nnpid.m

bp训练PID系数

function u=nnpid(yout,rin)
global wo_1 wo_2 wo;
global wi_1 wi_2 wi;
global sum_error error_1 error_2;
global u_1 y_1;
global H Out;
global xite alfa;
global Oh I;

%rin=1.5;
error=rin-yout;
sum_error=sum_error+error;

%First Layer
xi=[error,error-error_1,0.001*sum_error]';
%Middle Layer
I=wi*xi;
for i=1:1:H
    Oh(i)=(exp(I(i))-exp(-I(i)))/(exp(I(i))+exp(-I(i))); %Middle Layer
end             
%Output Layer
K=wo*Oh;
for l=1:1:Out
    K(l)=exp(K(l))/(exp(K(l))+exp(-K(l)));        %Getting kp,ki,kd
end
kp=K(1);ki=K(2);kd=K(3);

du=[kp,ki,kd]*[error-error_1,error,error-2*error_1+error_2]';
%pid contorller out
u=u_1+du;

if u>=10       % Restricting the output of controller
   u=10;
end
if u<=-10
   u=-10;
end

%bp
dyu=sign((yout-y_1)/(u-u_1+0.0000001));

%Output layer
for l=1:1:Out
    dK(l)=2/(exp(K(l))+exp(-K(l)))^2;
end
epid=[error-error_1,error,error-2*error_1+error_2];
for l=1:1:Out
    delta3(l)=error*dyu*epid(l)*dK(l);
end
d_wo=xite*delta3'*Oh'+alfa*(wo_1-wo_2);
wo=wo_1+d_wo;

%Hidden layer
for i=1:1:H
    dO(i)=4/(exp(I(i))+exp(-I(i)))^2;
end
segma=delta3*wo;
for i=1:1:H
   delta2(i)=dO(i)*segma(i);
end
d_wi=xite*delta2'*xi'+alfa*(wi_1-wi_2);
wi=wi_1+d_wi;

%Parameters Update
u_1=u;   
y_1=yout;
wo_2=wo_1;
wo_1=wo;
wi_2=wi_1;
wi_1=wi;
error_2=error_1;
error_1=error;