常规PID、模糊PID和RBF神经网络PID（PID+Fuzzy PID+NNS PID）代码和matlab仿真

function varargout = Three_PID_Compare_noDistrup(varargin) % THREE_PID_COMPARE_NODISTRUP M-file for Three_PID_Compare_noDistrup.fig % THREE_PID_COMPARE_NODISTRUP, by itself, creates a new THREE_PID_COMPARE_NODISTRUP or raises the existing % singleton*. % % H = THREE_PID_COMPARE_NODISTRUP returns the handle to a new THREE_PID_COMPARE_NODISTRUP or the handle to % the existing singleton*. % % THREE_PID_COMPARE_NODISTRUP('CALLBACK',hObject,eventData,handles,...) calls the local % function named CALLBACK in THREE_PID_COMPARE_NODISTRUP.M with the given input arguments. % % THREE_PID_COMPARE_NODISTRUP('Property','Value',...) creates a new THREE_PID_COMPARE_NODISTRUP or raises the % existing singleton*. Starting from the left, property value pairs are % applied to the GUI before Three_PID_Compare_noDistrup_OpeningFcn gets called. An % unrecognized property name or invalid value makes property application % stop. All inputs are passed to Three_PID_Compare_noDistrup_OpeningFcn via varargin. % % *See GUI Options on GUIDE's Tools menu. Choose "GUI allows only one % instance to run (singleton)". % % See also: GUIDE, GUIDATA, GUIHANDLES % Edit the above text to modify the response to help Three_PID_Compare_noDistrup % Last Modified by GUIDE v2.5 30-May-2010 09:46:00 % Begin initialization code - DO NOT EDIT gui_Singleton = 1; gui_State = struct('gui_Name', mfilename, ... 'gui_Singleton', gui_Singleton, ... 'gui_OpeningFcn', @Three_PID_Compare_noDistrup_OpeningFcn, ... 'gui_OutputFcn', @Three_PID_Compare_noDistrup_OutputFcn, ... 'gui_LayoutFcn', [] , ... 'gui_Callback', []); if nargin && ischar(varargin{1}) gui_State.gui_Callback = str2func(varargin{1}); end if nargout [varargout{1:nargout}] = gui_mainfcn(gui_State, varargin{:}); else gui_mainfcn(gui_State, varargin{:}); end % End initialization code - DO NOT EDIT % --- Executes just before Three_PID_Compare_noDistrup is made visible. function Three_PID_Compare_noDistrup_OpeningFcn(hObject, eventdata, handles, varargin) % This function has no output args, see OutputFcn. % hObject handle to figure % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % varargin command line arguments to Three_PID_Compare_noDistrup (see VARARGIN) % Choose default command line output for Three_PID_Compare_noDistrup handles.output = hObject; % Update handles structure guidata(hObject, handles); % UIWAIT makes Three_PID_Compare_noDistrup wait for user response (see UIRESUME) % uiwait(handles.figure1); % --- Outputs from this function are returned to the command line. function varargout = Three_PID_Compare_noDistrup_OutputFcn(hObject, eventdata, handles) % varargout cell array for returning output args (see VARARGOUT); % hObject handle to figure % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) % Get default command line output from handles structure varargout{1} = handles.output; % --- Executes on button press in pushbutton2. function pushbutton2_Callback(hObject, eventdata, handles) % hObject handle to pushbutton2 (see GCBO) % eventdata reserved - to be defined in a future version of MATLAB % handles structure with handles and user data (see GUIDATA) %read PID parameters from GUI Kp_gui=str2num(get(handles.edit4,'string')); Ki_gui=str2num(get(handles.edit5,'string')); Kd_gui=str2num(get(handles.edit6,'string')); dKp_gui=str2num(get(handles.edit7,'string')); dKi_gui=str2num(get(handles.edit8,'string')); dKd_gui=str2num(get(handles.edit9,'string')); nnKp=str2num(get(handles.edit10,'string')); nnKi=str2num(get(handles.edit11,'string')); nnKd=str2num(get(handles.edit12,'string')); %read