用bp神经网络实现神经网络pid控制 达到很好的效果

				%BP based PID Control 
				clear all; 
				close all;
				xite=0.25; 
				alfa=0.05; 
				IN=4;m=5;Out=3; %NN Structure 
				wi=0.050*rands(m,IN); 
				wi1=wi;wi2=wi; 
				wo=0.050*rands(Out,m);
				wo1=wo;wo2=wo; 
				du1=0;
				u1=0;
				y1=0;
				Oh=zeros(m,1); %Output from NN middle layer 
				I=Oh; %Input to NN middle layer 
				e2=0; 
				e1=0; 
				 
				ts=0.001; 
				
				for k=1:1:100
				    
				r(k)=1.0; 
				time(k)=k*ts; 
				%Unlinear model 
				a(k)=1.2*(1-0.8*exp(-0.1*k)); 
				y(k)=a(k)*y1/(1+y1^2)+u1; 
				 
				e(k)=r(k)-y(k);xi=[r(k),y(k),e(k),u1]; 
				 
				 
				 
				x(1)=e(k)-e1; 
				x(2)=e(k); 
				x(3)=e(k)-2*e1+e2; 
				 
				epid=[x(1);x(2);x(3)]; 
				I=xi*wi'; 
				for j=1:1:m
				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)=u1+du(k); 
				
				
				 
				dyu(k)=sign((y(k)-y1)/(du(k)-du1+0.0001)); 
				 
				%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)=e(k)*dyu(k)*epid(l)*dK(l); 
				end 
				 
				for l=1:1:Out 
				   for i=1:1:m
				   dwo=xite*delta3(l)*Oh(i)-alfa*(wo1-wo2); 
				   end 
				end 
				wo=wo1+dwo-alfa*(wo1-wo2); 
				
				%Hidden layer 
				for i=1:1:m
				dO(i)=4/(exp(I(i))+exp(-I(i)))^2; 
				end 
				segma=delta3*wo; 
				for i=1:1:m 
				delta2(i)=dO(i)*segma(i); 
				end 
				 
				dwi=xite*delta2'*xi; 
				wi=wi1+dwi-alfa*(wi1-wi2); 
				 
				%Parameters Update 
				du1=du(k);u1=u(k); 
				y1=y(k); 
				
				wo2=wo1; 
				wo1=wo; 
				 
				wi2=wi1; 
				wi1=wi; 
				e2=e1; 
				e=e(k); 
				end 
				 
				figure(1);
				subplot(311);
				plot(time,r,'r',time,y,'b'); 
				xlabel('Time（k*ts）');ylabel('输入r输出y'); 
				subplot(312);
				plot(time,e,'r'); 
				xlabel('Time（k*ts）');ylabel('误差e（k）'); 
				subplot(313);
				plot(time,u,'g'); 
				xlabel('Time（k*ts）');ylabel('控制量U'); 
				figure(2);
				subplot(311); 
				plot(time,kp,'r'); 
				xlabel('Time（k*ts）');ylabel('kp'); 
				subplot(312); 
				plot(time,ki,'g'); 
				xlabel('Time（k*ts）');ylabel('ki'); 
				subplot(313); 
				plot(time,kd,'b'); 
				xlabel('Time（k*ts）');ylabel('kd');