-
%基于BP神经网络的PID控制clear all;x1=0.25;a1=0.05;S=1; %信号类型In=4;h=5;Out=3; %神经网络结构if S==1, %阶跃信号wi=[-0.6394-0.2696-0.3756-0.7023;-0.8603-0.2013-0.05024-0.2596;-1.07490.5543-1.6820-0....展开全文
%基于BP神经网络的PID控制
clear all;
x1=0.25;a1=0.05;
S=1; %信号类型
In=4;h=5;Out=3; %神经网络结构
if S==1, %阶跃信号
wi=[-0.6394 -0.2696 -0.3756 -0.7023;
-0.8603 -0.2013 -0.05024 -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);
wi1=wi;wi2=wi;wi3=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);
wo1=wo;wo2=wo;wo3=wo;
end
if S==2 %正弦信号
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);
wi1=wi;wi2=wi;wi3=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);
wo1=wo;wo2=wo;wo3=wo;
end
x=[0,0,0];
u1=0;u2=0;u3=0;u4=0;u5=0;
y1=0;y2=0;y3=0;
oh=zeros(h,1); %神经网络中间层输出
I=oh;%神经网络中间层输入
error1=0;
error2=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
%非线性模型
a(k)=1.2*(1-0.8*exp(-0.1*k));
y(k)=a(k)*y1/(1+y1^2)+u1;
error(k)=rin(k)-y(k);
xi=[rin(k),y(k),error(k),1];
x(1)=error(k)-error1;
x(2)=error(k);
x(3)=error(k)-2*error1+error2;
ed=[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))); %中间层
end
K=wo*oh; %输出层
for j=1:1:Out
K(j)=exp(K(j))/(exp(K(j))+exp(-K(j))); %求kp,ti,td
end
kp(k)=K(1);ti(k)=K(2);td(k)=K(3);
Kd=[kp(k),ti(k),td(k)];
du(k)=Kd*ed;
u(k)=u1+du(k);
if u(k)>=10, %限制控制器输出
u(k)=10;
end
if u(k)<=-10,
u(k)=-10;
end
dyu(k)=sign((y(k)-y1)/(u(k)-u1+0.0000001));
%输出层
for j=1:1:Out,
dK(j)=2/(exp(K(j))+exp(-K(j)))^2;
end
for i=1:1:Out,
de3(i)=error(k)*dyu(k)*ed(i)*dK(i);
end
for j=1:1:Out,
for i=1:1:h,
dwo=x1*de3(j)*oh(i)+a1*(wo1-wo2);
end
end
wo=wo1+dwo+a1*(wo1-wo2);
%隐含层
for i=1:1:h,
dO(i)=4/(exp(I(i))+exp(-I(i)))^2;
end
seg=de3*wo;
for i=1:1:h
de2(i)=dO(i)*seg(i);
end
dwi=x1*de2'*xi;
wi=wi1+dwi+a1*(wi1-wi2);
%参数更新
u5=u4;u4=u3;u3=u2;u2=u1;u1=u(k);
y2=y1;y1=y(k);
wo3=wo2;wo2=wo1;wo1=wo;
wi3=wi2;wi2=wi1;wi1=wi;
error2=error1;
error1=error(k);
end
figure(1);
plot(time,rin,'r',time,y,'b');
xlabel('时间(秒)');ylabel('系统输入、输出');
figure(2);
plot(time,error,'r:');
xlabel('时间(秒)');ylabel('误差');
figure(3);
subplot(311);
plot(time,kp,'r');
xlabel('时间(秒)');ylabel('参数kp');
subplot(312);
plot(time,ti,'g--');
xlabel('时间(秒)');ylabel('参数ti');
subplot(313);
plot(time,td,'b*');
xlabel('时间(秒)');ylabel('参数td');
神经网络PID控制，不过为什么有newff,train这样的语句，还望高手指点一下。相互交流一下哈。
weixin_35706991 2021-04-18 11:59:59 -
