chap5_5.m

里面汇集了很多经典的pid控制程序

%GA(Generic Algorithm) to Optimize Online PID Control
clear all;
close all;

Size=120;
CodeL=2;

MinX(1)=9*ones(1);MaxX(1)=12*ones(1);
MinX(2)=0.20*ones(1);MaxX(2)=0.30*ones(1);

Kpid(:,1)=MinX(1)+(MaxX(1)-MinX(1))*rand(Size,1);
Kpid(:,2)=MinX(2)+(MaxX(2)-MinX(2))*rand(Size,1);

BsJ=0;
J=0;

x=zeros(1,2);
xi=zeros(1,2);
xk=zeros(1,2);
ts=0.001;

error_1=0;

BestS=zeros(2,1);
for k=1:1:100
    time(k)=k*ts;
    rin(k)=1;

    %u(k)=10*x(1)+0.2*x(2);   %Test PI:  good results

    u(k)=BestS(1)*x(1)+BestS(2)*x(2);
    para=u(k);
    tSpan=[0 ts];

    [tt,xx]=ode45('chap5_5f',tSpan,xk,[],para);
    xk=xx(length(xx),:);
    yout(k)=xk(1);

    error(k)=rin(k)-yout(k);
    x(1)=error(k);                 % Calculating P
    x(2)=(error(k)-error_1)/ts;    % Calculating D


    error_1=error(k);

    B=0;

    M=1;   %Using GA
    if M==1

        G=10;
        for kg=1:1:G    %Era evolution

            %****** Step 1 : Evaluate BestJ ******
            for i=1:1:Size

                Kpidi=Kpid(i,:);

                ui(i)=Kpidi(1)*x(1)+Kpidi(2)*x(2);

                para=ui(i);
                [tt,xxi]=ode45('chap5_5f',tSpan,xk,[],para);
                y(i)=xxi(length(xxi),1);

                errori(i)=rin(k)-y(i);
                du(i)=ui(i)-u(k);
                de(i)=(errori(i)-error(k))/ts;
                alfap=0.95;
                betap=0;

                if abs(error(k))<=0.50
                    betap=0.05;
                end
                J=alfap*abs(errori(i))+betap*abs(de(i));

                B=J;

                if errori(i)<0
                    B=B+100*abs(errori(i));
                end

                BsJi(i)=B;

                [OderJi,IndexJi]=sort(BsJi);
                BestJ(kg)=OderJi(1);
                BJ=BestJ(kg);
                Ji=BsJi+1e-10;    %Avoiding deviding zero

                fi=1./Ji;
                %Cm=max(Ji);
                %fi=Cm-Ji;
            end    %End of a Size!!!!!!!!!!

            [Oderfi,Indexfi]=sort(fi);    %Arranging fi small to bigger

            Bestfi=Oderfi(Size);          %Let Bestfi=max(fi)

            BestS=Kpid(Indexfi(Size),:);  %Let BestS=E(m), m is the Indexfi belong to max(fi)

            %****** Step 2 : Select and Reproduct Operation******
            fi_sum=sum(fi);
            fi_Size=(Oderfi/fi_sum)*Size;

            fi_S=floor(fi_Size);                    % Selecting Bigger fi value
            r=Size-sum(fi_S);

            Rest=fi_Size-fi_S;
            [RestValue,Index]=sort(Rest);

            for i=Size:-1:Size-r+1

                fi_S(Index(i))=fi_S(Index(i))+1;     % Adding rest to equal Size
            end

            kr=1;

            for i=Size:-1:1       % Select the Sizeth and Reproduce firstly
                for j=1:1:fi_S(i)
                    TempE(kr,:)=Kpid(Indexfi(i),:);       % Select and Reproduce
                    kr=kr+1;                            % kr is used to reproduce
                end
            end

            %************ Step 3 : Crossover Operation ************
            Pc=0.90;
            for i=1:2:(Size-1)
                temp=rand;
                if Pc>temp                      %Crossover Condition
                    alfa=rand;
                    TempE(i,:)=alfa*Kpid(i+1,:)+(1-alfa)*Kpid(i,:);
                    TempE(i+1,:)=alfa*Kpid(i,:)+(1-alfa)*Kpid(i+1,:);
                end
            end
            TempE(Size,:)=BestS;
            Kpid=TempE;

            %************ Step 4: Mutation Operation **************
            Pm=0.20-[1:1:Size]*(0.01)/Size;       %Bigger fi,smaller Pm
            Pm_rand=rand(Size,CodeL);
            Mean=(MaxX + MinX)/2;
            Dif=(MaxX-MinX);

            for i=1:1:Size
                for j=1:1:CodeL
                    if Pm(i)>Pm_rand(i,j)        %Mutation Condition
                        TempE(i,j)=Mean(j)+Dif(j)*(rand-0.5);
                    end
                end
            end
            %Guarantee TempE(Size,:) belong to the best individual
            TempE(Size,:)=BestS;
            Kpid=TempE;
        end   %End of kg

        kph(k)=BestS(1);
        kdh(k)=BestS(2);
        BestS;
    end    %End of M=1

end    %End of k

figure(1);
plot(time,rin,'r',time,yout,'b');
xlabel('Time(s)');ylabel('rin,yout');

figure(2);
plot(time,u,'r');
xlabel('Time(s)');ylabel('u');

if M==1
    figure(3);
    plot(time,kph,'r');
    xlabel('Time(s)');ylabel('kp change');
    figure(4);
    plot(time,kdh,'r');
    xlabel('Time(s)');ylabel('kd change');
end