遗传算法GA优化的PID参数整定

Halcom

参考链接：
人群搜索算法SOA优化的PID参数整定：
http://halcom.cn/forum.php?mod=v ... age=1&extra=#pid664
程序如下：

1. %GA Program tooptimize PID Parameters
   
2. clear all;
   
3. close all;
   
4. size=30;
   
5. codel=3;
   
6. minx(1)=zeros(1);
   
7. maxx(1)=100*ones(1);
   
8. minx(2)=zeros(1);
   
9. maxx(2)=100*ones(1);
   
10. minx(3)=zeros(1);
    
11. maxx(3)=0*ones(1);
    
12. kpid(:,1)=minx(1)+(maxx(1)-minx(1))*rand(size,1);
    
13. kpid(:,2)=minx(2)+(maxx(2)-minx(2))*rand(size,1);
    
14. kpid(:,3)=minx(3)+(maxx(3)-minx(3))*rand(size,1);
    
15. G=100;
    
16. BsJ=0;
    
17. for kg=1:1:G
    
18.     time(kg)=kg;
    
19. for i=1:1:size
    
20.     kpidi=kpid(i,:);
    
21.     BsJ=pid_GA(kpidi);
    
22. BsJi(i)=BsJ;
    
23. end
    
24. [OderJi,IndexJi]=sort(BsJi);
    
25. BestJ(kg)=OderJi(1);
    
26. BJ=BestJ(kg);
    
27. Ji=BsJi+1e-10;
    
28. fi=1./Ji;
    
29. [Oderfi,Indexfi]=sort(fi);
    
30. Bestfi=Oderfi(size);
    
31. BestS=kpid(Indexfi(size),:);
    
32. % select and reproduct operation
    
33. fi_sum=sum(fi);
    
34. fi_size=(Oderfi/fi_sum)*size;
    
35. fi_s=floor(fi_size);
    
36. r=size-sum(fi_s);
    
37. Rest=fi_size-fi_s;
    
38. [Restvalue,Index]=sort(Rest);
    
39. for i=size:-1:size-r+1
    
40.     fi_s(Index(i))=fi_s(Index(i))+1;
    
41. end
    
42. k=1;
    
43. for i=size:-1:1
    
44.     for j=1:1:fi_s(i)
    
45.     TempE(k,:)=kpid(Indexfi(i),:);
    
46.     k=k+1;
    
47.     end
    
48. end
    
49. % crossover operation
    
50. Pc=0.90;
    
51. for i=1:2:(size-1)
    
52.     temp=rand;
    
53.     if Pc>temp
    
54.         alfa=rand;
    
55.         TempE(i,:)=alfa*kpid(i+1,:)+(1-alfa)*kpid(i,:);
    
56.         TempE(i+1,:)=alfa*kpid(i,:)+(1-alfa)*kpid(i+1,:);
    
57.     end
    
58. end
    
59. TempE(size,:)=BestS;
    
60. kpid=TempE;
    
61. %Mution operation
    
62. Pm=0.1-[1:1:size]*(0.01)/size;
    
63. Pm_rand=rand(size,codel);
    
64. Mean=(maxx+minx)/2;
    
65. Dif=(maxx-minx);
    
66. for i=1:1:size
    
67.     for j=1:1:codel
    
68.         if Pm(i)>Pm_rand(i,j)
    
69.             TempE(i,j)=Mean(j)+Dif(j)*(rand-0.5);
    
70.         end
    
71.     end
    
72. end
    
73. %guarantee TempE(size,:)belong tu the best individual
    
74. TempE(size,:)=BestS;
    
75. kpid=TempE;
    
76. end
    
77. Bestfi;
    
78. BestS;
    
79. Best_J=BestJ(G);
    
80. figure(1);
    
81. plot(time,BestJ,'LineWidth',3);
    
82. title('最优个体适应值','fontsize',10);
    
83. xlabel('迭代次数');ylabel('适应值');
    
84. grid on

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