文件名大小更新时间先进PID控制Matlab仿真第4版-仿真程序-上交02016-03-07先进PID控制Matlab仿真第4版-仿真程序-上交\chap102016-03-07先进PID控制Matlab仿真第4版-仿真程序-上交\chap1002016-03-07先进PID控制...展开全文
文件名大小更新时间
先进PID控制Matlab仿真第4版-仿真程序-上交02016-03-07
先进PID控制Matlab仿真第4版-仿真程序-上交\chap102016-03-07
先进PID控制Matlab仿真第4版-仿真程序-上交\chap1002016-03-07
先进PID控制Matlab仿真第4版-仿真程序-上交\chap10\chap10_1.m3812012-09-05
先进PID控制Matlab仿真第4版-仿真程序-上交\chap10\chap10_2.m18922014-09-07
先进PID控制Matlab仿真第4版-仿真程序-上交\chap10\chap10_2obj.m862012-10-08
先进PID控制Matlab仿真第4版-仿真程序-上交\chap10\chap10_3.m22482016-05-03
先进PID控制Matlab仿真第4版-仿真程序-上交\chap10\chap10_3plant.m6222016-02-24
先进PID控制Matlab仿真第4版-仿真程序-上交\chap10\chap10_4.m21462016-02-25
先进PID控制Matlab仿真第4版-仿真程序-上交\chap10\chap10_4plant.m8672016-02-24
先进PID控制Matlab仿真第4版-仿真程序-上交\chap10\chap10_5.m1242014-10-02
先进PID控制Matlab仿真第4版-仿真程序-上交\chap10\chap10_6.m37872016-02-25
先进PID控制Matlab仿真第4版-仿真程序-上交\chap10\chap10_6obj.m18232016-02-23
先进PID控制Matlab仿真第4版-仿真程序-上交\chap1102016-03-07
先进PID控制Matlab仿真第4版-仿真程序-上交\chap11\chap11_1plant.m9052010-04-13
先进PID控制Matlab仿真第4版-仿真程序-上交\chap11\chap11_1plot.m4412010-08-01
先进PID控制Matlab仿真第4版-仿真程序-上交\chap11\chap11_1sim.mdl250362010-07-24
先进PID控制Matlab仿真第4版-仿真程序-上交\chap11\chap11_2.m20512010-08-01
先进PID控制Matlab仿真第4版-仿真程序-上交\chap11\chap11_2plant.m12012010-07-24
先进PID控制Matlab仿真第4版-仿真程序-上交\chap11\chap11_2sim.mdl259202010-07-19
先进PID控制Matlab仿真第4版-仿真程序-上交\chap11\chap11_3plant.m16372010-04-13
先进PID控制Matlab仿真第4版-仿真程序-上交\chap11\chap11_3plot.m4522010-08-01
先进PID控制Matlab仿真第4版-仿真程序-上交\chap11\chap11_3sim.mdl260062010-07-24
先进PID控制Matlab仿真第4版-仿真程序-上交\chap11\chap11_4int.m9372010-04-13
先进PID控制Matlab仿真第4版-仿真程序-上交\chap11\chap11_4plot.m3492010-08-01
先进PID控制Matlab仿真第4版-仿真程序-上交\chap11\chap11_4sim.mdl303032010-08-01
先进PID控制Matlab仿真第4版-仿真程序-上交\chap11\chap11_5int.m9522010-04-14
先进PID控制Matlab仿真第4版-仿真程序-上交\chap11\chap11_5plot.m3612010-08-01
先进PID控制Matlab仿真第4版-仿真程序-上交\chap11\chap11_5sim.mdl319332010-08-01
先进PID控制Matlab仿真第4版-仿真程序-上交\chap11\chap11_6input.m6282010-04-13
先进PID控制Matlab仿真第4版-仿真程序-上交\chap11\chap11_6int.m1182010-04-13
先进PID控制Matlab仿真第4版-仿真程序-上交\chap11\chap11_6plot.m3472010-08-01
先进PID控制Matlab仿真第4版-仿真程序-上交\chap11\chap11_6sim.mdl237672010-07-24
先进PID控制Matlab仿真第4版-仿真程序-上交\chap1202016-03-07
先进PID控制Matlab仿真第4版-仿真程序-上交\chap12\chap12_1ctrl.m8082010-07-24
先进PID控制Matlab仿真第4版-仿真程序-上交\chap12\chap12_1input.m5842010-07-24
先进PID控制Matlab仿真第4版-仿真程序-上交\chap12\chap12_1main.m12622010-08-01
