python/test/pid_neuro.py

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