nnbp_pid.m

控制系统计算机辅助设计——MATLAB语言与应用(源代码）

function [sys,x0,str,ts]=nnbp_pid(t,x,u,flag,T,nh,xite,alfa,kFunc1,kFunc2)
switch flag,
   case 0, [sys,x0,str,ts] = mdlInitializeSizes(T,nh);
   case 3, sys = mdlOutputs(t,x,u,T,nh,xite,alfa,kFunc1,kFunc2);
   case {1, 2, 4, 9}, sys = [];
   otherwise, error(['Unhandled flag = ',num2str(flag)]);
end;
%  初始化函数
function [sys,x0,str,ts] = mdlInitializeSizes(T,nh)
sizes = simsizes; % 读入模板，得出默认的控制量
sizes.NumContStates = 0; sizes.NumDiscStates = 0;
sizes.NumOutputs = 4+7*nh; sizes.NumInputs = 7+14*nh;
sizes.DirFeedthrough = 1; sizes.NumSampleTimes = 1;
sys = simsizes(sizes); x0 = []; str = []; ts = [T 0];
% 系统输出计算函数
function sys = mdlOutputs(t,x,u,T,nh,xite,alfa,kFunc1,kFunc2)
wi_2=reshape(u(8: 7+4*nh),nh,4); wo_2=reshape(u(8+4*nh: 7+7*nh),3,nh);
wi_1=reshape(u(8+7*nh: 7+11*nh),nh,4);
wo_1=reshape(u(8+11*nh: 7+14*nh),3,nh);
xi=[u([6,4,1])', 1]; xx=[u(1)-u(2); u(1); u(1)+u(3)-2*u(2)];
I=xi*wi_1'; Oh=non_transfun(I,kFunc1); K=non_transfun(wo_1*Oh',kFunc2);
uu=u(7)+K'*xx; dyu=sign((u(4)-u(5))/(uu-u(7)+0.0000001));
dK=non_transfun(K,3); delta3=u(1)*dyu*xx.*dK;
wo=wo_1+xite*delta3*Oh+alfa*(wo_1-wo_2)+alfa*(wo_1-wo_2);
dO=2*non_transfun(I,3);
wi=wi_1+xite*(dO.*(delta3'*wo))'*xi+alfa*(wi_1-wi_2);
sys=[uu; K; wi(:); wo(:)];
% 激活函数近似
function W1=non_transfun(W,key)
switch key
   case 1, W1=(exp(W)-exp(-W))./(exp(W)+exp(-W));
   case 2, W1=exp(W)./(exp(W)+exp(-W));
   case 3, W1=2./(exp(W)+exp(-W)).^2;
end