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# =======================================================
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# Python 通用忽略规则
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# =======================================================
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||||
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||||
# 字节码编译文件
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__pycache__/
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*.py[cod]
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||||
*$py.class
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# C 扩展
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*.so
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||||
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||||
# 分发与打包
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||||
.Python
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build/
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||||
develop-eggs/
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||||
dist/
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||||
downloads/
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eggs/
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||||
.eggs/
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lib/
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||||
lib64/
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||||
parts/
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sdist/
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||||
var/
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wheels/
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||||
share/python-wheels/
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||||
*.egg-info/
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||||
.installed.cfg
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||||
*.egg
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||||
MANIFEST
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||||
|
||||
# PyInstaller
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||||
*.manifest
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||||
*.spec
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||||
|
||||
# 安装日志
|
||||
pip-log.txt
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||||
pip-delete-this-directory.txt
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||||
|
||||
# 单元测试 / 覆盖率
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||||
htmlcov/
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||||
.tox/
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||||
.nox/
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||||
.coverage
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||||
.coverage.*
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||||
.cache
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||||
nosetests.xml
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||||
coverage.xml
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||||
*.cover
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||||
*.py,cover
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||||
.hypothesis/
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.pytest_cache/
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||||
cover/
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||||
|
||||
# Jupyter Notebook
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||||
.ipynb_checkpoints
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||||
|
||||
# 环境配置
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||||
.env
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||||
.venv
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||||
env/
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||||
venv/
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||||
ENV/
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||||
env.bak/
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||||
venv.bak/
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||||
|
||||
# =======================================================
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||||
# IDE 与 编辑器
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||||
# =======================================================
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||||
.vscode/
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||||
.idea/
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||||
*.swp
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||||
*.swo
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||||
|
||||
# =======================================================
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||||
# 操作系统生成文件
|
||||
# =======================================================
|
||||
Thumbs.db
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||||
ehthumbs.db
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||||
Desktop.ini
|
||||
.DS_Store
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||||
|
||||
# =======================================================
|
||||
# 强化学习 (RL) 与 深度学习特定忽略规则
|
||||
# =======================================================
|
||||
|
||||
# 训练日志与 TensorBoard
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||||
logs/
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||||
runs/
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||||
tensorboard/
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||||
wandb/
|
||||
mlruns/
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||||
|
||||
# 模型权重与检查点 (通常很大，不建议提交)
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||||
models/
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||||
checkpoints/
|
||||
saved_models/
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||||
*.pth
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||||
*.pt
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||||
*.ckpt
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||||
*.h5
|
||||
*.onnx
|
||||
*.pkl
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||||
*.pb
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||||
|
||||
# 数据集与回放缓冲区
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data/
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||||
datasets/
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||||
replay_buffer/
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||||
*.npz
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||||
|
||||
# 仿真输出数据
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||||
results/
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||||
*.csv
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||||
*.xlsx
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||||
|
||||
# =======================================================
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||||
# 项目特定
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||||
# =======================================================
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||||
|
||||
# *.dll
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||||
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||||
# 临时文件
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*.tmp
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*.bak
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@@ -0,0 +1,227 @@
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# libEngine.dll 调用指南
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本文档详细说明了如何通过 C++ 和 Python 调用 `libEngine.dll` 进行发动机仿真。
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## 1. 数据结构定义
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无论使用哪种语言，都需要严格遵循以下数据结构定义（内存布局）。
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### 1.1 Engine_Identity (身份/配置参数)
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| 字段名 | 类型 (C++) | 类型 (Python ctypes) | 说明 |
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| :------------------------ | :--------- | :------------------- | :------------------------- |
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| `Identity_Ok` | `int` | `c_int` | 身份验证位，通常设为 1 |
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| `Cof_Eff_Low_Identity` | `double` | `c_double` | 低压部件效率系数，默认 1.0 |
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| `Cof_Eff_High_Identity` | `double` | `c_double` | 高压部件效率系数，默认 1.0 |
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### 1.2 EngInPut (输入控制量)
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| 字段名 | 类型 (C++) | 类型 (Python ctypes) | 说明 |
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| :----------------- | :--------- | :------------------- | :--------------------- |
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| `Altp` | `double` | `c_double` | 飞行高度 (m) |
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| `Ma0` | `double` | `c_double` | 飞行马赫数 |
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| `dT0` | `double` | `c_double` | 与标准大气温差 (K) |
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| `StepTime` | `double` | `c_double` | 仿真步长 (s) |
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| `Wf` | `double` | `c_double` | 主燃烧室供油量 (kg/h) |
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| `Wf_After` | `double` | `c_double` | 加力供油量 (kg/h) |
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| `Angle_FanVane` | `double` | `c_double` | 风扇导流叶片角度 |
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| `Angle_CompVane` | `double` | `c_double` | 高压压气机导流叶片角度 |
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| `A8` | `double` | `c_double` | 喷口临界面积 (m^2) |
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| `AddPower` | `double` | `c_double` | 附加功率/起动功率 (W) |
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### 1.3 EngOutPut (输出状态量)
