www.pudn.com > mohu.rar > CHAP5_2.M

%chap5_2.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(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 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');