fis from file fuzzyPID=readfis('fuzzyPID'); %transform GUI variable to WorkSpace assignin('base','Kp_gui',Kp_gui); assignin('base','Ki_gui',Ki_gui); assignin('base','Kd_gui',Kd_gui); assignin('base','dKp_gui',dKp_gui); assignin('base','dKi_gui',dKi_gui); assignin('base','dKd_gui',dKd_gui); assignin('base','fuzzyPID',fuzzyPID); %open PIDController.mdl load_system('PIDController_1'); %set parameters of simulink mdl file set_param('PIDController_1/PID','Kp','Kp_gui','Ki','Ki_gui','Kd','Kd_gui'); sim('PIDController_1.mdl',[],simset('DstWorkspace ','base')); %de/dt of PID control ec_gui=evalin('base','ec'); %maximum abs(de/dt) of PID control derror_max=0; for ii=1:1001 if derror_max<abs(ec_gui(ii)) derror_max=abs(ec_gui(ii)); end end assignin('base','derror_max',derror_max); %open Fuzzy_PID_1.mdl load_system('Fuzzy_PID_1') set_param('Fuzzy_PID_1/PID','Kp','Kp_gui','Ki','Ki_gui','Kd','Kd_gui'); set_param('Fuzzy_PID_1/FuzPID','Kp','Kp_gui','Ki','Ki_gui','Kd','Kd_gui','dKp','dKp_gui','dKi','dKi_gui','dKd','dKd_gui','Ke','1','Kec','1/derror_max'); %run Fuzzy_PID file sim('Fuzzy_PID_1.mdl',[],simset('DstWorkspace ','base')); %plot input and outputs axes(handles.axes1); Uref_gui=evalin('base','Uref'); Ut1_gui=evalin('base','Ut1'); Ut2_gui=evalin('base','Ut2'); t_gui=evalin('base','t'); %%%%%%%%%%%%%%%%%RBF NN PID%%%%%%%%%%%%%%%%%%%% ts=0.0001;%单个时间步长 Gp=tf([20000],[1,721/6,2020,1000/3]);%传递函数 Gpz=c2d(Gp,ts,'z');%离散化传递函数 [num,den]=tfdata(Gpz,'v');%取出z变换后传递函数的分子分母系数 h=zeros(6,1);%RBF函数 w=[-0.5359;0.1741;0.5042;0.7119;-0.0304;0.2666]; c=[10.8282 8.7916 11.9357 2.5122 -11.4472 5.4146; -1.3515 3.2425 -6.6360 -2.7096 -1.8995 -3.1160; -10.6009 -3.6080 3.6667 -8.5980 -7.6035 8.2084;]; b=[28.0810;8.4260;-38.7748;54.8844;-28.1179;50.9474]; w_1=w;w_2=w;w_3=w;%设定第k次，第k-1次和第k-2次权重初值 xite=0.40;%NNI网络的学习效率 alfa=0.05;%k-1次的惯性系数 belte=0.01;%k-2次的惯性系数 x=[0,0,0]';%NNI网络的输入量 c_1=c;c_2=c_1;c_3=c_2; b_1=b;b_2=b_1;b_3=b_2; xc=[0,0,0]';%NNC网络的输入量 xitec=0.60;%NNC网络的学习效率 %设定PID参数初值 wc=[nnKp,nnKd,nnKi];%NNC网络的输入权值 wc_1=wc;wc_2=wc;wc_3=wc;%初始化权值 error_1=0;error_2=0;%误差值初始化 y_1=0;y_2=0;y_3=0;%输出值初始化 u_1=0;u_2=0;u_3=0;%输入值初始化 ei=0;%ei用于存储误差累加值 c_size=size(c);%隐节点基带宽参数长度 for k=1:5000 time(k)=k*ts; rin(k)=1; yrout(k)=1.0*rin(k);%yrout为参考模型的在输入下的输出 %Linear model yout(k)=-den(2)*y_1-den(3)*y_2-den(4)*y_3+num(2)*u_1+num(3)*u_2+num(4)*u_3;%用差分方程求出输出 for j=1:1:c_size(2)%6列 h(j)=exp(-norm(x-c_1(:,j))^2/(2*b_1(j)*b_1(j)));%RBF函数为高斯函数 end ymout(k)=w_1'*h;%网络辨识器的输出 id=abs(yout(k)-ymout(k));%检测误差是否大于0.0001 if id>0.0001, %-----------------Adjusting RBF parameters-----------------------% d_w=0*w; % Defining matrix number of d_w equal to that of w for j=1:1:6 d_w(j)=xite*(yout(k)-ymout(k))*h(j); end w=w_1+d_w+alfa*(w_1-w_2)+belte*(w_2-w_3); %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% d_b=0*b; for j=1:1:6 d_b(j)=xite*(yout(k)-ymout(k))*w_1(j)*h(j)*(b_1(j)^-3)*norm(x-c_1(:,j))^2; end b=b_1+ d_b+alfa*(b_1-b_2)+belte*(b_2-b_3); %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% for j=1:1:6 for i=1:1:3 d_c(i,j)=xite*(yout(k)-ymout(k))*w_1(j)*h(j)*(x(i)-c_1(i,j))*(b_1(j)^-2); end end c=c_1+d_c+alfa*(c_1-c_2)+belte*(c_2-c_3); end %%%%%%%%%%% Calculating Jacobian %%%%%%%%%%%% dyu=0; for j=1:1:c_size(2) dyu=dyu+w(j)*h(j)*(-x(1)+c(1,j))/b(j)^2; end dyout(k)=dyu; %%%%%%Parameters Return%%%%%%% error(k)=yrout(k)-yout(k); xc(1)=error(k); xc(2)=(error(k)-error_1)/ts; ei=ei+error(k)*ts;%误差累加（理解为积分） xc(3)=ei; u(k)=wc*xc; %Control law