python/test/pid_neuro.py

   1 #!/usr/bin/env python
   2 import os, sys
   3
   4 sys.path.insert(0, os.getcwd())
   5 if len(sys.argv) > 1:
   6     sys.stdout = open(sys.argv[1], "w")
   7
   8 import liba  # type: ignore
   9
  10 Ts = 0.001
  11
  12 k = 4000
  13 kp = 4
  14 ki = 0.04
  15 kd = 1.0
  16 wp = 1
  17 wi = 0
  18 wd = 0
  19
  20 num = [6.59492796e-05, 6.54019884e-05]
  21 den = [1.0, -1.97530991, 0.97530991]
  22
  23 tf = liba.tf(num, den[1:])
  24 pid_neuro = liba.pid_neuro().kpid(k, kp, ki, kd).wpid(wp, wi, wd)
  25
  26 t = 0
  27 x = []
  28 while t <= 0.2:
  29     x.append(t)
  30     t += Ts
  31
  32 r = 1
  33 y = 0
  34 for i in range(len(x)):
  35     y = tf(pid_neuro.inc(r, y))
  36     print("%g,%g" % (x[i], y))
  37
  38 pid_neuro.k = pid_neuro.k
  39 pid_neuro.kp = pid_neuro.kp
  40 pid_neuro.ki = pid_neuro.ki
  41 pid_neuro.kd = pid_neuro.kd
  42 pid_neuro.wp = pid_neuro.wp
  43 pid_neuro.wi = pid_neuro.wi
  44 pid_neuro.wd = pid_neuro.wd
  45 pid_neuro.outmax = pid_neuro.outmax
  46 pid_neuro.outmin = pid_neuro.outmin
  47 pid_neuro.out
  48 pid_neuro.fdb
  49 pid_neuro.err
  50 pid_neuro.ec