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:2002-09-1320920039:1006-9348(2003)09-0101-03MATLAB,,(,310032):MATLAB,M,,,,:;;:TP273+.4:B1Mamdani1974,,(,),,,,,,,MATLAB,MATLAB,M,,212.1[1],,,NelderMead,,,NN+1(),,,,N,N+1(),,N+1,N+1()X0,NXi=X0+ei(i=1,2,,N),eiN,,,,,1,J(X1,X2),XA,XB,XC,3JA,JB,JC,JAJBJC,,XC,XB,XA,,XCXAXBXD,XDJDJDJB,,,XCXDXEJDJB,,,XCXDXFXFXD,XFXE;XFXDXDXE,XEJEJB,,XC,XA,XB,XE3{XA,XB,XE},,JEJB,XEXC,,{XA,XG,XS},,1012.2,ITAE(),ITAEJ(ITAE)=ts0t|e(t)|dt=min(1)J():I;T;A;EITAE,(1)J=J(t+T)-J(t)=t+T0|E|d-t0|E|d=t+T0|E|d(2)(2)T,T,|E|,=t,J(ITAE)=t|E|T,,,,,2.32.3.1kekd:ke,,ke,,kd,kd,;kd,,kd,kekd:,kekd,,kekd,ku:ku,ku,ku,,;ku,,ku,2.3.2MATLAB,MATLAB[2]fmins,[x,options]=fmins[,,options,options()1,2,3,14,options(1);options(2)x;options(3);op2tions(14)8,10,Options(8);options(10)MATLAB[3]GUI()(fuzzy,ruleview,surfview)(gaussmf,trimf,trapmf,gbellmf)(ad2dmf,addrule,addvar,evalfis,newfis)MATLABMfunction,function[y1,y2]=fuzzy(x1,x2),,fuzzy,xiyi2G=11.6s2+4.4s+1,,ke,kd,ku223,fuzzy.m,3functionJ=fuzzy(x)%globalke;globalkd;globalku;globalN;ke=x(1);kd=x(2);ku=x(3);%num=1;den=[1.6,4.4,1];[a1,b,c,d]=tf2ss(num,den);x=[0;0];%T=0.01;h=T;R=ones(1,N);%%a=newfis(Simple);a=addvar(a,input,e,[-66]);a=addvar(a,input,de,[-66]);a=addvar(a,output,u,[-33]);%a=addrule(a,rulelist);%%e1=ke3e;de1=kd3de;(148)201ABSTRACT:ComparedwiththeconventionalCMM,theparallel-linkCMMhasasimplestructure,ahighermeasuringaccuracyandaflexi2bleprobepostureetc.However,thedesignforrealprototypeoftheparallel-linkCMMisverydifficultbecausethereisano-linearrelation2shipbetweentheposeonprobeandtheactuatingvariablesappliedthroughthreeparallellinks.Inthispaper,thevirtualprototypeofaparallel-linkCMMbasedon3-RPSkinematicmechanismisdeveloped,andthe3Dkinematicmovementofitissimulatedinvirtualenvironment.Thisresearchlaysthefoundationformanufacturingtherealprototypeoftheparallel-linkCMM.KEYWORDS:Parallel-linkCMM;Geometricalmodeling;Kinematicmodeling;Virtualprototype;Computersimulation(102)%,in=[e1de1];u=ku3evalfis(in,a);%J=0;forN=0:500e1=e;e=y-R(1,N);de=(e-e1)/T;J=J+abs(e)3T30.01;T=T+0.01;endopti.mglobalke;globalkd;globalku;globalN;[x,options]=fmins(fuzzy,[30,0.2,20]);J=options(8)n=options(10),ke,kd,ku,Jn3MATLAB,MATLAB,M,,,4,,,,,,,4:[1].[M].:,1998.[2].MATLAB-[M].:,2000.[3].MATLAB[M].:,2001.[](1974-),(),,,,;(1945.6-),(),,:;(1961-),(),,,,,80MATLAB-BasedOptimizationDesignofParametersintheFuzzyControlSystemTANGZhi-hang,YUJin-you,YULi(CollegeofInformationEngineering,ZhejiangUniversityofTechnology,HangzhouZhejinag310032,China)ABSTRACT:Adesignmethodispresentedforfuzzycontrolparametersself-optimizingusingsimplexmethodbasedonMATLABtoobtainop2timalorsub-optimalfuzzylogiccontrollers.Forthecontrolofindustrialprocessing,acomputersimulationwithsecond-ordersystemmodelismade.Thesimulationresultshowsthattheproposedalgorithmisofgoodconvergenceandimprovesthedynamiccharacteristicsofthecontrolsystem.KEYWORDS:Self-optimizing;Fuzzylogiccontrol;Simulation841