Reward function for induction motor speed control

Hi,

i am trying to make reinforcement learning based speed controller for foc of induction motor. For this purpose i have used matlab simulink and reinforecmnt learning tool box.

My system is able to follow the speed from 0 to 1 but as i increase my speed to 1000 it does not follow anymore and goes upto value 5. I am thinking there is a problem with my reward function.

i am writing my code below. This code is taken from matlab water tank example. Now i want to follow the speed upto 1000 rpm so i changed the final value from 1 to 1000. Please tell the mistake i am making here.

thanking in advance.

function reward = rewardFunctionVfb(x,t)

% REWARDFUNCTION generates rewards from Simulink block specifications.

%

% x : Input of watertank_stepinput_rl/WaterLevelStepResponse

% t : Simulation time (s)

% Reinforcement Learning Toolbox

% 26-Apr-2021 13:05:16

%#codegen

%% Specifications from watertank_stepinput_rl/WaterLevelStepResponse

Block1_InitialValue = 0;

Block1_FinalValue = 1000;

Block1_StepTime = 0;

Block1_StepRange = Block1_FinalValue - Block1_InitialValue;

Block1_MinRise = Block1_InitialValue + Block1_StepRange * 80/100;

Block1_MaxSettling = Block1_InitialValue + Block1_StepRange * (1+2/100);

Block1_MinSettling = Block1_InitialValue + Block1_StepRange * (1-2/100);

Block1_MaxOvershoot = Block1_InitialValue + Block1_StepRange * (1+10/100);

Block1_MinUndershoot = Block1_InitialValue - Block1_StepRange * 5/100;

if t >= Block1_StepTime

if Block1_InitialValue <= Block1_FinalValue

Block1_UpperBoundTimes = [0,5; 5,max(5+1,t+1)];

Block1_UpperBoundAmplitudes = [Block1_MaxOvershoot,Block1_MaxOvershoot; Block1_MaxSettling,Block1_MaxSettling];

Block1_LowerBoundTimes = [0,2; 2,5; 5,max(5+1,t+1)];

Block1_LowerBoundAmplitudes = [Block1_MinUndershoot,Block1_MinUndershoot; Block1_MinRise,Block1_MinRise; Block1_MinSettling,Block1_MinSettling];

else

Block1_UpperBoundTimes = [0,2; 2,5; 5,max(5+1,t+1)];

Block1_UpperBoundAmplitudes = [Block1_MinUndershoot,Block1_MinUndershoot; Block1_MinRise,Block1_MinRise; Block1_MinSettling,Block1_MinSettling];

Block1_LowerBoundTimes = [0,5; 5,max(5+1,t+1)];

Block1_LowerBoundAmplitudes = [Block1_MaxOvershoot,Block1_MaxOvershoot; Block1_MaxSettling,Block1_MaxSettling];

end

Block1_xmax = zeros(1,size(Block1_UpperBoundTimes,1));

for idx = 1:numel(Block1_xmax)

tseg = Block1_UpperBoundTimes(idx,:);

xseg = Block1_UpperBoundAmplitudes(idx,:);

Block1_xmax(idx) = interp1(tseg,xseg,t,'linear',NaN);

end

if all(isnan(Block1_xmax))

Block1_xmax = Inf;

else

Block1_xmax = max(Block1_xmax,[],'omitnan');

end

Block1_xmin = zeros(1,size(Block1_LowerBoundTimes,1));

for idx = 1:numel(Block1_xmin)

tseg = Block1_LowerBoundTimes(idx,:);

xseg = Block1_LowerBoundAmplitudes(idx,:);

Block1_xmin(idx) = interp1(tseg,xseg,t,'linear',NaN);

end

if all(isnan(Block1_xmin))

Block1_xmin = -Inf;

else

Block1_xmin = max(Block1_xmin,[],'omitnan');

end

else

Block1_xmin = -Inf;

Block1_xmax = Inf;

end

%% Penalty function weight (specify nonnegative)

Weight =10;

%% Compute penalty

% Penalty is computed for violation of linear bound constraints.

%

% To compute exterior bound penalty, use the exteriorPenalty function and

% specify the penalty method as 'step' or 'quadratic'.

%

% Alternaltely, use the hyperbolicPenalty or barrierPenalty function for

% computing hyperbolic and barrier penalties.

%

% For more information, see help for these functions.

Penalty = sum(exteriorPenalty(x,Block1_xmin,Block1_xmax,'quadratic'));

%% Compute reward

reward = -Weight * Penalty;

end

[Ayesha Khan]

@Emmanouil Tzorakoleftherakis Would you please help me in this case

Answer 1

[Osama Neama]

I'm facing the same issue :(

Answer 2

[AYOUB GEGE]

please can u send me the simulink file or mlx ... i need ur help