inherit_pid.m

mtlab仿真的基于遗传算法的pid,实数编码和二进制编码

%利用遗传算法的PID－实数编码
clear all;
close all;
clc;
global rin yout timef
%A=[0.1,-0.1;0.6,-0.6;0.5,-0.5;2.1,-2.1;2.6,-2.6]'
%round(A)%四舍五入取整
%floor(A)%向负无穷的方向取证
%ceil(A)%向正无穷的方向取证
%fix(A)%只是截取整数部分
Size=40;
G=200;
BsJ=0;
CodeL=3;
MinX(1)=zeros(1);
MinX(2)=zeros(1);
MinX(3)=zeros(1);
MaxX(1)=20*ones(1);
MaxX(2)=1.*ones(1);
MaxX(3)=1.0*ones(1);

Kpid(:,1)=MinX(1)+(MaxX(1)-MinX(1))*rand(Size,1);
Kpid(:,2)=MinX(2)+(MaxX(2)-MinX(2))*rand(Size,1);
Kpid(:,3)=MinX(3)+(MaxX(3)-MinX(3))*rand(Size,1);


for kg=1:1:G
    time(kg)=kg;
    %第一步:评价最佳J
    for i=1:1:Size
        Kpidi=Kpid(i,:);
        [Kpidi,BsJ]=Ga_f(Kpidi,BsJ);
        BsJi(i)=BsJ;
    end
    [OderJi,IndexJi]=sort(BsJi);
    BestJ(kg)=OderJi(1);
    BJ=BestJ(kg);
    Ji=BsJi+1e-10;
    fi=1./Ji;
    [Oderfi,Indexfi]=sort(fi);
    Bestfi=Oderfi(Size);
    BestS=Kpid(Indexfi(Size),:);
    %第二步:筛选，繁殖
    fi_sum=sum(fi);
    fi_Size=(Oderfi/fi_sum)*Size;
    fi_S=floor(fi_Size);
    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;
    end    
    kk=1;
    for i=Size:-1:1        
        for j=1:1:fi_S(i)
            TempE(kk,:)=Kpid(Indexfi(i),:);
            kk=kk+1;
        end
    end
    %第三步：交配
     pc=0.90;
     for i=1:2:(Size-1)
         temp=rand;
         if pc>temp
             alpha=rand;
             TempE(i,:)=alpha*Kpid(i+1,:)+(1-alpha)*Kpid(i,:);
             TempE(i+1,:)=alpha*Kpid(i,:)+(1-alpha)*Kpid(i+1,:);
         end
     end
     TempE(Size,:)=BestS;
     Kpid=TempE;
     %第四步：变异
     pm=0.1-[1:1:Size]*0.01/Size;
     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)                 
               TempE(i,j)=Mean(j)+Dif(j)*(rand-0.5);
            end
        end
    end
    
    TempE(Size,:)=BestS;
    Kpid=TempE;
end
Best_Value=Bestfi
BestS
Best_J=BestJ(G)
[Ki,Bs]=Ga_f(BestS,Best_J);
figure(1);
plot(time,BestJ,'b');
xlabel('Times');ylabel('Best J');
figure(2);
plot(timef,rin,'r',timef,yout,'b');
xlabel('Time(s)');ylabel('rin,yout');