PID神经元网络解耦控制算法讲解.docx
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PID神经元网络解耦控制算法讲解
%%清空环境变量
clc
clear
%%粒子初始化
%粒子群算法中的两个参数
c1=1.49445;
c2=1.49445;
%最大最小权值
wmax=0.9;
wmin=0.1;
%最大最小速度
Vmax=0.03;
Vmin=-0.03;
%最大最小个体
popmax=0.3;
popmin=-0.3;
maxgen=50;%进化次数
sizepop=20;%种群规模
%随机产生一个种群
fori=1:
sizepop
pop(i,:
)=0.03*rand(1,45);%个体编码
fitness(i)=fun(pop(i,:
));%染色体的适应度
V(i,:
)=0.003*rands(1,45);%初始化速度
end
%%初始种群极值
%找最好的染色体
[bestfitnessbestindex]=min(fitness);
zbest=pop(bestindex,:
);%全局最佳
gbest=pop;%个体最佳
fitnessgbest=fitness;%个体最佳适应度值
fitnesszbest=bestfitness;%全局最佳适应度值
%%迭代寻优
fori=1:
maxgen
i
forj=1:
sizepop
w=(wmax-wmin)*(i-1)/(maxgen)+wmin;%权值线性变化
V(j,:
)=w*V(j,:
)+c1*rand*(gbest(j,:
)-pop(j,:
))+c2*rand*(zbest-pop(j,:
));%速度更新
V(j,find(V(j,:
)>Vmax))=Vmax;%小于最大速度
V(j,find(V(j,:
)%种群更新
pop(j,:
)=pop(j,:
)+0.5*V(j,:
);
fork=1:
45
ifrand>0.95
pop(j,k)=0.3*rand;%自适应变异
end
end
pop(j,find(pop(j,:
)>popmax))=popmax;%小于个体最大值
pop(j,find(pop(j,:
)%适应度值
fitness(j)=fun(pop(j,:
));
end
forj=1:
sizepop
%个体极值更新
iffitness(j)gbest(j,:
)=pop(j,:
);
fitnessgbest(j)=fitness(j);
end
%全局极值更新
iffitness(j)zbest=pop(j,:
);
fitnesszbest=fitness(j);
end
end
%记录最优适应度值
yy(i)=fitnesszbest;
end
%%最优个体控制
figure
(1)
plot(yy)
title('粒子群算法进化过程');
xlabel('进化代数');ylabel('适应度');
individual=zbest;
w11=reshape(individual(1:
6),3,2);
w12=reshape(individual(7:
12),3,2);
w13=reshape(individual(13:
18),3,2);
w21=individual(19:
27);
w22=individual(28:
36);
w23=individual(37:
45);
rate1=0.006;rate2=0.001;%学习率
k=0.3;K=3;
y_1=zeros(3,1);y_2=y_1;y_3=y_2;%输出值
u_1=zeros(3,1);u_2=u_1;u_3=u_2;%控制率
h1i=zeros(3,1);h1i_1=h1i;%第一个控制量
h2i=zeros(3,1);h2i_1=h2i;%第二个控制量
h3i=zeros(3,1);h3i_1=h3i;%第三个空置量
x1i=zeros(3,1);x2i=x1i;x3i=x2i;x1i_1=x1i;x2i_1=x2i;x3i_1=x3i;%隐含层输出
%权值初始化
k0=0.03;
%值限定
ynmax=1;ynmin=-1;%系统输出值限定
xpmax=1;xpmin=-1;%P节点输出限定
qimax=1;qimin=-1;%I节点输出限定
qdmax=1;qdmin=-1;%D节点输出限定
uhmax=1;uhmin=-1;%输出结果限定
fork=1:
1:
200
%--------------------------------网络前向计算--------------------------
%系统输出
y1(k)=(0.4*y_1
(1)+u_1
(1)/(1+u_1
(1)^2)+0.2*u_1
(1)^3+0.5*u_1
(2))+0.3*y_1
(2);
y2(k)=(0.2*y_1
(2)+u_1
(2)/(1+u_1
(2)^2)+0.4*u_1
(2)^3+0.2*u_1
(1))+0.3*y_1(3);
y3(k)=(0.3*y_1(3)+u_1(3)/(1+u_1(3)^2)+0.4*u_1(3)^3+0.4*u_1
(2))+0.3*y_1
(1);
r1(k)=0.7;r2(k)=0.4;r3(k)=0.6;%控制目标
