From 3713c3ad95b67369c572f9b5dceb525e6eda443f Mon Sep 17 00:00:00 2001 From: m5l14i11 Date: Tue, 17 Sep 2024 14:58:02 +0300 Subject: [PATCH] upd --- infrastructure/event_dispatcher/pid.py | 52 -------------------------- 1 file changed, 52 deletions(-) delete mode 100644 infrastructure/event_dispatcher/pid.py diff --git a/infrastructure/event_dispatcher/pid.py b/infrastructure/event_dispatcher/pid.py deleted file mode 100644 index 1e418eee..00000000 --- a/infrastructure/event_dispatcher/pid.py +++ /dev/null @@ -1,52 +0,0 @@ -import numpy as np - - -def softmax(x): - e_x = np.exp(x - np.max(x)) - return e_x / e_x.sum(axis=0) - - -class PID: - def __init__( - self, - num_groups: int, - kp: float = 0.3, - ki: float = 0.6, - kd: float = 0.1, - learning_rate: float = 0.001, - decay_rate: float = 0.99, - ): - self.kp = np.ones(num_groups) * kp - self.ki = np.ones(num_groups) * ki - self.kd = np.ones(num_groups) * kd - - self.integral_errors = np.zeros(num_groups) - self.previous_errors = np.zeros(num_groups) - - self.learning_rate = learning_rate - self.decay_rate = decay_rate - - def update(self, errors: np.ndarray): - control_outputs = np.zeros_like(errors) - - for i, error in enumerate(errors): - self.integral_errors[i] += error - derivative = error - self.previous_errors[i] - - self.kp[i] = np.clip(self.kp[i] + self.learning_rate * error, 0, 1) - self.ki[i] = np.clip( - self.ki[i] + self.learning_rate * self.integral_errors[i], 0, 1 - ) - self.kd[i] = np.clip(self.kd[i] + self.learning_rate * derivative, 0, 1) - - control_outputs[i] = ( - self.kp[i] * error - + self.ki[i] * self.integral_errors[i] - + self.kd[i] * derivative - ) - - self.previous_errors[i] = error - - self.learning_rate *= self.decay_rate - - return control_outputs