gpc.asv

使用matlab实现智能预测控制算法中的GPC算法

function varargout = GPC(varargin)
% GPC M-file for GPC.fig
%      GPC, by itself, creates a new GPC or raises the existing
%      singleton*.
%
%      H = GPC returns the handle to a new GPC or the handle to
%      the existing singleton*.
%
%      GPC('CALLBACK',hObject,eventData,handles,...) calls the local
%      function named CALLBACK in GPC.M with the given input arguments.
%
%      GPC('Property','Value',...) creates a new GPC or raises the
%      existing singleton*.  Starting from the left, property value pairs are
%      applied to the GUI before GPC_OpeningFunction gets called.  An
%      unrecognized property name or invalid value makes property application
%      stop.  All inputs are passed to GPC_OpeningFcn via varargin.
%
%      *See GUI Options on GUIDE's Tools menu.  Choose "GUI allows only one
%      instance to run (singleton)".
%
% See also: GUIDE, GUIDATA, GUIHANDLES

% Edit the above text to modify the response to help GPC

% Last Modified by GUIDE v2.5 15-Dec-2005 15:29:52

% Begin initialization code - DO NOT EDIT
gui_Singleton = 1;
gui_State = struct('gui_Name',       mfilename, ...
                   'gui_Singleton',  gui_Singleton, ...
                   'gui_OpeningFcn', @GPC_OpeningFcn, ...
                   'gui_OutputFcn',  @GPC_OutputFcn, ...
                   'gui_LayoutFcn',  [] , ...
                   'gui_Callback',   []);
if nargin & isstr(varargin{1})
    gui_State.gui_Callback = str2func(varargin{1});
end

if nargout
    [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:});
else
    gui_mainfcn(gui_State, varargin{:});
end
% End initialization code - DO NOT EDIT


% --- Executes just before GPC is made visible.
function GPC_OpeningFcn(hObject, eventdata, handles, varargin)
% This function has no output args, see OutputFcn.
% hObject    handle to figure
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
% varargin   command line arguments to GPC (see VARARGIN)

% Choose default command line output for GPC
handles.output = hObject;

% Update handles structure
guidata(hObject, handles);

% UIWAIT makes GPC wait for user response (see UIRESUME)
% uiwait(handles.figure1);


% --- Outputs from this function are returned to the command line.
function varargout = GPC_OutputFcn(hObject, eventdata, handles)
% varargout  cell array for returning output args (see VARARGOUT);
% hObject    handle to figure
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Get default command line output from handles structure
varargout{1} = handles.output;


% --------------------------------------------------------------------
function project_Callback(hObject, eventdata, handles)
% hObject    handle to project (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)


% --------------------------------------------------------------------
function begin_Callback(hObject, eventdata, handles)
% hObject    handle to begin (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)
global yr;
global n;

N=str2num(get(handles.N,'String'));
Nu=str2num(get(handles.Nu,'String'));
r=str2num(get(handles.r,'String'));
a=str2num(get(handles.a,'String'));
y0=str2num(get(handles.y0,'String'));
u0=str2num(get(handles.u0,'String'));

A=str2num(get(handles.modelA,'String'));
B=str2num(get(handles.modelB,'String'));

O=[1,-1]; 
En=zeros(1,N);
F=zeros(N,length(A));
Aa=conv(A,O);
En(1)=1;
k=zeros(size(Aa));
k(1)=1;
L=k-Aa;
F(1,:)=L(2:end);
for j=1:N-1
    En(j+1)=F(j,1);
    L=[F(j,:),0]-En(j+1).*Aa;
    F(j+1,:)=L(2:end);
end
E=cell(1,N);
for i=1:1:N
    E{i}=En(1:i);
end
 
H=cell(1,N);
G=cell(1,N);
for j=1:N
    Gl=conv(E{j},B);
    G{j}=Gl(1:j);
    H{j}=Gl(j+1:end);
end

G1=zeros(N,Nu);

for i=1:N
    if i<Nu
        G1(i,i:-1:1)=G{N}(1:i); 
    end
    if i>Nu
        G1(i,1:Nu)=G{N}(i:-1:i-Nu+1);
    end
end

Al=(-1).*A(2:end);
y=zeros(1,n);
u=zeros(1,n);
yd=zeros(N,1);
yo=zeros(N,1);
Y=zeros(length(A)-1,1);
U=zeros(length(B),1);
for i=1:(length(A)-1)
    Y(i,1)=y0(i);
end
for i=1:length(B)
    U(i,1)=u0(i);
end
for k=1:n
    y(k)=Al*Y+B*U;
    
    yd(1)=a*y(k)+(1-a)*yr(k);
    for j=2:N
        yd(j)=a*yd(j-1)+(1-a)*yr(k);
    end
    
   Yt=[y(k);Y];
   for j=1:N
       yo(j)=F(j,:)*Yt+conv(O,H{j})*U;
   end
   
   I=eye(Nu);
   tmp=inv(G1'*G1+r.*I)*G1'*(yd-yo);
   u(k)=U(1)+tmp(1);
   
   for j=length(A)-1:-1:2
       Y(j,1)=Y(j-1);
   end
   Y(1,1)=y(k);
   for j=length(B):-1:2
       U(j,1)=U(j-1);
   end
   U(1,1)=u(k);
       
end

k=1:n;
axes(handles.axesy);
plot(k,yr(k),k,y(k));
axes(handles.axesu);
plot(k,u(k));
% --------------------------------------------------------------------
function exit_Callback(hObject, eventdata, handles)
% hObject    handle to exit (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

close;
% --------------------------------------------------------------------
function help_Callback(hObject, eventdata, handles)
% hObject    handle to help (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)


