在经典增量PID的算法中需要调试的参数为kp,ki,kd。通过BP神经网络调节这三个参数,以x(i)为输入层,中间层为simoid函数:
f(x) = tanh(x)=(exp(x)-exp(-x))/(exp(x)+exp(-x)).并且通过梯度下降法修改参数
关键代码:
%Output layerfor j=1:1:Out
dK(j)=2/(exp(K(j))+exp(-K(j)))^2;
end
for l=1:1:Out
delta3(l)=error(k)*dyu(k)*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);