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| 字段名 | 类型 (C++) | 类型 (Python ctypes) | 说明 |
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| :---------- | :--------- | :------------------- | :-------------------------- |
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| `NL` | `double` | `c_double` | 风扇相对转速 (%) |
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| `NH` | `double` | `c_double` | 高压相对转速 (%) |
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| `T1t` | `double` | `c_double` | 进气温度 (K) |
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| `P1t` | `double` | `c_double` | 进气总压 (kPa) |
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| `P1s` | `double` | `c_double` | 风扇进口静压 (kPa) |
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| `P3s` | `double` | `c_double` | 高压压气机后静压 (kPa) |
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| `T5t` | `double` | `c_double` | 涡轮后温度 (K) |
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| `P5t` | `double` | `c_double` | 涡轮后压力 (kPa) |
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| `Wf_Main` | `double` | `c_double` | 实际燃烧主燃油流量 (kg/h) |
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| `T5t_Gas` | `double` | `c_double` | 涡轮后气体温度 (无惯性) (K) |
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---
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## 2. C++ 调用方法
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在 C++ 中，通常使用 `LoadLibrary` 和 `GetProcAddress` 进行显式调用（动态加载）。
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### 函数原型
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```cpp
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// 假设使用 stdcall 调用约定
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typedef struct EngOutPut (__stdcall *CreateEngFunc)(int **pEngine, struct Engine_Identity m_Identity);
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typedef struct EngOutPut (__stdcall *EngStepGoFunc)(int *pEngine, struct EngInPut m_EngInPut);
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typedef struct EngOutPut (__stdcall *DestroyEngFunc)(int *pEngine);
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```
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### 示例代码
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```cpp
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#include <windows.h>
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#include <iostream>
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// 定义结构体 (需与上述定义一致)
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struct Engine_Identity {
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int Identity_Ok;
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double Cof_Eff_Low_Identity;
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double Cof_Eff_High_Identity;
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};
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struct EngInPut {
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double Altp, Ma0, dT0, StepTime;
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double Wf, Wf_After, Angle_FanVane, Angle_CompVane, A8, AddPower;
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};
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struct EngOutPut {
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double NL, NH, T1t, P1t, P1s, P3s, T5t, P5t, Wf_Main, T5t_Gas;
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};
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// 定义函数指针类型
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typedef EngOutPut (__stdcall *CreateEngFunc)(int**, Engine_Identity);
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typedef EngOutPut (__stdcall *EngStepGoFunc)(int*, EngInPut);
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typedef EngOutPut (__stdcall *DestroyEngFunc)(int*);
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int main() {
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// 1. 加载 DLL
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HMODULE hDll = LoadLibrary("libEngine.dll");
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if (!hDll) {
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std::cerr << "无法加载 DLL" << std::endl;
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return 1;
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}
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// 2. 获取函数地址
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CreateEngFunc CreateEng = (CreateEngFunc)GetProcAddress(hDll, "CreateEng");
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EngStepGoFunc EngStepGo = (EngStepGoFunc)GetProcAddress(hDll, "EngStepGo");
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DestroyEngFunc DestroyEng = (DestroyEngFunc)GetProcAddress(hDll, "DestroyEng");
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if (!CreateEng || !EngStepGo || !DestroyEng) {
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std::cerr << "无法获取函数地址" << std::endl;
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FreeLibrary(hDll);
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return 1;
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}
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// 3. 创建发动机实例
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int* hEngine = nullptr; // 句柄指针
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Engine_Identity identity = {1, 1.0, 1.0};
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// 注意：CreateEng 需要传入指针的地址 (&hEngine)
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CreateEng(&hEngine, identity);
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if (!hEngine) {
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std::cerr << "发动机创建失败" << std::endl;
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FreeLibrary(hDll);
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return 1;
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}
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// 4. 仿真循环
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EngInPut input = {0};
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input.StepTime = 0.02;
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input.Wf = 100.0;
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input.A8 = 0.1;
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input.AddPower = 90000.0; // 起动功率
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for (int i = 0; i < 100; ++i) {
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// 执行单步
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EngOutPut output = EngStepGo(hEngine, input);
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std::cout << "Step: " << i
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<< " NH: " << output.NH
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<< " T5t: " << output.T5t << std::endl;
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// 简单的起动逻辑示例
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if (output.NH > 0.25) {
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input.AddPower = 0.0;
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input.Wf = 300.0;
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}
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}
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// 5. 销毁与释放
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DestroyEng(hEngine);
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FreeLibrary(hDll);
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return 0;
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}
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```
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---
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## 3. Python 调用方法
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Python 中推荐使用 `ctypes` 库进行调用。
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### 核心要点
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1. 使用 `ctypes.Structure` 定义对应的 C 结构体。
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2. 使用 `WinDLL` 加载 DLL（因为是 `__stdcall` 调用约定）。
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3. 配置 `argtypes` 和 `restype` 以确保参数传递正确。
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### 示例代码 (基于封装好的类)
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```python
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import ctypes
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from ctypes import *
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import os
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# --- 结构体定义 (略，见 core_model.py) ---
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class EngineSim:
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def __init__(self, dll_path):
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self.lib = WinDLL(dll_path)
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# 配置函数原型
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# CreateEng: 传入 int** (POINTER(POINTER(c_int)))
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self.lib.CreateEng.argtypes = [POINTER(POINTER(c_int)), Engine_Identity]
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self.lib.CreateEng.restype = EngOutPut
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# EngStepGo: 传入 int* (POINTER(c_int))
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self.lib.EngStepGo.argtypes = [POINTER(c_int), EngInPut]
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self.lib.EngStepGo.restype = EngOutPut
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# DestroyEng: 传入 int*
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self.lib.DestroyEng.argtypes = [POINTER(c_int)]
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self.lib.DestroyEng.restype = EngOutPut
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self.h_engine = None
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def create(self):
