第一节吃饭 第一节吃饭
关注数: 45 粉丝数: 72 发帖数: 1,425 关注贴吧数: 37
simulink做神经网络pid仿真,step超过10就会报错,求大佬解答 step模型设置在8以下基本上没问题。 以下是MATLAB Fcn函数,参考李献的那本书。 function u= BP_PID(t,rin,yout) persistent x u_1 u_2 u_3 u_4 u_5 y_1 y_2 y_3 persistent xite alfa IN H Out wi wi_1 wi_2 wi_3 wo wo_1 wo_2 wo_3 persistent Oh error_2 error_1 persistent k if t==0 xite=0.25; alfa=0.05; IN=4;H=5;Out=3; %NN Structure wi=0.50*rands(H,IN); wi_1=wi;wi_2=wi;wi_3=wi; wo=0.50*rands(Out,H); wo_1=wo;wo_2=wo;wo_3=wo; x=[0,0,0]; u_1=0;u_2=0;u_3=0;u_4=0;u_5=0; y_1=0;y_2=0;y_3=0; Oh=zeros(H,1); %Output from NN middle layer I=Oh; %Input to NN middle layer error_2=0; error_1=0; k=2; end %Unlinear model %a = 1.2*(1-0.8*exp(-0.1*k)); %yout = a*y_1/(1+y_1^2)+u_1; error = rin-yout; xi=[rin,yout,error,1]; x(1)=error-error_1; x(2)=error; x(3)=error-2*error_1+error_2; epid=[x(1);x(2);x(3)]; I=xi*wi'; for j=1:1:H Oh(j)=(exp(I(j))-exp(-I(j)))/(exp(I(j))+exp(-I(j))); %Middle Layer end K=wo*Oh; %Output Layer for l=1:1:Out K(l)=1/(1+exp(-K(l))); %Getting kp,ki,kd end kp=K(1)*20;ki=K(2)*3;kd=K(3); Kpid=[kp,ki,kd]; du=Kpid*epid; u=u_1+du; if u>=80 % Restricting the output of controller u=80; end if u<=-80 u=-80; end dyu=sign((yout-y_1)/(u-u_1+0.0000001)); %Output layer for j=1:1:Out dK(j)=2/(exp(K(j))+exp(-K(j)))^2; end for l=1:1:Out delta3(l)=error*dyu*epid(l)*dK(l); end for l=1:1:Out for i=1:1:H d_wo=xite*delta3(l)*Oh(i)+alfa*(wo_1-wo_2); end end wo=wo_1+d_wo+alfa*(wo_1-wo_2); %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; wi=wi_1+d_wi+alfa*(wi_1-wi_2); %Parameters Update u_5=u_4;u_4=u_3;u_3=u_2;u_2=u_1;u_1=u; y_2=y_1;y_1=yout; wo_3=wo_2; wo_2=wo_1; wo_1=wo; wi_3=wi_2; wi_2=wi_1; wi_1=wi; error_2=error_1; error_1=error;神经网络PID控制群:475040682
1 下一页