def test_initialization(self, reference_value, reference_state):
rg = ConstReferenceGenerator(reference_value=reference_value,
reference_state=reference_state)
assert rg.reference_space == Box(np.array([reference_value]),
np.array([reference_value]))
assert rg._reference_value == reference_value
assert rg._reference_state == reference_state
def test_set_modules(self, physical_system):
rg = ConstReferenceGenerator(reference_state=physical_system.state_names[1])
rg.set_modules(physical_system)
assert all(rg._referenced_states == np.array([False, True]))
def reference_generator(self, physical_system):
rg = ConstReferenceGenerator(reference_state=physical_system.state_names[1], reference_value=1)
rg.set_modules(physical_system)
return rg
return (state, ref), rew, term, info
def reset(self, **kwargs):
state, ref = self.env.reset()
state = np.concatenate((state, np.zeros(self.env.action_space.shape)))
return state, ref
if __name__ == '__main__':
tf.compat.v1.disable_eager_execution()
window_length = 1
# Changing i_q reference and constant 0 i_d reference.
q_generator = WienerProcessReferenceGenerator(reference_state='i_sq')
d_generator = ConstReferenceGenerator('i_sd', 0)
rg = MultipleReferenceGenerator([d_generator, q_generator])
# Change of the default motor parameters.
motor_parameter = dict(r_s=15e-3,
l_d=0.37e-3,
l_q=1.2e-3,
psi_p=65.6e-3,
p=3,
j_rotor=0.06)
limit_values = dict(i=160 * 1.41, omega=12000 * np.pi / 30, u=450)
nominal_values = {key: 0.7 * limit for key, limit in limit_values.items()}
# Create the environment
env = gem.make(
'emotor-pmsm-cont-v1',