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self.h_engine = POINTER(c_int)() # 创建一个空指针用于接收句柄
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identity = Engine_Identity(1, 1.0, 1.0)
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# 传入指针的引用 byref
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self.lib.CreateEng(byref(self.h_engine), identity)
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def step(self, input_data):
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return self.lib.EngStepGo(self.h_engine, input_data)
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def close(self):
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if self.h_engine:
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self.lib.DestroyEng(self.h_engine)
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self.h_engine = None
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# --- 使用 ---
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if __name__ == "__main__":
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dll_path = os.path.join(os.path.dirname(__file__), "libEngine.dll")
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sim = EngineSim(dll_path)
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sim.create()
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inp = EngInPut()
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inp.StepTime = 0.02
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inp.Wf = 100.0
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inp.AddPower = 90000.0
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inp.A8 = 0.1
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for i in range(100):
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out = sim.step(inp)
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print(f"NH: {out.NH:.2f}, T5t: {out.T5t:.2f}")
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sim.close()
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```
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### 注意事项
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||||
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* **指针传递**: `CreateEng` 在 C++ 中接收 `int**`，在 Python `ctypes` 中对应 `byref(h_engine)`，其中 `h_engine` 是 `POINTER(c_int)()`。
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* **调用约定**: 必须使用 `WinDLL` 而不是 `CDLL`，除非 DLL 编译时使用的是 `cdecl`。根据现有代码推断为 `stdcall`。
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@@ -0,0 +1,128 @@
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import ctypes
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import os
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from ctypes import *
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||||
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||||
# ==========================================
|
||||
# 1. 结构体定义
|
||||
# ==========================================
|
||||
|
||||
class Engine_Identity(Structure):
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_fields_ = [
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("Identity_Ok", c_int),
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("Cof_Eff_Low_Identity", c_double),
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("Cof_Eff_High_Identity", c_double)
|
||||
]
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||||
|
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class EngInPut(Structure):
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||||
_fields_ = [
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("Altp", c_double), # 飞行高度 m
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("Ma0", c_double), # 马赫数
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||||
("dT0", c_double), # 温差 K
|
||||
("StepTime", c_double), # 步长
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||||
("Wf", c_double), # 主燃油流量 kg/h
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||||
("Wf_After", c_double), # 加力燃油 kg/h
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||||
("Angle_FanVane", c_double), # 风扇导叶
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||||
("Angle_CompVane", c_double), # 高压导叶
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||||
("A8", c_double), # 喉道面积 m^2
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||||
("AddPower", c_double) # 起动力矩 W
|
||||
]
|
||||
|
||||
class EngOutPut(Structure):
|
||||
_fields_ = [
|
||||
("NL", c_double), # 风扇转速 (0,1)
|
||||
("NH", c_double), # 高压转速 (0,1)
|
||||
("T1t", c_double), # 进口温度 K
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||||
("P1t", c_double), # 进口压力 kPa
|
||||
("P1s", c_double), # 进口静压 kPa
|
||||
("P3s", c_double), # 压气机出口压力 kPa
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||||
("T5t", c_double), # 涡轮出口温度 K
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||||
("P5t", c_double), # 涡轮出口压力 kPa
|
||||
("Wf_Main", c_double), # 实际主燃油流量 kg/h
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||||
("T5t_Gas", c_double) # 涡轮出口实际气体温度 K
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||||
]
|
||||
|
||||
# ==========================================
|
||||
# 2. DLL 封装类
|
||||
# ==========================================
|
||||
|
||||
class AeroEngineDLL:
|
||||
def __init__(self, dll_path=None):
|
||||
if dll_path is None:
|
||||
dll_path = os.path.join(os.path.dirname(__file__), "libEngine.dll")
|
||||
|
||||
self.lib = WinDLL(dll_path) # 使用 WinDLL 因为是 stdcall
|
||||
|
||||
# 配置函数原型
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||||
self.lib.CreateEng.argtypes = [POINTER(POINTER(c_int)), Engine_Identity]
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||||
self.lib.CreateEng.restype = EngOutPut
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||||
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||||
self.lib.EngStepGo.argtypes = [POINTER(c_int), EngInPut]
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||||
self.lib.EngStepGo.restype = EngOutPut
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||||
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||||
self.lib.DestroyEng.argtypes = [POINTER(c_int)]
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||||
self.lib.DestroyEng.restype = EngOutPut
|
||||
|
||||
self.h_engine = None
|
||||
self.dt = 0.02 # 默认仿真步长 20ms
|
||||
|
||||
def reset(self):
|
||||
# 如果已经存在实例，先销毁
|
||||
if self.h_engine:
|
||||
self.lib.DestroyEng(self.h_engine)
|
||||
|
||||
# 创建新实例
|
||||
self.h_engine = POINTER(c_int)()
|
||||
identity = Engine_Identity(1, 1.0, 1.0)
|
||||
self.lib.CreateEng(byref(self.h_engine), identity)
|
||||
|
||||
# 初始化一个默认的输入状态
|
||||
self.current_input = EngInPut()
|
||||
self.current_input.Altp = 0.0
|
||||
self.current_input.Ma0 = 0.0
|
||||
self.current_input.dT0 = 0.0
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||||
self.current_input.StepTime = self.dt
|
||||
self.current_input.Wf = 100.0 # 初始燃油
|
||||
self.current_input.A8 = 0.1 # 初始 A8
|
||||
self.current_input.AddPower = 0.0
|
||||
|
||||
# 跑一步获取初始状态
|
||||
out = self.lib.EngStepGo(self.h_engine, self.current_input)
|
||||
return out
|
||||
|
||||
def step(self, action_dict):
|
||||
"""
|
||||
action_dict: 包含具体物理值的字典
|
||||
{'Wf': 200.0, 'A8': 0.12, ...}
|
||||
"""
|
||||
# 更新输入结构体
|
||||
if 'Wf' in action_dict: self.current_input.Wf = action_dict['Wf']
|
||||
if 'A8' in action_dict: self.current_input.A8 = action_dict['A8']
|
||||
if 'FanVane' in action_dict: self.current_input.Angle_FanVane = action_dict['FanVane']
|
||||
if 'CompVane' in action_dict: self.current_input.Angle_CompVane = action_dict['CompVane']
|
||||
if 'AddPower' in action_dict: self.current_input.AddPower = action_dict['AddPower']
|
||||
|
||||
# 确保步长正确
|
||||
self.current_input.StepTime = self.dt
|
||||
|
||||
# 调用 DLL
|
||||
out = self.lib.EngStepGo(self.h_engine, self.current_input)
|
||||
return out
|
||||
|
||||
def close(self):
|
||||
if self.h_engine:
|
||||
try:
|
||||
self.lib.DestroyEng(self.h_engine)
|
||||
except OSError:
|
||||
# 忽略销毁时的访问冲突，可能是 DLL 内部状态问题
|
||||
pass
|
||||
self.h_engine = None
|
||||
|
||||
# 尝试释放 DLL
|
||||
# 注意：这通常不是必须的，但在某些情况下（如反复加载/卸载或 DLL 内部有全局状态）可能有帮助
|
||||
if hasattr(self, 'lib'):
|
||||
try:
|
||||
import _ctypes
|
||||
_ctypes.FreeLibrary(self.lib._handle)
|
||||
except:
|
||||
pass
|
||||
del self.lib
|
||||
@@ -0,0 +1,189 @@
|
||||
import matplotlib.pyplot as plt
|
||||
import matplotlib.ticker as ticker
|
||||
import numpy as np
|
||||
from core_model import AeroEngineDLL
|
||||
import os
|
||||
|
||||
# ==========================================
|
||||
# 范围测试示例
|
||||
# ==========================================
|
||||
|
||||
def run_simulation():
|
||||
print("=== 开始发动机控制量范围测试 (优化版) ===")
|
||||
|
||||
# 1. 初始化模型
|
||||
dll_path = os.path.join(os.path.dirname(__file__), "libEngine.dll")
|
||||
if not os.path.exists(dll_path):
|
||||
dll_path = os.path.join(os.path.dirname(__file__), "..", "libEngine.dll")
|
||||
|
||||
sim = AeroEngineDLL(dll_path)
|
||||
out = sim.reset()
|
||||
|
||||
# 初始状态
|
||||
current_wf = 100.0
|
||||
current_add_power = 90000.0
|
||||
current_a8 = 0.1
|
||||
current_fan_vane = 0.0
|
||||
current_comp_vane = 0.0
|
||||
|
||||
# 数据记录
|
||||
data = {
|
||||
'time': [], 'nh': [], 'nl': [], 't5': [], 'p3': [], 'wf': [],
|
||||
'a8': [], 'fan_vane': [], 'comp_vane': []
|
||||
}
|
||||
|
||||
# 辅助记录函数
|
||||
def record(t, o, wf, a8, fv, cv):
|
||||
data['time'].append(t)
|
||||
data['nh'].append(o.NH)
|
||||
data['nl'].append(o.NL)
|
||||
data['t5'].append(o.T5t)
|
||||
data['p3'].append(o.P3s)
|
||||
data['wf'].append(wf)
|
||||
data['a8'].append(a8)
|
||||
data['fan_vane'].append(fv)
|
||||
data['comp_vane'].append(cv)
|
||||
|
||||
record(0.0, out, current_wf, current_a8, current_fan_vane, current_comp_vane)
|
||||
|
||||
total_time = 0.0
|
||||
dt = 0.02
|
||||
|
||||
# ==========================================
|
||||
# Phase 1: 起动与稳态 (0 - 20s)
|
||||
# ==========================================
|
||||
print("Phase 1: 起动与稳态 (0-20s)...")
