基于bp神经网络pid控制程序设计(运行程序后相关的仿真图形)

源代码在线查看: 基于bp神经网络pid控制程序.txt

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关键词: pid 神经网络 控制 仿真
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相关代码

				基于bp神经网络pid控制程序
				%BP based PID Control 
				clear all; 
				close all; 
				
				xite=0.25; 
				alfa=0.05; 
				
				S=2; %Signal type 
				
				IN=4;H=5;Out=3;  %NN Structure 
				if S==1  %Step Signal 
				   wi=[-0.6394   -0.2696   -0.3756   -0.7023; 
				       -0.8603   -0.2013   -0.5024   -0.2596; 
				       -1.0749    0.5543   -1.6820   -0.5437; 
				       -0.3625   -0.0724   -0.6463   -0.2859; 
				       0.1425    0.0279   -0.5406   -0.7660]; 
				   %wi=0.50*rands(H,IN); 
				   wi_1=wi;wi_2=wi;wi_3=wi; 
				   wo=[0.7576 0.2616 0.5820 -0.1416 -0.1325; 
				       -0.1146 0.2949 0.8352  0.2205  0.4508; 
				       0.7201 0.4566 0.7672  0.4962  0.3632]; 
				   %wo=0.50*rands(Out,H); 
				   wo_1=wo;wo_2=wo;wo_3=wo; 
				end 
				
				if S==2  %Sine Signal 
				   wi=[-0.2846    0.2193   -0.5097   -1.0668; 
				       -0.7484   -0.1210   -0.4708    0.0988; 
				       -0.7176    0.8297   -1.6000    0.2049; 
				       -0.0858    0.1925   -0.6346    0.0347; 
				       0.4358    0.2369   -0.4564   -0.1324]; 
				   %wi=0.50*rands(H,IN); 
				   wi_1=wi;wi_2=wi;wi_3=wi; 
				   wo=[1.0438    0.5478    0.8682    0.1446    0.1537; 
				       0.1716    0.5811    1.1214    0.5067    0.7370; 
				       1.0063    0.7428    1.0534    0.7824    0.6494]; 
				   %wo=0.50*rands(Out,H); 
				   wo_1=wo;wo_2=wo;wo_3=wo; 
				end 
				
				x=[0,0,0]; 
				u_1=0;u_2=0;u_3=0;u_4=0;u_5=0; 
				y_1=0;y_2=0;y_3=0; 
				
				Oh=zeros(H,1);    %Output from NN middle layer 
				I=Oh;             %Input to NN middle layer 
				error_2=0; 
				error_1=0; 
				
				ts=0.001; 
				for k=1:1:6000 
				   time(k)=k*ts; 
				    
				   if S==1 
				       rin(k)=1.0; 
				   elseif S==2 
				       rin(k)=sin(1*2*pi*k*ts); 
				   end 
				    
				   %Unlinear model 
				   a(k)=1.2*(1-0.8*exp(-0.1*k)); 
				   yout(k)=a(k)*y_1/(1+y_1^2)+u_1; 
				    
				   error(k)=rin(k)-yout(k); 
				    
				   xi=[rin(k),yout(k),error(k),1]; 
				    
				   x(1)=error(k)-error_1; 
				   x(2)=error(k); 
				   x(3)=error(k)-2*error_1+error_2; 
				    
				   epid=[x(1);x(2);x(3)]; 
				   I=xi*wi'; 
				   for j=1:1:H 
				       Oh(j)=(exp(I(j))-exp(-I(j)))/(exp(I(j))+exp(-I(j))); %Middle Layer 
				   end 
				   K=wo*Oh;             %Output Layer 
				   for l=1:1:Out 
				       K(l)=exp(K(l))/(exp(K(l))+exp(-K(l)));        %Getting kp,ki,kd 
				   end 
				   kp(k)=K(1);ki(k)=K(2);kd(k)=K(3); 
				   Kpid=[kp(k),ki(k),kd(k)]; 
				    
				   du(k)=Kpid*epid; 
				   u(k)=u_1+du(k); 
				   if u(k)>=10       % Restricting the output of controller 
				       u(k)=10; 
				   end 
				   if u(k)				       u(k)=-10; 
				   end 
				    
				   dyu(k)=sign((yout(k)-y_1)/(u(k)-u_1+0.0000001)); 
				    
				   %Output layer 
				   for j=1:1:Out 
				       dK(j)=2/(exp(K(j))+exp(-K(j)))^2; 
				   end 
				   for l=1:1:Out 
				       delta3(l)=error(k)*dyu(k)*epid(l)*dK(l); 
				   end 
				    
				   for l=1:1:Out 
				       for i=1:1:H 
				           d_wo=xite*delta3(l)*Oh(i)+alfa*(wo_1-wo_2); 
				       end 
				   end 
				   wo=wo_1+d_wo+alfa*(wo_1-wo_2); 
				   %Hidden layer 
				   for i=1:1:H 
				       dO(i)=4/(exp(I(i))+exp(-I(i)))^2; 
				   end 
				   segma=delta3*wo; 
				   for i=1:1:H 
				       delta2(i)=dO(i)*segma(i); 
				   end 
				    
				   d_wi=xite*delta2'*xi; 
				   wi=wi_1+d_wi+alfa*(wi_1-wi_2); 
				    
				   %Parameters Update 
				   u_5=u_4;u_4=u_3;u_3=u_2;u_2=u_1;u_1=u(k);   
				   y_2=y_1;y_1=yout(k); 
				    
				   wo_3=wo_2; 
				   wo_2=wo_1; 
				   wo_1=wo; 
				    
				   wi_3=wi_2; 
				   wi_2=wi_1; 
				   wi_1=wi; 
				    
				   error_2=error_1; 
				   error_1=error(k); 
				end 
				figure(1); 
				plot(time,rin,'r',time,yout,'b'); 
				xlabel('time(s)');ylabel('rin,yout'); 
				figure(2); 
				plot(time,error,'r'); 
				xlabel('time(s)');ylabel('error'); 
				figure(3); 
				plot(time,u,'r'); 
				xlabel('time(s)');ylabel('u'); 
				figure(4); 
				subplot(311); 
				plot(time,kp,'r'); 
				xlabel('time(s)');ylabel('kp'); 
				subplot(312); 
				plot(time,ki,'g'); 
				xlabel('time(s)');ylabel('ki'); 
				subplot(313); 
				plot(time,kd,'b'); 
				xlabel('time(s)');ylabel('kd'); 
				
							

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