def pid_episode(self, init_pid): pid = PID() pid.set_pid(init_pid[0], init_pid[1], init_pid[2]) for i in range(4000): if i==0: pid.pid0(self.objective_theta-self.theta) elif i==1: pid.pid1(self.objective_theta-self.theta) else: pid.pid(self.objective_theta-self.theta) self.step(pid.output) reward = (self.objective_theta-self.theta)**2+self.omiga**2 return reward
if __name__ == "__main__":
import sys
sys.path.append('..')
from tool.plot import plot_curve
from controller.pid import PID
from controller.pi import PI
ip = InvertedPendulum()
ip.reset(0.0, 0.0, 0.1, 0.0)
pid = PID()
pid.set_pid(36, 30, 10)
####
T = range(4000)
X = []
for i in T:
if i == 0:
pid.pid0(0.1 - 0.0)
elif i == 1:
pid.pid1(ip.theta - 0.00)
else:
pid.pid(ip.theta - 0.00)
ip.step(pid.output)
X.append(ip.x)
####
plot_curve(np.array(T) * ip.dt, X)
import sys
sys.path.append('..')
from tool.plot import plot_curve
from controller.pid import PID
from controller.pi import PI
ip = InvertedPendulum()
ip.reset(0.0, 0.0, 0.1, 0.0)
pid = PID()
pid.set_pid(40, 30, 10)
####
T = range(4000)
X = []
theta = 0.5
for i in T:
if i == 0:
pid.pid0(0.1 - theta)
elif i == 1:
pid.pid1(ip.theta - theta)
else:
pid.pid(ip.theta - theta)
ip.step(pid.output)
X.append(ip.theta)
####
reward = (ip.theta - theta)**2 + ip.omiga**2
print reward
plot_curve(np.array(T) * ip.dt, X)