chap5_2.asv

自己毕业设计一些收集和做的一些simulink模型及源码

function polestar()



clear all;
close all;
global rin yout timef

size=30;
codel=3;

MinX(1)=zeros(1);
MaxX(1)=20*ones(1);
MinX(2)=zeros(1);
MaxX(2)=1.0*ones(1);
MinX(3)=zeros(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);

G=100;
BsJ=0;

for kg=1:1:G   
    time(kg)=kg;
for i=1:1:size  
    Kpidi=Kpid(i,:);
[Kpidi,BsJ]=pid_gaf(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),:);

kg
BJ
BestS
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

k=1;
for i=size:-1:1
    for j=1:1:fi_S(i);
        TempE(k,:)=Kpid(Indexfi(i),:);
        k=k+1;
    end
end

pc=0.90;
for i=1:2:(size-1)
    temp=rand;
    if pc>temp
        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;


pm=0.10-[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
Bestfi
BestS
Best_J=BestJ(G)
figure(1);
plot(time,BestJ);
xlabel('Times');ylabel('BestJ');
figure(2);
plot(timef,rin,'r',timef,yout,'b');
xlabel('Time(s)');ylabel('rin,yout');







function [Kpidi,BsJ]=pid_gaf(Kpidi,BsJ)
global in yout timef

ts=0.001;
sys=tf(400,[1,50,0]);
dsys=c2d(sys,ts,'z');
[num,den]=tfdata(dsys,'v');

rin=1.0;
u_1=0.0;u_2=0.0;
y_1=0.0;y_2=0.0;
x=[0,0,0]';
B=0;
error_1=0;
tu=1;
s=0;
p=100;
for k=1:1:p
    timef(k)=k*ts;
    r(k)=rin;
    
    u(k)=Kpidi(1)*x(1)+Kpidi(2)*x(2)+Kpidi(3)*x(3);
    
    if u(k)>=10
        u(k)=10;
    end
    if u(k)<=-10
        u(k)=-10;
    end
    yout(k)=-den(2)*y_1-den(3)*y_2+num(2)*u_1+num(3)*u_2;
    error(k)=r(k)-yout(k);
    u_2=u_1;u_1=u(k);
    y_2=y_1;y_1=yout(k);
    
    x(1)=error(k)
    x(2)=(error(k)-error_1)/ts;
    x(3)=x(3)+error(k)*ts;
    error_2=error_1;
    error_1=error(k);
    if s==0
        if yout(k)>0.95&yout(k)<1.05
            tu=timef(k);
            s=1;
        end
    end
end

for i=1:1:p
    Ji(i)=0.999*abs(error(i))+0.01*u(i)^2*0.1;
    B=B+Ji(i);
    if i>1
        erry(i)=yout(i)-yout(i-1);
        if erry(i)<0
            B=B+100*abs(erry(i));
        end
    end
end
BsJ=B+0.2*tu*10;