rbfpidmatlab.txt

我所使用过的最好用的基于rbf的pid控制器,本人发表的论文中的程序基本上都是基于它的,推荐给大家!

clear all;
close all;

xite=0.20;
alfa=0.05;
belte=0.01;
x=[0,0,0]';

ci=30*ones(3,6);
bi=40*ones(6,1);
w=10*ones(6,1);

h=[0,0,0,0,0,0]';

ci_1=ci;ci_3=ci_1;ci_2=ci_1;
bi_1=bi;bi_2=bi_1;bi_3=bi_2;
w_1=w;w_2=w_1;w_3=w_1;

u_1=0;y_1=0;
xc=[0,0,0]';
error_1=0;error_2=0;error=0;

kp0=0.03;
ki0=0.01;
kd0=0.03;

kp_1=kp0;
kd_1=kd0;
ki_1=ki0;

xitekp=0.20;
xitekd=0.20;
xiteki=0.20;

ts=0.001;
for k=1:1:2000;
   time(k)=k*ts;
   rin(k)=1.0*sign(sin(2*pi*k*ts));
   yout(k)=(-0.1*y_1+u_1)/(1+y_1^2);
   
   for j=1:1:6
       h(j)=exp(-norm(x-ci(:,j))^2/(2*bi(j)*bi(j)));
   end
   ymout(k)=w'*h;
   
   d_w=0*w;
   for j=1:1:6
       d_w(j)=xite*(yout(k)-ymout(k))*h(j);
   end
   w=w_1+d_w+alfa*(w_1-w_2)+belte*(w_2-w_3);
   
   d_bi=0*bi;
   for j=1:1:6
       
       d_bi(j)=xite*(yout(k)-ymout(k))*w(j)*h(j)*(bi(j)^-3)*norm(x-ci(:,j))^2;
   end
   bi=bi_1+d_bi+alfa*(bi_1-bi_2)+belte*(bi_2-bi_3);
   for j=1:1:6
       for i=1:1:3
           
           
           d_ci(i,j)=xite*(yout(k)-ymout(k))*w(j)*h(j)*(x(i)-ci(i,j))*(bi(j)^-2);
       end
   end
   ci=ci_1+d_ci+alfa*(ci_1-ci_2)+belte*(ci_2-ci_3);
   
   
   %%%%%%%%%jacobian
   yu=0;
   for j=1:1:6
       yu=yu+w(j)*h(j)*(-x(1)+ci(1,j))/bi(j)^2;
   end
   dyout(k)=yu;
   %%%%%%%start of control system
   error(k)=rin(k)-yout(k);
   kp(k)=kp_1+xitekp*error(k)*dyout(k)*xc(1);
   kd(k)=kd_1+xitekd*error(k)*dyout(k)*xc(2);
   ki(k)=ki_1+xiteki*error(k)*dyout(k)*xc(3);
   
   
   if kp(k)<0
       kp(k)=0;
   end
    if kd(k)<0
       kd(k)=0;
   end
    if ki(k)<0
       ki(k)=0;
   end
   
   M=1;
   switch M
       case 1
       case 2
           kp(k)=kp0;
            ki(k)=ki0;
             kd(k)=kd0;
     end
     du(k)=kp(k)*xc(1)+kd(k)*xc(2)+ki(k)*xc(3);
     u(k)=u_1+du(k);
     
     x(1)=du(k);
     x(2)=yout(k);
     x(3)=y_1;
     
     u_1=u(k);
     y_1=yout(k);
     
     ci_3=ci_2;
     ci_2=ci_1;
     ci_1=ci;
     
     bi_3=bi_2;
     bi_2=bi_1;
     bi_1=bi;
     
     w_3=w_2;
     w_2=w_1;
     w_1=w;
     
     xc(1)=error(k)-error_1;
     xc(2)=error(k)-2*error_1+error_2;
     xc(3)=error(k);
     
     error_2=error_1;
     error_1=error(k);
     kp_1=kp(k);
      kd_1=kd(k);
       ki_1=ki(k);
 end
 figure(1);
 plot(time,rin,'b',time,yout,'r');
 xlabel('time(s)');ylabel('rin,yout');
 figure(2);
 plot(time,yout,'r',time,ymout,'b');
 xlabel('time(s)');ylabel('yout,ymout');
 figure(3);
 plot(time,dyout);
 xlabel('time(s)');ylabel('Jacobian value');
 figure(4);
 subplot(311);
 plot(time,kp,'r')
 xlabel('time(s)');ylabel('kp');
 subplot(312);
 plot(time,ki,'r');
 xlabel('time(s)');ylabel('ki');
 subplot(313);
 plot(time,kd,'r');
 xlabel('time(s)');ylabel('kd');