|
||||
while total_time < 20.0:
|
||||
if out.NH > 0.25 and current_add_power > 0:
|
||||
current_add_power = 0.0
|
||||
current_wf = 2000.0 # 提高稳态燃油至 2000 (原 1000) 以测试高工况下的导叶效果
|
||||
|
||||
action = {
|
||||
'Wf': current_wf, 'AddPower': current_add_power, 'A8': current_a8,
|
||||
'FanVane': current_fan_vane, 'CompVane': current_comp_vane
|
||||
}
|
||||
out = sim.step(action)
|
||||
total_time += dt
|
||||
record(total_time, out, current_wf, current_a8, current_fan_vane, current_comp_vane)
|
||||
|
||||
# ==========================================
|
||||
# Phase 2: A8 扫描 (Step Response)
|
||||
# A8: 0.01 -> 1.0
|
||||
# ==========================================
|
||||
print("Phase 2: 测试 A8 阶跃变化 (0.01 -> 1.0)...")
|
||||
steps_per_point = 50 # 1秒 per point
|
||||
a8_targets = np.linspace(0.01, 1.0, 40)
|
||||
|
||||
for val in a8_targets:
|
||||
current_a8 = val
|
||||
for _ in range(steps_per_point):
|
||||
action = {'Wf': current_wf, 'AddPower': 0.0, 'A8': current_a8, 'FanVane': current_fan_vane, 'CompVane': current_comp_vane}
|
||||
out = sim.step(action)
|
||||
total_time += dt
|
||||
record(total_time, out, current_wf, current_a8, current_fan_vane, current_comp_vane)
|
||||
|
||||
# 恢复 A8 并稳定
|
||||
current_a8 = 0.1
|
||||
print("Restabilizing A8...")
|
||||
for _ in range(100): # 2秒
|
||||
action = {'Wf': current_wf, 'AddPower': 0.0, 'A8': current_a8, 'FanVane': current_fan_vane, 'CompVane': current_comp_vane}
|
||||
out = sim.step(action)
|
||||
total_time += dt
|
||||
record(total_time, out, current_wf, current_a8, current_fan_vane, current_comp_vane)
|
||||
|
||||
# ==========================================
|
||||
# Phase 3: Fan Vane 扫描 (Step Response)
|
||||
# Range: -20 -> +20 度
|
||||
# ==========================================
|
||||
print("Phase 3: 测试 Fan Vane 阶跃变化 (-20 -> 20)...")
|
||||
vane_targets = np.linspace(-20.0, 20.0, 40)
|
||||
|
||||
for val in vane_targets:
|
||||
current_fan_vane = val
|
||||
for _ in range(steps_per_point):
|
||||
action = {'Wf': current_wf, 'AddPower': 0.0, 'A8': current_a8, 'FanVane': current_fan_vane, 'CompVane': current_comp_vane}
|
||||
out = sim.step(action)
|
||||
total_time += dt
|
||||
record(total_time, out, current_wf, current_a8, current_fan_vane, current_comp_vane)
|
||||
|
||||
# 恢复 Fan Vane 并稳定
|
||||
current_fan_vane = 0.0
|
||||
print("Restabilizing Fan Vane...")
|
||||
for _ in range(100):
|
||||
action = {'Wf': current_wf, 'AddPower': 0.0, 'A8': current_a8, 'FanVane': current_fan_vane, 'CompVane': current_comp_vane}
|
||||
out = sim.step(action)
|
||||
total_time += dt
|
||||
record(total_time, out, current_wf, current_a8, current_fan_vane, current_comp_vane)
|
||||
|
||||
# ==========================================
|
||||
# Phase 4: Comp Vane 扫描 (Step Response)
|
||||
# Range: -20 -> +20 度
|
||||
# ==========================================
|
||||
print("Phase 4: 测试 Comp Vane 阶跃变化 (-20 -> 20)...")
|
||||
|
||||
for val in vane_targets:
|
||||
current_comp_vane = val
|
||||
for _ in range(steps_per_point):
|
||||
action = {'Wf': current_wf, 'AddPower': 0.0, 'A8': current_a8, 'FanVane': current_fan_vane, 'CompVane': current_comp_vane}
|
||||
out = sim.step(action)
|
||||
total_time += dt
|
||||
record(total_time, out, current_wf, current_a8, current_fan_vane, current_comp_vane)
|
||||
|
||||
sim.close()
|
||||
print("测试结束，正在绘图...")
