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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,164 @@ | ||
| #= | ||
| This script performs swingup of the virtual pendulum using an energy-based controller, and stabilizes the pendulum at the top using an LQR controller. | ||
| =# | ||
| cd(@__DIR__) | ||
| using Pkg; Pkg.activate("..") | ||
| using QuanserInterface | ||
| using HardwareAbstractions | ||
| using ControlSystemsBase | ||
| using QuanserInterface: energy, measure | ||
| using StaticArrays | ||
|
|
||
| #= | ||
| Before running script, be sure to have QLabs workspace loaded and run set_environment("virtual pendulum") | ||
| =# | ||
| const rr = Ref([0, pi, 0, 0]) | ||
| nu = 1 # number of controls | ||
| nx = 4 # number of states | ||
| Ts = 0.005 # sampling time | ||
|
|
||
| function plotD(D, th=0.2) | ||
| tvec = D[1, :] | ||
| y = D[2:3, :]' | ||
| # y[:, 2] .-= pi | ||
| # y[:, 2] .*= -1 | ||
| xh = D[4:7, :]' | ||
| u = D[8, :] | ||
| plot(tvec, xh, layout=6, lab=["arm" "pend" "arm ω" "pend ω"] .* " estimate", framestyle=:zerolines) | ||
| plot!(tvec, y, sp=[1 2], lab = ["arm" "pend"] .* " meas", framestyle=:zerolines) | ||
| hline!([-pi pi], lab="", sp=2) | ||
| hline!([-pi-th -pi+th pi-th pi+th], lab="", l=(:black, :dash), sp=2) | ||
| plot!(tvec, centraldiff(y) ./ median(diff(tvec)), sp=[3 4], lab="central diff") | ||
| plot!(tvec, u, sp=5, lab = "u", framestyle=:zerolines) | ||
| plot!(diff(D[1,:]), sp=6, lab="Δt"); hline!([process.Ts], sp=6, framestyle=:zerolines, lab="Ts") | ||
| end | ||
| normalize_angles(x::Number) = mod(x, 2pi) | ||
| normalize_angles(x::AbstractVector) = SA[(x[1]), normalize_angles(x[2]), x[3], x[4]] | ||
|
|
||
| function swingup(process; Tf = 10, verbose=true, stab=true, umax=2.0) | ||
| Ts = process.Ts | ||
| N = round(Int, Tf/Ts) | ||
| data = Vector{Vector{Float64}}(undef, 0) | ||
| sizehint!(data, N) | ||
|
|
||
| simulation = processtype(process) isa SimulatedProcess | ||
|
|
||
| if simulation | ||
| u0 = 0.0 | ||
| else | ||
| u0 = 0.5QuanserInterface.go_home(process) | ||
| @show u0 | ||
| end | ||
| y = QuanserInterface.measure(process) | ||
| if verbose && !simulation | ||
| @info "Starting $(simulation ? "simulation" : "experiment") from y: $y, waiting for your input..." | ||
| # readline() | ||
| end | ||
| yo = @SVector zeros(2) | ||
| dyf = @SVector zeros(2) | ||
| L = SA[-2.8515070942708687 -24.415803244034326 -0.9920297324372649 -1.9975963404759338] | ||
| # L = [-7.410199310542298 -36.40730995983665 -2.0632501290782095 -3.149033572767301] # State-feedback gain Ts = 0.01 | ||
|
|
||
| try | ||
| # GC.gc() | ||
| GC.enable(false) | ||
| t_start = time() | ||
| u = [0.0] | ||
| oob = 0 | ||
| for i = 1:N | ||
| @periodically Ts simulation begin | ||
| t = simulation ? (i-1)*Ts : time() - t_start | ||
| y = QuanserInterface.measure(process) | ||
| dy = (y - yo) ./ Ts | ||
| dyf = @. 0.5dyf + 0.5dy | ||
| xh = [y; dyf] | ||
| xhn = SA[xh[1], normalize_angles(xh[2]), xh[3], xh[4]] | ||
| r = rr[] | ||
| if !(-deg2rad(110) <= y[1] <= deg2rad(110)) | ||
| u = SA[-0.5*y[1]] | ||
| verbose && @warn "Correcting" | ||
| control(process, Vector(u .+ u0)) | ||
| oob += 20 | ||
| if oob > 600 | ||
| verbose && @error "Out of bounds" | ||
| break | ||
| end | ||
| else | ||
| oob = max(0, oob-1) | ||
| if stab && abs(normalize_angles(y[2]) - pi) < 0.40 | ||
| verbose && @info "stabilizing" | ||
| # if floor(Int, 2t) % 2 == 0 | ||
| # r[1] = -deg2rad(20) | ||
| # else | ||
| # r[1] = deg2rad(20) | ||
| # end | ||
|
|
||
| u = clamp.(L*(r - xhn), -10, 10) | ||
| else | ||
| # xhn = (process.x) # Try with correct state if in simulation | ||
| α = y[2] - pi | ||
| αr = r[2] - pi | ||
| α̇ = xh[4] | ||
| E = energy(α, α̇) | ||
| uE = 240*(E - energy(αr,0))*sign(α̇*cos(α)) | ||
| u = SA[clamp(uE - 0.2*y[1], -umax, umax)] | ||
| end | ||
| control(process, Vector(u)) | ||
| end | ||
| verbose && @info "t = $(round(t, digits=3)), u = $(u[]), xh = $xh" | ||
| log = [t; y; xh; u] | ||
| push!(data, log) | ||
| yo = y | ||
| end | ||
| end | ||
| catch e | ||
| @error "Terminating" e | ||
| # rethrow() | ||
| finally | ||
| control(process, [0.0]) | ||
| GC.enable(true) | ||
| # GC.gc() | ||
| end | ||
|
|
||
| D = reduce(hcat, data) | ||
| end | ||
| ## | ||
| process = QuanserInterface.QubeServoPendulum(; Ts) | ||
| # home!(process, 38) | ||
| ## | ||
| function runplot(process; kwargs...) | ||
| rr[][1] = deg2rad(0) | ||
| rr[][2] = pi | ||
| y = QuanserInterface.measure(process) | ||
| if processtype(process) isa SimulatedProcess | ||
| process.x = 0*process.x | ||
| elseif abs(y[2]) > 0.8 || !(-2.5 < y[1] < 2.5) | ||
| @info "Auto homing" | ||
| autohome!(process) | ||
| end | ||
| global D | ||
| D = swingup(process; kwargs...) | ||
| plotD(D) | ||
| end | ||
|
|
||
| runplot(process; Tf = 1500) | ||
|
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||
| ## Simulated process | ||
| process = QuanserInterface.QubeServoPendulumSimulator(; Ts, p = QuanserInterface.pendulum_parameters(true)); | ||
|
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||
| @profview_allocs runplot(process; Tf = 5) sample_rate=0.1 | ||
|
|
||
| ## | ||
|
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| task = @spawn runplot(process; Tf = 15) | ||
| rr[][1] = deg2rad(-30) | ||
| rr[][1] = deg2rad(-20) | ||
| rr[][1] = deg2rad(-10) | ||
| rr[][1] = deg2rad(0) | ||
| rr[][1] = deg2rad(10) | ||
| rr[][1] = deg2rad(20) | ||
| rr[][1] = deg2rad(30) | ||
|
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||
|
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||
| rr[][2] = pi | ||
| rr[][2] = 0 |
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