%lizi2_1.m
%GA（Generic?Algorithm）?Program?is?to?optimize?PID?Parameters
clear?all;
close?all;
global?rin?yout?timef

Size=30;
CodeL=3;

MinX（1）=zeros（1）;
MaxX（1）=20*ones（1）;
MinX（2）=zeros（1）;
MaxX（2）=1.0*ones（1）;
MinX（3）=zeros（1）;
MaxX（3）=1.0*ones（1）;

Kpid（:1）=MinX（1）+（MaxX（1）-MinX（1））*rand（Size1）;
Kpid（:2）=MinX（2）+（MaxX（2）-MinX（2））*rand（Size1）;
Kpid（:3）=MinX（3）+（MaxX（3）-MinX（3））*rand（Size1）;

G=100;
BsJ=0;

%***************?Start?Running?***************
for?kg=1:1:G
????time（kg）=kg;

%******?Step?1?:?Evaluate?BestJ?******
for?i=1:1:Size
Kpidi=Kpid（i:）;
????
[KpidiBsJ]=lizi2_1f（KpidiBsJ）;

BsJi（i）=BsJ;
end
?
[OderJiIndexJi]=sort（BsJi）;
BestJ（kg）=OderJi（1）;
BJ=BestJ（kg）;
Ji=BsJi+1e-10;????%Avoiding?deviding?zero

???fi=1./Ji;
%??Cm=max（Ji）;
%??fi=Cm-Ji;?????????????????????
???
???[OderfiIndexfi]=sort（fi）;????%Arranging?fi?small?to?bigger
???Bestfi=Oderfi（Size）;??????????%Let?Bestfi=max（fi）
???BestS=Kpid（Indexfi（Size）:）;??%Let?BestS=E（m）?m?is?the?Indexfi?belong?to?max（fi）
???
???kg???
???BJ
???BestS
%******?Step?2?:?Select?and?Reproduct?Operation******
???fi_sum=sum（fi）;
???fi_Size=（Oderfi/fi_sum）*Size;
???
???fi_S=floor（fi_Size）;????????????????????%?Selecting?Bigger?fi?value
???r=Size-sum（fi_S）;
???
???Rest=fi_Size-fi_S;
???[RestValueIndex]=sort（Rest）;
???
???for?i=Size:-1:Size-r+1
??????fi_S（Index（i））=fi_S（Index（i））+1;?????%?Adding?rest?to?equal?Size
???end

???k=1;
???for?i=Size:-1:1???????%?Select?the?Sizeth?and?Reproduce?firstly??
??????for?j=1:1:fi_S（i）??
???????TempE（k:）=Kpid（Indexfi（i）:）;??????%?Select?and?Reproduce?
?????????k=k+1;????????????????????????????%?k?is?used?to?reproduce
??????end
???end
???
%************?Step?3?:?Crossover?Operation?************
????Pc=0.90;
????for?i=1:2:（Size-1）
??????????temp=rand;
??????if?Pc>temp??????????????????????%Crossover?Condition
??????????alfa=rand;
??????????TempE（i:）=alfa*Kpid（i+1:）+（1-alfa）*Kpid（i:）;??
??????????TempE（i+1:）=alfa*Kpid（i:）+（1-alfa）*Kpid（i+1:）;
??????end
????end
????TempE（Size:）=BestS;
????Kpid=TempE;
????
%************?Step?4:?Mutation?Operation?**************
Pm=0.10-[1:1:Size]*（0.01）/Size;???????%Bigger?fismaller?Pm
Pm_rand=rand（SizeCodeL）;
Mean=（MaxX?+?MinX）/2;?
Dif=（MaxX-MinX）;

???for?i=1:1:Size
??????for?j=1:1:CodeL
?????????if?Pm（i）>Pm_rand（ij）????????%Mutation?Condition
????????????TempE（ij）=Mean（j）+Dif（j）*（rand-0.5）;
?????????end
??????end
???end
%Guarantee?TempE（Size:）?belong?to?the?best?individual
???TempE（Size:）=BestS;??????
???Kpid=TempE;
end
Bestfi
BestS
Best_J=BestJ（G）
figure（1）;
plot（timeBestJ）;
xlabel（‘Times‘）;ylabel（‘Best?J‘）;
figure（2）;
plot（timefrin‘r‘timefyout‘b‘）;
xlabel（‘Time（s）‘）;ylabel（‘rinyout‘）;

?屬性????????????大小?????日期????時間???名稱
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?????文件???????2787??2008-05-21?20:51??遺傳PID程序\lizi1_1.m

?????文件???????1147??2008-05-20?14:00??遺傳PID程序\lizi1_1f.m

?????文件????????923??2008-05-20?15:18??遺傳PID程序\Untitled.m

?????目錄??????????0??2008-06-06?18:33??遺傳PID程序

-----------?---------??----------?-----??----

?????????????????4857????????????????????4