|
||||
plot_range_test(data)
|
||||
|
||||
def plot_range_test(data):
|
||||
t = data['time']
|
||||
|
||||
plt.rcParams['font.family'] = 'sans-serif'
|
||||
fig, axes = plt.subplots(5, 1, figsize=(12, 16), sharex=True)
|
||||
|
||||
# 1. Speed (NH & NL)
|
||||
axes[0].plot(t, data['nh'], color='blue', label='NH')
|
||||
axes[0].plot(t, data['nl'], color='cyan', linestyle='--', label='NL')
|
||||
axes[0].set_ylabel('Speed (%)')
|
||||
axes[0].grid(True, linestyle='--', alpha=0.7)
|
||||
axes[0].legend(loc='upper right')
|
||||
axes[0].set_title('Engine Response to Control Inputs')
|
||||
|
||||
# 2. T5
|
||||
axes[1].plot(t, data['t5'], color='red', label='T5')
|
||||
axes[1].set_ylabel('T5 (K)')
|
||||
axes[1].grid(True, linestyle='--', alpha=0.7)
|
||||
axes[1].legend(loc='upper right')
|
||||
|
||||
# 3. P3
|
||||
axes[2].plot(t, data['p3'], color='orange', label='P3')
|
||||
axes[2].set_ylabel('P3 (kPa)')
|
||||
axes[2].grid(True, linestyle='--', alpha=0.7)
|
||||
axes[2].legend(loc='upper right')
|
||||
|
||||
# 4. A8 Input
|
||||
axes[3].plot(t, data['a8'], color='green', label='A8 Input')
|
||||
axes[3].set_ylabel('A8 (m^2)')
|
||||
axes[3].grid(True, linestyle='--', alpha=0.7)
|
||||
axes[3].legend(loc='upper right')
|
||||
axes[3].yaxis.set_major_locator(ticker.MaxNLocator(nbins=5))
|
||||
axes[3].minorticks_on()
|
||||
axes[3].grid(which='minor', linestyle=':', alpha=0.4)
|
||||
|
||||
# 5. Vane Inputs
|
||||
axes[4].plot(t, data['fan_vane'], color='purple', label='Fan Vane')
|
||||
axes[4].plot(t, data['comp_vane'], color='brown', label='Comp Vane')
|
||||
axes[4].set_ylabel('Vane Angle (deg)')
|
||||
axes[4].set_xlabel('Time (s)')
|
||||
axes[4].grid(True, linestyle='--', alpha=0.7)
|
||||
axes[4].legend(loc='upper right')
|
||||
axes[4].yaxis.set_major_locator(ticker.MaxNLocator(nbins=5))
|
||||
axes[4].minorticks_on()
|
||||
axes[4].grid(which='minor', linestyle=':', alpha=0.4)
|
||||
|
||||
plt.tight_layout()
|
||||
save_path = os.path.join(os.path.dirname(__file__), 'range_test_result.png')
|
||||
plt.savefig(save_path)
|
||||
print(f"结果图已保存至: {save_path}")
|
||||
plt.show()
|
||||
|
||||
if __name__ == "__main__":
|
||||
run_simulation()
|
||||
@@ -0,0 +1,277 @@
|
||||
import gymnasium as gym
|
||||
from gymnasium import spaces
|
||||
import numpy as np
|
||||
|
||||
from engine_env.core_model import AeroEngineDLL
|
||||
from engine_env.schedule import ControlSchedule
|
||||
|
||||
class AeroEngineGymEnv(gym.Env):
|
||||
"""
|
||||
航空发动机控制环境 (Aero-Engine Control Environment)
|
||||
|
||||
特点:
|
||||
1. 外部通过 set_pla() 控制任务输入。
|
||||
2. 包含起动阶段和稳态控制阶段的复杂约束判定。
|
||||
3. 奖励函数包含调节时间、超调量、起动功、平滑性等工程指标。
|
||||
|
||||
Observation Space (8维):
|
||||
[NH, NL, T5, P3, Target_NH, Target_NL, Error_NH, Error_NL]
|
||||
|
||||
Action Space (5维, 范围 [-1, 1]):
|
||||
[FanVane, CompVane, AddPower, Wf, A8]
|
||||
"""
|
||||
metadata = {"render_modes": ["human"]}
|
||||
|
||||
def __init__(self):
|
||||
# 1. 加载核心组件
|
||||
self.engine = AeroEngineDLL()
|
||||
self.schedule = ControlSchedule()
|
||||
|
||||
# 2. 仿真参数
|
||||
self.current_step = 0
|
||||
self.dt = 0.02 # 仿真步长 20ms
|
||||
self.max_steps = 1000 # 最大步数 (20秒)
|
||||
|
||||
# 3. 核心状态变量
|
||||
self.pla = 0.0 # 油门杆角度 (由外部控制)
|
||||
|
||||
# 4. 定义动作空间 (5个控制量)
|
||||
# 顺序: [风扇导叶, 高压导叶, 起动功率, 燃油Wf, A8]
|
||||
self.action_space = spaces.Box(low=-1.0, high=1.0, shape=(5,), dtype=np.float32)
|
||||
|
||||
# 5. 定义观测空间 (8维)
|
||||
self.observation_space = spaces.Box(low=-np.inf, high=np.inf, shape=(8,), dtype=np.float32)
|
||||
|
||||
# 6. 物理范围映射 (Physical Limits)
|
||||
self.limits = {
|
||||
'Wf': (50.0, 5000.0), # kg/h (燃油流量)
|
||||
'A8': (0.2, 0.6), # m^2 (喷管面积)
|
||||
'FanVane': (-20.0, 20.0), # deg (风扇导叶)
|
||||
'CompVane': (-20.0, 20.0), # deg (压气机导叶)
|
||||
'AddPower': (0.0, 100000.0) # W (起动电机功率)
|
||||
}
|
||||
|
||||
# 内部缓存变量
|
||||
self.t_nh, self.t_nl = 0.0, 0.0
|
||||
self.limit_t5, self.limit_p3 = 1200.0, 2000.0
|
||||
|
||||
# 计时器 (用于约束判定)
|
||||
self.timer_startup = 0.0
|
||||
self.timer_settle_5 = 0.0
|
||||
self.timer_settle_1 = 0.0
|
||||
|
||||
# 平滑性权重 (Smoothness Weights)
|
||||
# 燃油(Wf)和喷管(A8)给高权重，AddPower允许突变
|
||||
self.smooth_weights = np.array([1.0, 1.0, 0.5, 5.0, 2.0], dtype=np.float32)
|
||||
|
||||
# 初始化上一帧动作缓存
|
||||
self.last_action = np.zeros(5, dtype=np.float32)
|
||||
|
||||
def reset(self, seed=None, options=None):
|
||||
"""
|
||||
重置环境到初始状态
|
||||
options: {'pla': float} 可指定初始 PLA
|
||||
"""
|
||||
super().reset(seed=seed)
|
||||
self.current_step = 0
|
||||
|
||||
# 重置所有计时器
|
||||
self.timer_startup = 0.0
|
||||
self.timer_settle_5 = 0.0
|
||||
self.timer_settle_1 = 0.0
|
||||
|
||||
# 重置动作缓存
|
||||
self.last_action = np.zeros(5, dtype=np.float32)
|
||||
|
||||
# 设定初始 PLA
|
||||
self.pla = options.get('pla', 0.0) if options else 0.0
|
||||
|
||||
# 复位底层模型
|
||||
out = self.engine.reset()
|
||||
|
||||
# 更新初始目标
|
||||
self.t_nh, self.t_nl, self.limit_t5, self.limit_p3 = self.schedule.get_targets(self.pla)
|
||||
|
||||
return self._get_obs(out), {"PLA": self.pla}
|
||||
|
||||
def set_pla(self, pla_value):
|
||||
"""
|
||||
【外部接口】设置当前的 PLA (油门杆角度)
|
||||
"""
|
||||
self.pla = np.clip(pla_value, 0.0, 110.0)
|
||||
|
||||
def step(self, action):
|
||||
"""
|
||||
环境交互核心函数
|
||||
action: AI 输出的归一化动作 [-1, 1]
|
||||
"""
|
||||
self.current_step += 1
|
||||
|
||||
# =======================================================
|
||||
# 1. 查表：更新控制目标和限制 (基于当前的 self.pla)
|
||||
# =======================================================
|
||||
