gym CartPole PID控制

import sys

import time

sys.path.append("/home/caomaolin/miniconda3/envs/tf/lib/python3.9/site-packages")

import gym

env = gym.make("CartPole-v1")

observation = env.reset()

index = 0

p=0.1 # 比例参数

d=0.005 # 微分参数

i=0.0

ii = 0.0001

action = env.action_space.sample()

for _ in range(50000):

    index = index + 1

    env.render()

    # observation[2]是角度，observation[3]是角速度

    # 小车位置、小车速度、杆子夹角及角变化率

    if observation[2]*p + observation[1]*i + observation[3]*d + observation[0]*ii> 0:

        action = 1

    else:

        action = 0

    observation, reward, done, info = env.step(action)

    # print(observation)

    # print(reward)

    time.sleep(0.01)

    if done:

        observation = env.reset()

        print("game over, index : " + str(index))

        index = 0

env.close()

执行结果：

将最大次数调到了5000次，每次都能运行到5000次。

如果只加比例和微分参数，杆子可以直立，但是会往一边移动，加上位置的反馈后，杆子可以稳定

(tf) xx@DESKTOP-EHHP25L:~/works/python/tensorflow/chapter14$ python chapter14.py 
game over, index : 5000
game over, index : 5000
game over, index : 5000
game over, index : 5000
game over, index : 5000
game over, index : 5000
game over, index : 5000
game over, index : 5000
game over, index : 5000
game over, index : 5000