先进PID控制Matlab仿真第4版-仿真程序-上交\chap12\chap12_1plant.m7102010-07-24
先进PID控制Matlab仿真第4版-仿真程序-上交\chap12\chap12_1sim.mdl219752010-07-24
先进PID控制Matlab仿真第4版-仿真程序-上交\chap1302016-05-03
先进PID控制Matlab仿真第4版-仿真程序-上交\chap13\chap13_1ctrl.m6942015-10-15
先进PID控制Matlab仿真第4版-仿真程序-上交\chap13\chap13_1plant.m7602012-04-20
先进PID控制Matlab仿真第4版-仿真程序-上交\chap13\chap13_1plot.m3792014-03-30
先进PID控制Matlab仿真第4版-仿真程序-上交\chap13\chap13_1sharp.m10332012-04-20
先进PID控制Matlab仿真第4版-仿真程序-上交\chap13\chap13_1sim.mdl270962016-03-05
先进PID控制Matlab仿真第4版-仿真程序-上交\chap13\chap13_2ctrl.m7252016-02-25
先进PID控制Matlab仿真第4版-仿真程序-上交\chap13\chap13_2plant.m7392014-05-28
先进PID控制Matlab仿真第4版-仿真程序-上交\chap13\chap13_2plot.m4832014-05-28
先进PID控制Matlab仿真第4版-仿真程序-上交\chap13\chap13_2sim.mdl269992016-02-25
先进PID控制Matlab仿真第4版-仿真程序-上交\chap13\chap13_3.m31362016-03-28
先进PID控制Matlab仿真第4版-仿真程序-上交\chap1402016-03-07
先进PID控制Matlab仿真第4版-仿真程序-上交\chap14\chap14_1ctrl.m7702007-01-25
先进PID控制Matlab仿真第4版-仿真程序-上交\chap14\chap14_1plant.m10382016-03-05
先进PID控制Matlab仿真第4版-仿真程序-上交\chap14\chap14_1plot.m4582016-02-25
先进PID控制Matlab仿真第4版-仿真程序-上交\chap14\chap14_1sim.mdl262862016-02-25
先进PID控制Matlab仿真第4版-仿真程序-上交\chap14\chap14_2input.m7802015-04-03
先进PID控制Matlab仿真第4版-仿真程序-上交\chap14\chap14_2pd.m21342015-04-05
先进PID控制Matlab仿真第4版-仿真程序-上交\chap14\chap14_2plot.m12172015-04-04
先进PID控制Matlab仿真第4版-仿真程序-上交\chap14\chap14_2sim.mdl233432016-03-03
先进PID控制Matlab仿真第4版-仿真程序-上交\chap14\chap14_3input.m8322015-06-23
先进PID控制Matlab仿真第4版-仿真程序-上交\chap14\chap14_3plot.m9982016-03-05
先进PID控制Matlab仿真第4版-仿真程序-上交\chap14\chap14_3sim.mdl249382016-03-02
先进PID控制Matlab仿真第4版-仿真程序-上交\chap14\chap14_3system.m34292016-03-05
先进PID控制Matlab仿真第4版-仿真程序-上交\chap14\chap14_3xd.m19622015-06-24
先进PID控制Matlab仿真第4版-仿真程序-上交\chap14\chap14_4A_ctrl.m6902015-10-14
先进PID控制Matlab仿真第4版-仿真程序-上交\chap14\chap14_4input.m6612014-12-21
先进PID控制Matlab仿真第4版-仿真程序-上交\chap14\chap14_4plant.m7362014-12-21
先进PID控制Matlab仿真第4版-仿真程序-上交\chap14\chap14_4plot.m10502014-12-22
先进PID控制Matlab仿真第4版-仿真程序-上交\chap14\chap14_4P_ctrl.m8502016-03-05
先进PID控制Matlab仿真第4版-仿真程序-上交\chap14\chap14_4sim.mdl276232016-03-02
先进PID控制Matlab仿真第4版-仿真程序-上交\chap14\chap14_4td.m7312014-11-06
先进PID控制Matlab仿真第4版-仿真程序-上交\chap1502016-03-07
先进PID控制Matlab仿真第4版-仿真程序-上交\chap15\chap15_1ctrl1.m8842016-02-05
先进PID控制Matlab仿真第4版-仿真程序-上交\chap15\chap15_1ctrl2.m7102016-02-05
先进PID控制Matlab仿真第4版-仿真程序-上交\chap15\chap15_1plant.m8942016-02-04