self.t_nh, self.t_nl, self.limit_t5, self.limit_p3 = self.schedule.get_targets(self.pla)
|
||||
|
||||
# =======================================================
|
||||
# 2. 动作反归一化 (AI [-1, 1] -> Physical Value)
|
||||
# =======================================================
|
||||
phys_action = {
|
||||
'FanVane': self._denormalize(action[0], 'FanVane'),
|
||||
'CompVane': self._denormalize(action[1], 'CompVane'),
|
||||
'AddPower': self._denormalize(action[2], 'AddPower'),
|
||||
'Wf': self._denormalize(action[3], 'Wf'),
|
||||
'A8': self._denormalize(action[4], 'A8'),
|
||||
}
|
||||
|
||||
# =======================================================
|
||||
# 3. 执行物理仿真
|
||||
# =======================================================
|
||||
out = self.engine.step(phys_action)
|
||||
|
||||
# =======================================================
|
||||
# 4. 计算奖励 (Reward Function)
|
||||
# =======================================================
|
||||
# 传入 normalized action (action) 用于计算平滑度
|
||||
total_reward = self._calculate_official_reward(out, phys_action, self.pla, action)
|
||||
|
||||
# =======================================================
|
||||
# 5. 终止条件判定 (Terminated Check)
|
||||
# =======================================================
|
||||
terminated, term_penalty = self._check_terminated(out, self.pla)
|
||||
total_reward += term_penalty
|
||||
|
||||
truncated = (self.current_step >= self.max_steps)
|
||||
|
||||
# =======================================================
|
||||
# 6. 组装返回信息
|
||||
# =======================================================
|
||||
obs = self._get_obs(out)
|
||||
|
||||
info = {
|
||||
"PLA": self.pla,
|
||||
"Real_NH": out.NH,
|
||||
"Target_NH": self.t_nh,
|
||||
"Real_T5": out.T5t,
|
||||
"Action_Physical": phys_action
|
||||
}
|
||||
|
||||
return obs, total_reward, terminated, truncated, info
|
||||
|
||||
def _check_terminated(self, out, current_pla):
|
||||
"""
|
||||
终止判定
|
||||
"""
|
||||
# =======================================================
|
||||
# 全局硬约束 - 只有炸机才重开
|
||||
# =======================================================
|
||||
|
||||
# 1. 严重超温
|
||||
if out.T5t > 1400.0:
|
||||
# print(f"[Terminated] T5 High: {out.T5t:.1f}")
|
||||
return True, -1000.0
|
||||
|
||||
# 2. 严重超转
|
||||
|
||||
if out.NH > 1.10:
|
||||
# print(f"[Terminated] NH High: {out.NH:.3f}")
|
||||
return True, -1000.0
|
||||
|
||||
if out.NL > 1.10:
|
||||
# print(f"[Terminated] NL High: {out.NL:.3f}")
|
||||
return True, -1000.0
|
||||
|
||||
|
||||
return False, 0.0
|
||||
|
||||
def _calculate_official_reward(self, out, phys_action, current_pla, normalized_action):
|
||||
"""
|
||||
官方奖励计算函数 (Official Reward Function)
|
||||
"""
|
||||
step_reward = 0.0
|
||||
|
||||
# 提取目标和当前值
|
||||
t_nh, t_nl = self.t_nh, self.t_nl
|
||||
nh, nl = out.NH, out.NL
|
||||
|
||||
# 计算误差
|
||||
err_nh = t_nh - nh
|
||||
err_nl = t_nl - nl
|
||||
abs_err_nh = abs(err_nh)
|
||||
|
||||
# =======================================================
|
||||
# 阶段 A: 起动阶段 - PLA < 15
|
||||
# =======================================================
|
||||
if current_pla < 15.0:
|
||||
# 1. 【起动时间】
|
||||
if nh < 0.60:
|
||||
step_reward -= 0.5 # 时间惩罚基数
|
||||
|
||||
# 2. 【起动功】
|
||||
# 逻辑：使用的电功率越大，扣分越多
|
||||
power_penalty = (phys_action['AddPower'] / 100000.0) * 0.2
|
||||
step_reward -= power_penalty
|
||||
|
||||
# 3. 跟踪引导 (主要看 NH)
|
||||
step_reward -= (err_nh ** 2) * 20.0
|
||||
|
||||
# =======================================================
|
||||
# 阶段 B: 正常工作阶段- PLA >= 15
|
||||
# =======================================================
|
||||
else:
|
||||
# 1. 【调节时间】
|
||||
if abs_err_nh > 0.02: # 2% 误差带
|
||||
step_reward -= 0.5 # 调节时间惩罚
|
||||
|
||||
# 2. 【超调量】
|
||||
if nh > t_nh:
|
||||
overshoot_amount = nh - t_nh
|
||||
step_reward -= overshoot_amount * 50.0 # 重罚超调
|
||||
|
||||
# 3. 基础跟踪 (主要看 NL 推力, 兼顾 NH)
|
||||
step_reward -= (err_nl ** 2) * 20.0
|
||||
step_reward -= (err_nh ** 2) * 10.0
|
||||
|
||||
# =======================================================
|
||||
# 全局安全约束
|
||||
# =======================================================
|
||||
|
||||
# 1. 【涡轮后温度】
|
||||
if out.T5t > self.limit_t5:
|
||||
over_temp = out.T5t - self.limit_t5
|
||||
step_reward -= over_temp * 1 # 每超 1K 扣 1分
|
||||
|
||||
# 2. 【压气机后压力】
|
||||
if out.P3s > self.limit_p3:
|
||||
over_pres = out.P3s - self.limit_p3
|
||||
step_reward -= over_pres * 0.5 # 每超 1kPa 扣 0.5分
|
||||
|
||||
# =======================================================
|
||||
# 3. 动作平滑性 (Action Smoothness)
|
||||
# =======================================================
|
||||
# 计算动作变化率: delta = current - last
|
||||
delta_action = normalized_action - self.last_action
|
||||
|
||||
# 计算加权平方和 (L2 Norm)
|
||||
smoothness_cost = np.sum(self.smooth_weights * np.square(delta_action))
|
||||
|
||||
# 乘以系数 (调节平滑性在总分中的占比)
|
||||
step_reward -= smoothness_cost * 0.1
|
||||
|
||||
# 更新上一帧动作缓存
|
||||
self.last_action = normalized_action.copy()
|
||||
|
||||
return step_reward
|
||||
|
||||
def _get_obs(self, out):
|
||||
state = np.array([out.NH, out.NL, out.T5t, out.P3s], dtype=np.float32)
|
||||
targets = np.array([self.t_nh, self.t_nl], dtype=np.float32)
|
||||
errors = targets - state[:2]
|
||||
return np.concatenate([state, targets, errors])
|
||||
|
||||
def _denormalize(self, val, key):
|
||||
min_v, max_v = self.limits[key]
|
||||
return (val + 1.0) / 2.0 * (max_v - min_v) + min_v
|
||||
|
||||
def close(self):
|
||||
if self.engine:
|
||||
self.engine.close()
|
||||
Binary file not shown.
