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25 lines
595 B
25 lines
595 B
6 years ago
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function fit=fitness(Kp,Ki,Kd)
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assignin('base','Kp',Kp);
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assignin('base','Ki',Ki);
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assignin('base','Kd',Kd);
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[~,~,y_out]=sim('thetapid',[0,50]);
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z=(y_out(end,1)); %%表示 取这个 矩阵的第一列最后一行的数据。
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t0=yy.time;
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y=yy.signals.values;
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% res=yy;
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% ymax=find(y>=1);
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% tr=t0(ymax(1));%计算上升时间tr
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[ym,tp]=max(y);
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% tp=t0(tp);%计算峰值时间tp
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Mp=ym-1;%计算超调量Mp
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s0=length(t0);
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while y(s0)>0.98&&y(s0)<1.02
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s0=s0-1;
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end
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ts=t0(s0);%计算调整时间ts
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% error=sum(abs(yy1.signals.values-9));
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w=[0.8 0.1 0.1];
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zhibiao=[z ts Mp];
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fit=1/(zhibiao*w');
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