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92 lines
3.4 KiB
92 lines
3.4 KiB
6 years ago
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%% 清空环境
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clear
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clc
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%% 参数设置
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w = 0.6; % 惯性因子
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c1 = 2; % 加速常数
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c2 = 2; % 加速常数
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%c1 = 2; % 加速常数
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%c2 = 2; % 加速常数
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Dim = 3; % 维数
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SwarmSize = 100; % 粒子群规模
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ObjFun = @PSO_PID; % 待优化函数句柄
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MaxIter = 100; % 最大迭代次数
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MinFit = 0.01; % 最小适应值
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Vmax = 1;
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Vmin = -1;
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Ub = [20 20 20];
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Lb = [-10 -10 -10];
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%% 粒子群初始化
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Range = ones(SwarmSize,1)*(Ub-Lb); %产生随机向量
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Swarm = rand(SwarmSize,Dim).*Range + ones(SwarmSize,1)*Lb; % 初始化粒子群位置
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VStep = rand(SwarmSize,Dim); % 初始化速度 维度
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fSwarm = zeros(SwarmSize,1); %适应度值的初始化 :0
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for i=1:SwarmSize
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i
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fSwarm(i,:) = feval(ObjFun,Swarm(i,:)); % 粒子群的适应值
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end
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%% 个体极值和群体极值
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[bestf, bestindex]=min(fSwarm);
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zbest=Swarm(bestindex,:); % 全局最佳 :位置
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gbest=Swarm; % 个体最佳 :个体最佳位置就是初始化位置
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fgbest=fSwarm; % 个体最佳适应值 :初始化适应度值
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fzbest=bestf; % 全局最佳适应值 :初始化中最优值
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%% 迭代寻优
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iter = 0;
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y_fitness = zeros(1,MaxIter); % 预先产生4个空矩阵
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K_p = zeros(1,MaxIter);
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K_i = zeros(1,MaxIter);
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K_d = zeros(1,MaxIter);
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while( (iter < MaxIter) && (fzbest > MinFit) )
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for j=1:SwarmSize
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% 速度更新
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iter,j
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VStep(j,:) = w*VStep(j,:) + c1*rand*(gbest(j,:) - Swarm(j,:)) + c2*rand*(zbest - Swarm(j,:));
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if VStep(j,:)>Vmax, VStep(j,:)=Vmax; end
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if VStep(j,:)<Vmin, VStep(j,:)=Vmin; end
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% 位置更新
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Swarm(j,:)=Swarm(j,:)+VStep(j,:);
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for k=1:Dim
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if Swarm(j,k)>Ub(k), Swarm(j,k)=Ub(k); end
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if Swarm(j,k)<Lb(k), Swarm(j,k)=Lb(k); end
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end
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% 适应值
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fSwarm(j,:) = feval(ObjFun,Swarm(j,:));
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% 个体最优更新
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if fSwarm(j) < fgbest(j)
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gbest(j,:) = Swarm(j,:); %个体位置更新
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fgbest(j) = fSwarm(j); %个体适应值更新
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end
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% 群体最优更新
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if fSwarm(j) < fzbest
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zbest = Swarm(j,:); %全体最优位置更新
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fzbest = fSwarm(j); %全体最有适应值更新
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end
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end
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iter = iter+1; % 迭代次数更新
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y_fitness(1,iter) = fzbest; % 为绘图做准备
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K_p(1,iter) = zbest(1);
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K_i(1,iter) = zbest(2);
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K_d(1,iter) = zbest(3);
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end
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%% 绘图输出
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figure(1) % 绘制性能指标ITAE的变化曲线
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plot(y_fitness,'LineWidth',2)
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title('最优个体适应值','fontsize',18);
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xlabel('迭代次数','fontsize',18);ylabel('适应值','fontsize',18);
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set(gca,'Fontsize',18);
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figure(2) % 绘制PID控制器参数变化曲线
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plot(K_p)
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hold on
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plot(K_i,'k','LineWidth',3)
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plot(K_d,'--r')
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title('Kp、Ki、Kd 优化曲线','fontsize',18);
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xlabel('迭代次数','fontsize',18);ylabel('参数值','fontsize',18);
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set(gca,'Fontsize',18);
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legend('Kp','Ki','Kd');
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