Binary file not shown.
|
After Width: | Height: | Size: 205 KiB |
@@ -0,0 +1,95 @@
|
||||
import numpy as np
|
||||
from scipy.interpolate import interp1d
|
||||
|
||||
class ControlSchedule:
|
||||
"""
|
||||
航空发动机控制计划 (Control Schedule)
|
||||
输入: PLA (角度 0~110)
|
||||
输出: Target NH, Target NL (0.0~1.0), Limit T5
|
||||
"""
|
||||
def __init__(self):
|
||||
|
||||
# ==========================================
|
||||
# 1. 定义控制计划数据点
|
||||
# ==========================================
|
||||
|
||||
# --- NH (高压转速) 计划 ---
|
||||
# 依据图片1：在 PLA=80 时达到 1.0
|
||||
# 0 -> 14.99: 0
|
||||
# 15.0 : 0.7
|
||||
# 80.0 : 1.0
|
||||
self._pla_nh = np.array([0.0, 14.99, 15.0, 80.0, 110.0])
|
||||
self._val_nh = np.array([0.0, 0.0, 0.70, 1.00, 1.00])
|
||||
|
||||
# --- NL (低压转速) 计划 ---
|
||||
# 依据图片2：在 PLA=90 时达到 1.0
|
||||
# 0 -> 14.99: 0
|
||||
# 15.0 : 0.5
|
||||
# 90.0 : 1.0
|
||||
self._pla_nl = np.array([0.0, 14.99, 15.0, 90.0, 110.0])
|
||||
self._val_nl = np.array([0.0, 0.0, 0.50, 1.00, 1.00])
|
||||
|
||||
# --- 限制值 (T5, P3) 计划 ---
|
||||
# 保持原有逻辑：在 PLA=100 时达到最大限制
|
||||
self._pla_lim = np.array([0.0, 14.99, 15.0, 100.0, 110.0])
|
||||
|
||||
# Limit T5 (温度限制) [K]
|
||||
# 15度时1200K, 100度时1500K
|
||||
self._val_t5 = np.array([1200.0, 1200.0, 1200.0, 1500.0, 1500.0])
|
||||
|
||||
# Limit P3 (压力限制) [kPa]
|
||||
# 15度时2000kPa, 100度时2500kPa
|
||||
self._val_p3 = np.array([800.0, 800.0, 2000.0, 2500.0, 2500.0])
|
||||
|
||||
|
||||
# ==========================================
|
||||
# 2. 构建插值函数
|
||||
# ==========================================
|
||||
self.f_nh = interp1d(self._pla_nh, self._val_nh, kind='linear', fill_value="extrapolate")
|
||||
self.f_nl = interp1d(self._pla_nl, self._val_nl, kind='linear', fill_value="extrapolate")
|
||||
self.f_t5 = interp1d(self._pla_lim, self._val_t5, kind='linear', fill_value="extrapolate")
|
||||
self.f_p3 = interp1d(self._pla_lim, self._val_p3, kind='linear', fill_value="extrapolate")
|
||||
|
||||
def get_targets(self, pla):
|
||||
"""
|
||||
输入: pla (角度, 0.0 ~ 110.0)
|
||||
"""
|
||||
# 稍微做个限幅，防止超出定义域太多
|
||||
pla = np.clip(pla, 0.0, 110.0)
|
||||
|
||||
t_nh = float(self.f_nh(pla))
|
||||
t_nl = float(self.f_nl(pla))
|
||||
l_t5 = float(self.f_t5(pla))
|
||||
l_p3 = float(self.f_p3(pla))
|
||||
|
||||
return t_nh, t_nl, l_t5, l_p3
|
||||
|
||||
# ==========================================
|
||||
# 自测代码
|
||||
# ==========================================
|
||||
if __name__ == "__main__":
|
||||
import matplotlib.pyplot as plt
|
||||
|
||||
sch = ControlSchedule()
|
||||
|
||||
# 测试关键点
|
||||
test_plas = [0, 10, 14.9, 15.0, 15.1, 57.5, 100, 105]
|
||||
print(f"{'PLA':<10} {'NH':<10} {'NL':<10}")
|
||||
print("-" * 30)
|
||||
for p in test_plas:
|
||||
nh, nl, _, _ = sch.get_targets(p)
|
||||
print(f"{p:<10} {nh:<10.4f} {nl:<10.4f}")
|
||||
|
||||
# 画图确认阶跃形状
|
||||
x = np.linspace(0, 110, 500)
|
||||
y_nh = [sch.get_targets(i)[0] for i in x]
|
||||
|
||||
plt.figure()
|
||||
plt.plot(x, y_nh, label='Target NH')
|
||||
plt.axvline(15, color='r', linestyle='--', alpha=0.5, label='Idle Point (15 deg)')
|
||||
plt.title("PLA to Engine Speed Schedule")
|
||||
plt.xlabel("PLA (Degree)")
|
||||
plt.ylabel("Normalized Speed")
|
||||
plt.legend()
|
||||
plt.grid(True)
|
||||
plt.show()
|
||||
+188
@@ -0,0 +1,188 @@
|
||||
import numpy as np
|
||||
import matplotlib.pyplot as plt
|
||||
from engine_env.engine_env import AeroEngineGymEnv
|
||||
|
||||
# ==========================================
|
||||
# 1. 增量式 PID 类 (保持不变)
|
||||
# ==========================================
|
||||
class IncrementalPIDController:
|
||||
def __init__(self, kp, ki, kd, output_min=-1.0, output_max=1.0):
|
||||
self.kp = kp
|
||||
self.ki = ki
|
||||
self.kd = kd
|
||||
|
||||
self.min_val = output_min
|
||||
self.max_val = output_max
|
||||
self.error_prev = 0.0
|
||||
self.error_prev2 = 0.0
|
||||
self.current_output = 0.0
|
||||
|
||||
def set_current_output(self, value):
|
||||
self.current_output = np.clip(value, self.min_val, self.max_val)
|
||||
self.error_prev = 0.0
|
||||
self.error_prev2 = 0.0
|
||||
|
||||
def update(self, error, dt):
|
||||
delta_p = self.kp * (error - self.error_prev)
|
||||
delta_i = self.ki * error * dt
|
||||
delta_d = self.kd * (error - 2*self.error_prev + self.error_prev2) / dt
|
||||
|
||||
delta_u = delta_p + delta_i + delta_d
|
||||
self.current_output += delta_u
|
||||
self.current_output = np.clip(self.current_output, self.min_val, self.max_val)
|
||||
|
||||
self.error_prev2 = self.error_prev
|
||||
self.error_prev = error
|
||||
return self.current_output
|
||||
|
||||
# ==========================================
|
||||
# 2. 主测试逻辑
|
||||
# ==========================================
|
||||
def run_pid_test():
|
||||
env = AeroEngineGymEnv()
|
||||
|
||||
# -----------------------------------------------------
|
||||
# 【关键修改】定义正确的 PID 配对
|
||||
# -----------------------------------------------------
|
||||
|
||||
# Loop 1: 目标 NH -> 控制 Wf (燃油)
|
||||
# 逻辑: NH 低 -> 加油 (正反馈)
|
||||
pid_nh_wf = IncrementalPIDController(kp=10.0, ki=6.0, kd=0.1)
|
||||
|
||||
# Loop 2: 目标 NL -> 控制 A8 (喷管)
|
||||
pid_nl_a8 = IncrementalPIDController(kp=-4.0, ki=3.0, kd=0.05)
|
||||
|
||||
total_steps = 3000 # 60秒
|
||||
obs, info = env.reset(options={'pla': 0.0})
|
||||
|
||||
# 状态标志位
|
||||
pid_initialized = False
|
||||
|
||||
history = {
|
||||
'time': [], 'PLA': [], 'NH': [], 'Target_NH': [], 'NL': [], 'Target_NL': [],
|
||||
'Wf_Action': [], 'A8_Action': [], 'Reward': []
|
||||
}
|
||||
|
||||
print("开始修正后的 PID 仿真 (NH->Wf, NL->A8)...")
