为什么代码中没有PID部分
时间: 2024-04-08 18:29:51 浏览: 16
抱歉,我之前给出的代码示例似乎有误。以下是一个包含PID控制的基于BP神经网络的Python代码示例:
```python
import numpy as np
class BPNN_PID:
def __init__(self, input_size, hidden_size, output_size, learning_rate):
self.input_size = input_size
self.hidden_size = hidden_size
self.output_size = output_size
self.learning_rate = learning_rate
self.weights_input_hidden = np.random.randn(self.input_size, self.hidden_size)
self.weights_hidden_output = np.random.randn(self.hidden_size, self.output_size)
self.bias_hidden = np.zeros((1, self.hidden_size))
self.bias_output = np.zeros((1, self.output_size))
self.error_sum = 0
self.last_error = 0
def sigmoid(self, x):
return 1 / (1 + np.exp(-x))
def forward(self, inputs):
hidden = np.dot(inputs, self.weights_input_hidden) + self.bias_hidden
hidden_activation = self.sigmoid(hidden)
output = np.dot(hidden_activation, self.weights_hidden_output) + self.bias_output
return output
def train(self, inputs, targets):
hidden = np.dot(inputs, self.weights_input_hidden) + self.bias_hidden
hidden_activation = self.sigmoid(hidden)
output = np.dot(hidden_activation, self.weights_hidden_output) + self.bias_output
error = targets - output
d_output = error
d_output *= self.learning_rate
d_hidden = np.dot(d_output, self.weights_hidden_output.T)
self.weights_hidden_output += np.dot(hidden_activation.T, d_output)
self.bias_output += np.sum(d_output, axis=0, keepdims=True)
d_hidden *= hidden_activation * (1 - hidden_activation)
self.weights_input_hidden += np.dot(inputs.T, d_hidden)
self.bias_hidden += np.sum(d_hidden, axis=0, keepdims=True)
# PID control
self.error_sum += error
d_error = error - self.last_error
self.last_error = error
control_signal = self.error_sum + error + d_error
# 在此处使用控制信号来进行PID控制操作
```
这个代码示例中,我添加了一个`train`方法,并在其中实现了PID控制部分。你可以在`train`方法的最后使用`control_signal`来进行PID控制操作。请注意,这只是一个简单的示例,实际使用中你可能需要根据具体的问题和要求进行适当的修改和调整。
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