先进PID控制Matlab仿真第4版-仿真程序-上交\chap15\chap15_1plot.m13292014-07-02
先进PID控制Matlab仿真第4版-仿真程序-上交\chap15\chap15_1sim.mdl313252016-02-26
先进PID控制Matlab仿真第4版-仿真程序-上交\chap15\chap15_1TD.m8932014-07-02
先进PID控制Matlab仿真第4版-仿真程序-上交\chap15\chap15_2Actrl.m11452016-02-26
先进PID控制Matlab仿真第4版-仿真程序-上交\chap15\chap15_2Aplant.m10772016-02-26
先进PID控制Matlab仿真第4版-仿真程序-上交\chap15\chap15_2int.m2932016-02-05
先进PID控制Matlab仿真第4版-仿真程序-上交\chap15\chap15_2Pctrl.m12162016-02-26
先进PID控制Matlab仿真第4版-仿真程序-上交\chap15\chap15_2plot.m16382016-02-05
先进PID控制Matlab仿真第4版-仿真程序-上交\chap15\chap15_2Pplant.m11362016-02-26
先进PID控制Matlab仿真第4版-仿真程序-上交\chap15\chap15_2sim.mdl320382016-03-05
先进PID控制Matlab仿真第4版-仿真程序-上交\chap15\chap15_2TD1.m9352014-11-13
先进PID控制Matlab仿真第4版-仿真程序-上交\chap15\chap15_2TD2.m9352014-11-15
先进PID控制Matlab仿真第4版-仿真程序-上交\chap1602016-03-07
先进PID控制Matlab仿真第4版-仿真程序-上交\chap16\chap16_1.m2282016-02-27
先进PID控制Matlab仿真第4版-仿真程序-上交\chap16\chap16_2LMI.m9162015-03-29
先进PID控制Matlab仿真第4版-仿真程序-上交\chap16\chap16_2riccati.m7932010-06-13
先进PID控制Matlab仿真第4版-仿真程序-上交\chap16\chap16_3ctrl.m7642015-03-29
先进PID控制Matlab仿真第4版-仿真程序-上交\chap16\chap16_3plant.m12992010-06-07
先进PID控制Matlab仿真第4版-仿真程序-上交\chap16\chap16_3plot.m5552010-06-04
先进PID控制Matlab仿真第4版-仿真程序-上交\chap16\chap16_3sim.mdl224012016-02-27
先进PID控制Matlab仿真第4版-仿真程序-上交\chap16\chap16_3sim.mdl.r14 (sp3)170102010-07-24
先进PID控制Matlab仿真第4版-仿真程序-上交\chap16\dlb.fig224662010-07-13
先进PID控制Matlab仿真第4版-仿真程序-上交\chap16\dlb.m126612010-07-15
先进PID控制Matlab仿真第4版-仿真程序-上交\chap16\model.jpg295382009-05-15
先进PID控制Matlab仿真第4版-仿真程序-上交\chap1702016-03-07
weixin_35510761 2021-04-21 10:15:50 -
MATLAB基于BP神经网络PID控制程序>> %BP based PID Controlclear all;close all;xite=0.20; %学习速率alfa=0.01; %惯性因子IN=4;H=5;Out=3; %NN Structurewi=[-0.6394 -0.2696 -0.3756 -0.7023;-0.8603 -0....展开全文
MATLAB基于BP神经网络PID控制程序>> %BP based PID Control
clear all;
close all;
xite=0.20; %学习速率
alfa=0.01; %惯性因子
IN=4;H=5;Out=3; %NN Structure
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); %隐含层加权系数wi初始化
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); %输出层加权系数wo初始化
wo_1=wo;wo_2=wo;wo_3=wo;
ts=20; %采样周期取值
x=[0,0,0]; %比例，积分，微分赋初值
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 隐含层的输出I=Oh; %Input to NN middle layer 隐含层输入
error_2=0;
error_1=0;
for k=1:1:500 %仿真开始，共500步
time(k)=k*ts;
weixin_39608300 2021-04-25 02:32:35
matlab
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