基于PSO的自适应预测控制算法MATLAB程序

function [time,w,y,u] = Basic_GPC(tend) %---------------参数设置---------------------- Ts = 10; %采样周期 N = 5; %预测时域 Nu = 3; %控制时域 lambda = 0.5 ; %控制加权矩阵 deta = 1; %误差加权矩阵 alpha = 0.2; %输入滤波系数,越小性能越好 % Niter = 100; %PSO迭代次数 % tend=50; %仿真步数 U_length = 100; Y_length = 100; W_length = 200; Niter = 100; error = zeros(tend, Niter); %--------------对象参数------------------ K = 1; T = 35; L = 40; [p_A,p_B,p_d]=tf2AB(K, [T 1], L,Ts); [p_na,p_nb]=rankn(p_A,p_B); %--------------模型参数----------------- Km = 1; Tm = 35; Lm = 40; [m_A,m_B,m_d]=tf2AB(Km,[Tm 1],Lm,Ts); m_A1=conv(m_A,[1 -1]); [m_na,m_nb]=rankn(m_A,m_B); [E,F]=diophantine(m_A,N,m_d); G=getGij(m_B,E); [Gk,Gpk,Gku]=getG(G,Nu); %------------------仿真------------------ uk=zeros(U_length,1); %输入初值：uk(i)表示u(t-k) duk=zeros(U_length,1); %控制增量初值 dU=zeros(Nu,1); yk=zeros(Y_length,1); %输出初值 w=ones(W_length,1); %设定值 dist = 0; u(1) = 0; %------------仿真开始---------------------------- for k=1:tend time(k)=k*Ts; if k>25 dist = -0.1; end y(k)=-p_A(2:p_na+1)*yk(1:p_na)+p_B*(uk(p_d+1:p_nb+p_d+1)+dist); %采集输出数据 Yk=[y(k); yk(1:m_na)]; %构建向量Y(k) dUk=duk(1:m_d+m_nb); %构建向量ΔU(k-j) %----------参考轨迹------------- r=filter((1-alpha),[1 -alpha],w); Yr=zeros(N,1); Yr=[r(k+m_d+1:k+m_d+N)]; %构建向量Yr(k) %-----------求控制量----------- dU=inv(Gku'*Gku+lambda*diag(ones(1,Nu)))*Gku'*(Yr-Gpk*dUk-F*Yk); % [dU, fv] = SolveU(Nu,Yr,Gku,Gpk,dUk,F,Yk,lambda,Niter); % error(k,:) = fv; % if (dU(1)>0.5) % dU(1) = 0.5; % end % if (dU(1)<-0.5) % dU(1) = -0.5; % end du(k)=dU(1); u(k)=uk(1)+du(k); %----------更新数据------------ for i=U_length:-1:2 uk(i)=uk(i-1); duk(i)=duk(i-1); end uk(1)=u(k); duk(1)=du(k); for i=Y_length:-1:2 yk(i)=yk(i-1); end yk(1)=y(k); end %-------------绘图-------------------- % figure(1); % plot(time(1:tend),w(1:tend),'r:',time(1:tend),y(1:tend)); % grid on; % xlabel('time(s)'); ylabel('w,y'); % axis([0,tend*Ts,0,1.2]); % legend('w','y'); % title('GPC solved by PSO'); % figure(2); % plot(time,u); % grid on; % xlabel('time(s)'); ylabel('u'); % % axis([0,tend*Ts,-0.1,1.5]); % legend('u'); % title('Control action');