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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 fi,smaller Pm
Pm_rand=rand(Size,CodeL);
Mean=(MaxX + MinX)/2;
Dif=(MaxX-MinX);
for i=1:1:Size
for j=1:1:CodeL
if Pm(i)>Pm_rand(i,j) %Mutation Condition
TempE(i,j)=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(time,BestJ);
xlabel('Times');ylabel('Best J');
figure(2);
plot(timef,rin,'r',timef,yout,'b');
xlabel('Time(s)');ylabel('rin,yout');
figure(3);
plot(time,BestS(1));
xlabel('Time(s)');ylabel('kp change');
figure(4);
plot(time,BestS(2));
xlabel('Time(s)');ylabel('kd change');
figure(5);
plot(time,BestS(3));
xlabel('Time(s)');ylabel('ki change');
目标函数子程序(也就是那个chap5_3f)
function [Kpidi,BsJ]=pid_gaf(Kpidi,BsJ)
global rin yout timef
ts=0.001;
sys=tf(0.037,[30,1,0]);
dsys=c2d(sys,ts,'z');
[num,den]=tfdata(dsys,'v');
rin=1.0;
u_1=0.0;u_2=0.0;
y_1=0.0;y_2=0.0;
x=[0,0,0]';
B=0;
error_1=0;
tu=1;
s=0;
P=100;
for k=1:1:P
timef(k)=k*ts;
r(k)=rin;
u(k)=Kpidi(1)*x(1)+Kpidi(2)*x(2)+Kpidi(3)*x(3);
if u(k)>=10
u(k)=10;
end
if u(k)<=-10
u(k)=-10;
end
yout(k)=-den(2)*y_1-den(3)*y_2+num(2)*u_1+num(3)*u_2;
error(k)=r(k)-yout(k);
%------------ Return of PID parameters -------------
u_2=u_1;u_1=u(k);
y_2=y_1;y_1=yout(k);
x(1)=error(k); % Calculating P
x(2)=(error(k)-error_1)/ts; % Calculating D
x(3)=x(3)+error(k)*ts; % Calculating I
error_2=error_1;
error_1=error(k);
if s==0
if yout(k)>0.95&yout(k)<1.05
tu=timef(k);
s=1;
end
end
end
for i=1:1:P
Ji(i)=0.999*abs(error(i))+0.01*u(i)^2*0.1;
B=B+Ji(i);
if i>1
erry(i)=yout(i)-yout(i-1);
if erry(i)<0
B=B+100*abs(erry(i));
end
end
end
BsJ=B+0.2*tu*10;
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