MATLAB基于BP神经网络PID控制程序>> %BP based PID Control
clear all;
close all;
xite=0.20; %学习速率
alfa=0.01; %惯性因子
IN=4;H=5;Out=3; %NN Structure
wi=[-0.6394 -0.2696 -0.3756 -0.7023;
-0.8603 -0.2013 -0.5024 -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); %隐含层加权系数wi初始化
wi_1=wi;wi_2=wi;wi_3=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); %输出层加权系数wo初始化
wo_1=wo;wo_2=wo;wo_3=wo;
ts=20; %采样周期取值
x=[0,0,0]; %比例,积分,微分赋初值
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 隐含层的输出I=Oh; %Input to NN middle layer 隐含层输入
error_2=0;
error_1=0;
for k=1:1:500 %仿真开始,共500步
time(k)=k*ts;