.1 编程语言简介编程语言简介13.2 3.2 控制算法控制算法2 思考题思考题31 3.2.1 3.2.1 PID PID控制算法控制算法2 3.2.2 3.2.2 模糊控制算法模糊控制算法3 3.2.3 3.2.3 其它智能其它智能 控制算法控制算法()r t()y t()e t()()()e tr ty tPD0I1d()()()()ddte tu tKe te ttTTtPKITDTp0()()u tK e tu0up00i1()()()dtu tKe te ttuTiTpd0i1d()()()()ddte tu tKe te ttTTtdpdd()de tuK Ttpdi(
2、)11()U sKT sE sTspd0i1d()()()()ddte tu tKe te ttTTtpKiTdT()u t()e t()y t00()d()ktje ttTe jd()()(1)de te ke ktT0,1,2,k dpi0()()()()(1)kjTTu kKe ke je ke kTT()u kd()/de tt()u k1dpi0(1)(1)()(1)(2)kjTTu kKe ke je ke kTTdpipid()()(1)()()2(1)(2)()(1)()()2(1)(2)TTu kKe ke ke ke ke ke kTTK e ke kK e kK e ke
3、 ke kpKiKipi/KK T TdKdpd/KK TT()(1)()u ku ku k 012()()(1)(2)u kq e kq e kq e kd0pi1TTqKTTd1p21TqKT d2pTqKT()u k(1)u k()u k(1)e k(2)e k(1)u k 图图3.73.7 模糊控制基本结构图模糊控制基本结构图,1,0,1,nnnn22nabyxba6,5,4,3,2,1,0,1,2,3,4,5,67,6,5,4,3,2,1,0,1,2,3,4,5,6,7BARREECRABABR(,)min(),()x yxxRAB123451.00.80.50.20.0aaaaaA
4、12340.71.00.60.0bbbbBiaibi1.00.71.01.01.00.61.00.00.80.70.81.00.80.60.80.00.50.70.51.00.50.60.50.00.20.70.21.00.20.60.20.00.00.70.01.00.00.60.00.0RAB0.71.00.60.00.70.80.60.0 0.50.50.50.00.20.20.20.00.00.00.00.0123450.40.71.00.60.0aaaaaABT0.40.71.00.60.00.70.70.80.60.01.00.50.50.50.00.60.20.20.20.00.
5、00.00.00.00.0(0.40.7)(0.70.7)(1.00.5)(0.60.2)(0.00.0),(0.41.0)(0.70.8(1.00.5)BAR(0.60.2)(0.00.0),(0.40.6)(0.70.6)(1.00.5)(0.60.2)(0.00.0),(0.40.0)(0.70.0)(1.00.0)(0.60.0)(0.00.0)(0.4 0.7 0.5 0.2 0.0),(0.4 0.7 0.5 0.2 0.0),(0.4 0.6 0.5 0.2 0.0),(0.0 0.0 0.0 0.0 0.0)(0.7,0.7,0.6,0.0)12340.70.70.60.0bbbbB12,n RRRRiR1,2,in121nniiRRRRR。0.10.40.71.00.70.3234567 U5U 11()()niiiniiuuUu0.10.81.00.80.123456 U20.130.84 1.050.860.140.10.81.00.80.1U EUuUu,1,0,1,nnnn22abbauUn,uuayby uyuUn3U 3/7uuy