% --- Executes during object creation, after setting all properties.
function yrmenu_CreateFcn(hObject, eventdata, handles)
% hObject    handle to yrmenu (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: popupmenu controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end


% --- Executes on selection change in yrmenu.
function yrmenu_Callback(hObject, eventdata, handles)
% hObject    handle to yrmenu (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: contents = get(hObject,'String') returns yrmenu contents as cell array
%        contents{get(hObject,'Value')} returns selected item from yrmenu

global yr;
global n;
val = get(hObject,'Value');
switch val
case 2
prompt={'请输入阶跃信号设定值：','请输入运行步数：'};
title='设定曲线';
def={'10','200'};
answer=inputdlg(prompt,title,1,def);
stan=str2num(answer{1});
n=str2num(answer{2});
yr=zeros(1,n);
for i=1:n
    yr(i)=stan;
end
case 3
    
prompt={'请输入正弦函数的幅值：','请输入正弦函数的周期：','请输入运行步数：'};
title='正弦函数输入框';
def={'10','40','200'};
answer=inputdlg(prompt,title,1,def);
a=str2num(answer{1});
b=str2num(answer{2});
n=str2num(answer{3});
for t=1:n
    yr(t)=a*sin(2*3.14*t/b);
end

case 4
   
prompt={'请输入方波函数的最大幅值：','请输入方波函数的最小幅值：','请输入方波函数的周期：','请输入运行步数：'};
title='方波函数输入框';
def={'5','5','40','200'};
answer=inputdlg(prompt,title,1,def);
amax=str2num(answer{1});
amin=str2num(answer{2});
b=str2num(answer{3});
n=str2num(answer{4});
for m=0:n/b
     for k=1:b/2
         yr(m*b+k)=amax;
     end
     for k=b/2:b
         yr(m*b+k)=-1*amin;
     end
 end
end;
% The user selected the second item
% etc.
% k=1:100;
% axes(handles.axesy);
% plot(k,yr(k));
% --- Executes during object creation, after setting all properties.
function modelA_CreateFcn(hObject, eventdata, handles)
% hObject    handle to modelA (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function modelA_Callback(hObject, eventdata, handles)
% hObject    handle to modelA (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of modelA as text
%        str2double(get(hObject,'String')) returns contents of modelA as a double


% --- Executes during object creation, after setting all properties.
function modelB_CreateFcn(hObject, eventdata, handles)
% hObject    handle to modelB (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function modelB_Callback(hObject, eventdata, handles)
% hObject    handle to modelB (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of modelB as text
%        str2double(get(hObject,'String')) returns contents of modelB as a double


% --- Executes during object creation, after setting all properties.
function N_CreateFcn(hObject, eventdata, handles)
% hObject    handle to N (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function N_Callback(hObject, eventdata, handles)
% hObject    handle to N (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of N as text
%        str2double(get(hObject,'String')) returns contents of N as a double


% --- Executes during object creation, after setting all properties.
function Nu_CreateFcn(hObject, eventdata, handles)
% hObject    handle to Nu (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function Nu_Callback(hObject, eventdata, handles)
% hObject    handle to Nu (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of Nu as text
%        str2double(get(hObject,'String')) returns contents of Nu as a double


% --- Executes during object creation, after setting all properties.
function a_CreateFcn(hObject, eventdata, handles)
% hObject    handle to a (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function a_Callback(hObject, eventdata, handles)
% hObject    handle to a (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of a as text
%        str2double(get(hObject,'String')) returns contents of a as a double


% --- Executes during object creation, after setting all properties.
function r_CreateFcn(hObject, eventdata, handles)
% hObject    handle to r (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function r_Callback(hObject, eventdata, handles)
% hObject    handle to r (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of r as text
%        str2double(get(hObject,'String')) returns contents of r as a double


% --- Executes during object creation, after setting all properties.
function u0_CreateFcn(hObject, eventdata, handles)
% hObject    handle to u0 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function u0_Callback(hObject, eventdata, handles)
% hObject    handle to u0 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of u0 as text
%        str2double(get(hObject,'String')) returns contents of u0 as a double


% --- Executes during object creation, after setting all properties.
function y0_CreateFcn(hObject, eventdata, handles)
% hObject    handle to y0 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    empty - handles not created until after all CreateFcns called

% Hint: edit controls usually have a white background on Windows.
%       See ISPC and COMPUTER.
if ispc
    set(hObject,'BackgroundColor','white');
else
    set(hObject,'BackgroundColor',get(0,'defaultUicontrolBackgroundColor'));
end



function y0_Callback(hObject, eventdata, handles)
% hObject    handle to y0 (see GCBO)
% eventdata  reserved - to be defined in a future version of MATLAB
% handles    structure with handles and user data (see GUIDATA)

% Hints: get(hObject,'String') returns contents of y0 as text
%        str2double(get(hObject,'String')) returns contents of y0 as a double