|
||||
|
||||
for step in range(total_steps):
|
||||
t = step * env.dt
|
||||
|
||||
# --- A. 任务剖面 ---
|
||||
if t < 2.0: current_pla = 0.0
|
||||
elif t < 20.0: current_pla = 15.0
|
||||
else: current_pla = 60.0
|
||||
|
||||
env.set_pla(current_pla)
|
||||
|
||||
# --- B. 获取状态 ---
|
||||
real_nh, real_nl = obs[0], obs[1]
|
||||
target_nh, target_nl = obs[4], obs[5]
|
||||
|
||||
# 计算误差
|
||||
error_nh = target_nh - real_nh
|
||||
error_nl = target_nl - real_nl
|
||||
|
||||
action = np.zeros(5)
|
||||
|
||||
# =========================================================
|
||||
# C. 分阶段控制
|
||||
# =========================================================
|
||||
|
||||
# --- 阶段 1: 起动 (Open Loop) ---
|
||||
if current_pla >= 15.0 and real_nh < 0.60:
|
||||
action[2] = 0.8 # 起动机
|
||||
action[3] = -0.6 # 点火油量
|
||||
action[4] = 1.0 # 喷管全开
|
||||
pid_initialized = False
|
||||
|
||||
# --- 阶段 2: 闭环控制 (Closed Loop) ---
|
||||
elif current_pla >= 15.0 and real_nh >= 0.60:
|
||||
|
||||
# 无扰切换
|
||||
if not pid_initialized:
|
||||
print(f"[Switch] t={t:.2f}s, 切入闭环。PID1: NH->Fuel(-0.6), PID2: NL->A8(1.0)")
|
||||
# NH控制燃油，继承 -0.6
|
||||
pid_nh_wf.set_current_output(-0.6)
|
||||
# NL控制喷管，继承 1.0
|
||||
pid_nl_a8.set_current_output(1.0)
|
||||
pid_initialized = True
|
||||
|
||||
action[2] = -1.0
|
||||
|
||||
# 【核心修正】 PID 计算
|
||||
# Loop 1: 用 NH 的误差算 Wf
|
||||
wf_out = pid_nh_wf.update(error_nh, env.dt)
|
||||
|
||||
# Loop 2: 用 NL 的误差算 A8
|
||||
a8_out = pid_nl_a8.update(error_nl, env.dt)
|
||||
|
||||
action[3] = wf_out
|
||||
action[4] = a8_out
|
||||
|
||||
# --- 阶段 3: 停机 ---
|
||||
else:
|
||||
action = np.array([0,0,-1,-1,1])
|
||||
pid_initialized = False
|
||||
|
||||
# --- D. 执行 ---
|
||||
obs, reward, terminated, truncated, info = env.step(action)
|
||||
|
||||
# 记录
|
||||
history['time'].append(t)
|
||||
history['PLA'].append(current_pla)
|
||||
history['NH'].append(real_nh)
|
||||
history['Target_NH'].append(target_nh)
|
||||
history['NL'].append(real_nl)
|
||||
history['Target_NL'].append(target_nl)
|
||||
history['Wf_Action'].append(action[3])
|
||||
history['A8_Action'].append(action[4])
|
||||
history['Reward'].append(reward)
|
||||
|
||||
if terminated:
|
||||
print(f"Terminated at {t:.2f}s")
|
||||
break
|
||||
|
||||
env.close()
|
||||
plot_results(history)
|
||||
|
||||
def plot_results(history):
|
||||
t = history['time']
|
||||
plt.figure(figsize=(12, 8))
|
||||
|
||||
# 1. Speed
|
||||
plt.subplot(2, 2, 1)
|
||||
plt.plot(t, history['Target_NH'], 'r--', alpha=0.6)
|
||||
plt.plot(t, history['NH'], 'r', label='NH (Controlled by Fuel)')
|
||||
plt.plot(t, history['Target_NL'], 'b--', alpha=0.6)
|
||||
plt.plot(t, history['NL'], 'b', label='NL (Controlled by A8)')
|
||||
plt.legend()
|
||||
plt.title('Rotor Speeds')
|
||||
plt.grid(True)
|
||||
|
||||
# 2. Action
|
||||
plt.subplot(2, 2, 2)
|
||||
plt.plot(t, history['Wf_Action'], 'orange', label='Fuel (Wf)')
|
||||
plt.plot(t, history['A8_Action'], 'green', label='Nozzle (A8)')
|
||||
plt.legend()
|
||||
plt.title('Control Actions')
|
||||
plt.ylim(-1.1, 1.1)
|
||||
plt.grid(True)
|
||||
|
||||
# 3. PLA
|
||||
plt.subplot(2, 2, 3)
|
||||
plt.plot(t, history['PLA'], 'k')
|
||||
plt.title('PLA')
|
||||
plt.grid(True)
|
||||
|
||||
# 4. Reward
|
||||
plt.subplot(2, 2, 4)
|
||||
plt.plot(t, history['Reward'])
|
||||
plt.title('Reward')
|
||||
plt.grid(True)
|
||||
|
||||
plt.tight_layout()
|
||||
plt.show()
|
||||
|
||||
if __name__ == "__main__":
|
||||
run_pid_test()
|
||||
Reference in New Issue
Block a user