chenlin
b45b15d153
build / setup (compute matrix) (push) Has been cancelled
build / ${{ matrix.label }} (push) Has been cancelled
build / macos-15-arm64-studio (push) Has been cancelled
build / ubuntu-24.04-clang-18-studio (push) Has been cancelled
build / ubuntu-24.04-gcc-14-studio (push) Has been cancelled
build / windows-2025-ninja-studio (push) Has been cancelled
build / ubuntu-24.04-clang-18-wasm (push) Has been cancelled
build / ubuntu-24.04-clang-18-mjx (push) Has been cancelled
48 lines
1.8 KiB
Markdown
48 lines
1.8 KiB
Markdown
# 执行器插件（Actuator plugins）
|
||
|
||
## PID
|
||
|
||
`mujoco.pid` 执行器插件实现了一个可配置的 [PID 控制器](https://en.wikipedia.org/wiki/Proportional%E2%80%93integral%E2%80%93derivative_controller)：
|
||
|
||
$$f(t) = K_\text{p} e(t) + K_\text{i} \int_0^t e(\tau) \mathrm{d}\tau + K_\text{d} \frac{\mathrm{d}e(t)}{\mathrm{d}t},$$
|
||
其中 $e(t) = u(t) - \ell(t)$ 是控制量 $u$ 与执行器长度 $\ell$ 之间的差值。
|
||
|
||
使用示例如下：
|
||
|
||
```xml
|
||
<mujoco>
|
||
<extension>
|
||
<plugin plugin="mujoco.pid">
|
||
<instance name="pid">
|
||
<config key="kp" value="40.0"/>
|
||
<config key="ki" value="40"/>
|
||
<config key="kd" value="4"/>
|
||
<config key="slewmax" value="3" />
|
||
<config key="imax" value="1"/>
|
||
</instance>
|
||
</plugin>
|
||
</extension>
|
||
|
||
<worldbody>
|
||
<body>
|
||
<joint name="j" type="slide" axis="0 0 1" />
|
||
<geom size="0.01" mass="1"/>
|
||
</body>
|
||
</worldbody>
|
||
|
||
<actuator>
|
||
<plugin joint="j" plugin="mujoco.pid" instance="pid" />
|
||
</actuator>
|
||
</mujoco>
|
||
```
|
||
|
||
可用配置选项如下：
|
||
|
||
|属性 | 默认值 | 含义 |
|
||
|----------|---------|---------|
|
||
|`kp` | 0 | 控制器的**比例（P）**增益。 |
|
||
|`ki` | 0 | 控制器的**积分（I）**增益。<p/>若非零，将在 `mjData.act` 中添加一个激活变量，用于存储当前的积分项（以力为单位）。 |
|
||
|`kd` | 0 | 控制器的**微分（D）**增益。 |
|
||
|`imax` | 可选 | 若指定，积分项产生的力将被截断至 `[-imax, imax]` 范围内。 |
|
||
|`slewmax` | 可选 | PID 控制器设定点允许的最大变化速率（斜率限制）。<p/>若两个时间步之间请求了更大的变化，它将被截断至 `[ctrl - slewmax * dt, ctrl + slewmax * dt]` 范围。<p/>若指定，将在 `mjData.act` 中添加一个激活变量，用于存储上一个时间步的 `ctrl` 值。 |
|