%被控對象近似數學模型為：yout（k）=a（k）*yout（k-1）/1+yout^2（k-1）?+?u（k-1）??????????????????????????%??????
%式中a（k）是慢時變的?a（k）=1.2（1-0.8e^（-0.1k））???????????????????????????%%??????%%
%神經網絡的結構選4-5-3?學習速率η=0.28，慣性系數α=0.04，加權系數初始值取區間【-0.50.5】上的隨機數??%
%輸入指令分兩種①rin（k）=1.0;②rin（k）=sin（2*π*t）
%取S=1時為階躍跟蹤，S=2時為正弦跟蹤，初始權值取隨機值，運行穩定后用穩定值代替隨機值

%?BP?based?PID?Control
clear?all;
close?all

%xite=0.25;
%alfa=0.05;
xite=0.04;
alfa=0.31;
raa=zeros（1500）;

S=2;?%Signal?type?
IN=4;H=5;Out=3;%NN?Structure
if?S==1?%?Step?Signal
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（HIN）;
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（OutH）;
wo_1=wo;wo_2=wo;wo_3=wo;
end


if?S==2?%Sine?Signal
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（HIN）;
wi_1=wi;wi_2=wi;wi_3=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（OutH）;
wo_1=wo;wo_2=wo;wo_3=wo;
end
x=[000];
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（H1）;%Output?from?NN?middle?layer
I=Oh;?%Input?to?NNmiddle?layer
error_2=0;
error_1=0;



ts=0.005;
rin=zeros（14601）;
time=zeros（14601）;
for?k=1:1:4601
time（k）=k*ts;
%time（k）=k;

%?%?if?S==1
%?%?rin（k）=5.0;
%?%?elseif?S==2
%?%?rin（k）=sin（1*2*pi*k*ts）;
%?%?end


????if?time（k）<=8
????????rin（k）=50*time（k）;
????elseif?time（k）<=10.5
????????rin（k）=80*time（k）-240;
????elseif?time（k）<=12.5
????????rin（k）=600;
????elseif?time（k）<=15
????????rin（k）=-80*time（k）+1600;
????else
????????rin（k）=-50*time（k）+1150;
????end


????


%Unlinear?model
a（k）=1.2*（1-0.8*exp（-0.1*k））;
yout（k）=a（k）*y_1/（1+y_1^2）+u_1;

error（k）=rin（k）-yout（k）;

xi=[rin（k）yout（k）error（k）1];

x（1）=error（k）-error_1;
x（2）=error（k）;
x（3）=error（k）-2*error_1+error_2;

epid=[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）））;%Middle?layer
end
K=wo*Oh;%Output?layer
for?im=1:1:Out
K（im）=exp（K（im））/（exp（K（im））+exp（-K（im）））;%Getting?Kp?Ki?Kd
end
kp（k）=K（1）;ki（k）=K（2）;kd（k）=K（3）;
Kpid=[kp（k）ki（k）kd（k）];

du（k）=Kpid*epid;
u（k）=u_1+du（k）;
if?u（k）>=600?%?Restricting?the?output?of?controller

u（k）=600;
end
if?u（k）<=-600
u（k）=-600;
end

dyu（k）=sign（（yout（k）-y_1）/（u（k）-u_1+0.0000001））;
%Output?layer
for?j=1:1:Out
dK（j）=2/（exp（K（j））+exp（-K（j）））^2;
end
for?im=1:1:Out
delta3（im）=error（k）*dyu（k）*epid（im）*dK（im）;
end

for?im=1:1:Out
for?i=1:1:H
d_wo=xite*delta3（im）*Oh（i）+alfa*（wo_1-wo_2）;
end
end
wo=wo_1+d_wo+alfa*（wo_1-wo_2）;
%Hidden?layer
for?i=1:1:H

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件????????3902??2014-11-16?15:55??BPPID.m