%系统输出限制
yn=[y1(k),y2(k),y3(k)];
yn(find(yn>ynmax))=ynmax;
yn(find(yn%输入层输出
x1o=[r1(k);yn
(1)];x2o=[r2(k);yn
(2)];x3o=[r3(k);yn(3)];
%隐含层
x1i=w11*x1o;
x2i=w12*x2o;
x3i=w13*x3o;
%比例神经元P计算
xp=[x1i
(1),x2i
(1),x3i
(1)];
xp(find(xp>xpmax))=xpmax;
xp(find(xpqp=xp;
h1i
(1)=qp
(1);h2i
(1)=qp
(2);h3i
(1)=qp(3);
%积分神经元I计算
xi=[x1i
(2),x2i
(2),x3i
(2)];
qi=[0,0,0];qi_1=[h1i
(2),h2i
(2),h3i
(2)];
qi=qi_1+xi;
qi(find(qi>qimax))=qimax;
qi(find(qih1i
(2)=qi
(1);h2i
(2)=qi
(2);h3i
(2)=qi(3);
%微分神经元D计算
xd=[x1i(3),x2i(3),x3i(3)];
qd=[000];
xd_1=[x1i_1(3),x2i_1(3),x3i_1(3)];
qd=xd-xd_1;
qd(find(qd>qdmax))=qdmax;
qd(find(qdh1i(3)=qd
(1);h2i(3)=qd
(2);h3i(3)=qd(3);
%输出层计算
wo=[w21;w22;w23];
qo=[h1i',h2i',h3i'];qo=qo';
uh=wo*qo;
uh(find(uh>uhmax))=uhmax;
uh(find(uhu1(k)=uh
(1);u2(k)=uh
(2);u3(k)=uh(3);%控制律
%--------------------------------------网络反馈修正----------------------
%计算误差
error=[r1(k)-y1(k);r2(k)-y2(k);r3(k)-y3(k)];
error1(k)=error
(1);error2(k)=error
(2);error3(k)=error(3);
J(k)=0.5*(error
(1)^2+error
(2)^2+error(3)^2);%调整大小
ypc=[y1(k)-y_1
(1);y2(k)-y_1
(2);y3(k)-y_1(3)];
uhc=[u_1
(1)-u_2
(1);u_1
(2)-u_2
(2);u_1(3)-u_2(3)];
%隐含层和输出层权值调整
%调整w21
Sig1=sign(ypc./(uhc
(1)+0.00001));
dw21=sum(error.*Sig1)*qo';
w21=w21+rate2*dw21;
%调整w22
Sig2=sign(ypc./(uh
(2)+0.00001));
dw22=sum(error.*Sig2)*qo';
w22=w22+rate2*dw22;
%调整w23
Sig3=sign(ypc./(uh(3)+0.00001));
dw23=sum(error.*Sig3)*qo';
w23=w23+rate2*dw23;
%输入层和隐含层权值调整
delta2=zeros(3,3);
wshi=[w21;w22;w23];
fort=1:
1:
3
delta2(1:
3,t)=error(1:
3).*sign(ypc(1:
3)./(uhc(t)+0.00000001));
end
forj=1:
1:
3
sgn(j)=sign((h1i(j)-h1i_1(j))/(x1i(j)-x1i_1(j)+0.00001));
end
s1=sgn'*[r1(k),y1(k)];
wshi2_1=wshi(1:
3,1:
3);
alter=zeros(3,1);
dws1=zeros(3,2);
forj=1:
1:
3
forp=1:
1:
3
alter(j)=alter(j)+delta2(p,:
)*wshi2_1(:
j);
end
end
forp=1:
1:
3
dws1(p,:
)=alter(p)*s1(p,:
);
end
w11=w11+rate1*dws1;
%调整w12
forj=1:
1:
3
sgn(j)=sign((h2i(j)-h2i_1(j))/(x2i(j)-x2i_1(j)+0.0000001));
end
s2=sgn'*[r2(k),y2(k)];
wshi2_2=wshi(:
4:
6);
alter2=zeros(3,1);
dws2=zeros(3,2);
forj=1:
1:
3
forp=1:
1:
3
alter2(j)=alter2(j)+delta2(p,:
)*wshi2_2(:
j);
end
end
forp=1:
1:
3
dws2(p,:
)=alter2(p)*s2(p,:
);
end
w12=w12+rate1*dws2;
%调整w13
forj=1:
1:
3
sgn(j)=sign((h3i(j)-h3i_1(j))/(x3i(j)-x3i_1(j)+0.0000001));