如何在matlab中建立pid神经网络,Matlab神经网络PID控制程序

%基于BP神经网络的PID控制

clear all;

x1=0.25;a1=0.05;

S=1; %信号类型

In=4;h=5;Out=3; %神经网络结构

if S==1, %阶跃信号

wi=[-0.6394  -0.2696  -0.3756  -0.7023;

-0.8603  -0.2013  -0.05024  -0.2596;

-1.0749  0.5543  -1.6820  -0.5437;

-0.3625  -0.0724  -0.6463  -0.2859;

0.1425  0.0279  -0.5406  -0.7660];

%wi=0.50*rands(h,In);

wi1=wi;wi2=wi;wi3=wi;

wo=[0.7576 0.2616 0.5820 -0.1416 -0.1325;

-0.1146 0.2949 0.8352 0.2205 0.4508;

0.7201 0.4566 0.7672 0.4962 0.3632];

%wo=0.50*rands(Out,h);

wo1=wo;wo2=wo;wo3=wo;

end

if S==2 %正弦信号

wi=[-0.2846 0.2193 -0.5097 -1.0668;

-0.7484 -0.1210 -0.4708 0.0988;

-0.7176 0.8297 -1.6000 0.2049;

-0.0858 0.1925 -0.6346 0.0347;

0.4358 0.2369 -0.4564 -0.1324];

%wi=0.50*rands(h,In);

wi1=wi;wi2=wi;wi3=wi;

wo=[1.0438 0.5478 0.8682 0.1446 0.1537;

0.1716 0.5811 1.1214 0.5067 0.7370;

1.0063 0.7428 1.0534 0.7824 0.6494];

%wo=0.50*rands(Out,h);

wo1=wo;wo2=wo;wo3=wo;

end

x=[0,0,0];

u1=0;u2=0;u3=0;u4=0;u5=0;

y1=0;y2=0;y3=0;

oh=zeros(h,1); %神经网络中间层输出

I=oh;%神经网络中间层输入

error1=0;

error2=0;

ts=0.001;

for k=1:1:6000,

time(k)=k*ts;

if S==1,

rin(k)=1.0;

elseif S==2,

rin(k)=sin(1*2*pi*k*ts);

end

%非线性模型

a(k)=1.2*(1-0.8*exp(-0.1*k));

y(k)=a(k)*y1/(1+y1^2)+u1;

error(k)=rin(k)-y(k);

xi=[rin(k),y(k),error(k),1];

x(1)=error(k)-error1;

x(2)=error(k);

x(3)=error(k)-2*error1+error2;

ed=[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))); %中间层

end

K=wo*oh; %输出层

for j=1:1:Out

K(j)=exp(K(j))/(exp(K(j))+exp(-K(j))); %求kp,ti,td

end

kp(k)=K(1);ti(k)=K(2);td(k)=K(3);

Kd=[kp(k),ti(k),td(k)];

du(k)=Kd*ed;

u(k)=u1+du(k);

if u(k)>=10, %限制控制器输出

u(k)=10;

end

if u(k)<=-10,

u(k)=-10;

end

dyu(k)=sign((y(k)-y1)/(u(k)-u1+0.0000001));

%输出层

for j=1:1:Out,

dK(j)=2/(exp(K(j))+exp(-K(j)))^2;

end

for i=1:1:Out,

de3(i)=error(k)*dyu(k)*ed(i)*dK(i);

end

for j=1:1:Out,

for i=1:1:h,

dwo=x1*de3(j)*oh(i)+a1*(wo1-wo2);

end

end

wo=wo1+dwo+a1*(wo1-wo2);

%隐含层

for i=1:1:h,

dO(i)=4/(exp(I(i))+exp(-I(i)))^2;

end

seg=de3*wo;

for i=1:1:h

de2(i)=dO(i)*seg(i);

end

dwi=x1*de2'*xi;

wi=wi1+dwi+a1*(wi1-wi2);

%参数更新

u5=u4;u4=u3;u3=u2;u2=u1;u1=u(k);

y2=y1;y1=y(k);

wo3=wo2;wo2=wo1;wo1=wo;

wi3=wi2;wi2=wi1;wi1=wi;

error2=error1;

error1=error(k);

end

figure(1);

plot(time,rin,'r',time,y,'b');

xlabel('时间(秒)');ylabel('系统输入、输出');

figure(2);

plot(time,error,'r:');

xlabel('时间(秒)');ylabel('误差');

figure(3);

subplot(311);

plot(time,kp,'r');

xlabel('时间(秒)');ylabel('参数kp');

subplot(312);

plot(time,ti,'g--');

xlabel('时间(秒)');ylabel('参数ti');

subplot(313);

plot(time,td,'b*');

xlabel('时间(秒)');ylabel('参数td');

神经网络PID控制，不过为什么有newff,train这样的语句，还望高手指点一下。相互交流一下哈。