基于遗传算法的pid整定原理及matlab仿真程序.docVIP

主程序：chap5_2.m %GA(Generic Algorithm) Program 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(Size,1); Kpid(:,2)=MinX(2)+(MaxX(2)-MinX(2))*rand(Size,1); Kpid(:,3)=MinX(3)+(MaxX(3)-MinX(3))*rand(Size,1); 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,:); [Kpidi,BsJ]=chap5_2f(Kpidi,BsJ); BsJi(i)=BsJ; end [OderJi,IndexJi]=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; [Oderfi,Indexfi]=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; [RestValue,Index]=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 Pctemp %Crossover Condition alfa=rand; TempE(i,:)=alfa*Kpid(i+1,:)+(1-alfa)*Kpid(i,:);