get error runing TrainTD3Ag​entForPMSM​ControlExa​mple.mlx

win10 matlabR2024a

try to run TrainTD3AgentForPMSMControlExample.mlx example

only change :

106 doTraining = true; %false;

i'm trying to train the agent again.

got error:

错误使用 rl.internal.train.OffPolicyTrainer/run_internal_/nestedRunEpisode (第 284 行)

'mcb_pmsm_foc_sim_RL/Current Control/Input Scaling/ Calculate Position and Speed/Speed Measurement' 中出错: 无法计算封装初始化命令。

出错 rl.internal.train.OffPolicyTrainer/run_internal_ (第 351 行)

out = nestedRunEpisode(policy);

出错 rl.internal.train.OffPolicyTrainer/run_ (第 40 行)

result = run_internal_(this);

出错 rl.internal.train.Trainer/run (第 8 行)

result = run_(this);

出错 rl.internal.trainmgr.OnlineTrainingManager/run_ (第 112 行)

trainResult = run(trainer);

出错 rl.internal.trainmgr.TrainingManager/run (第 4 行)

result = run_(this);

出错 rl.agent.AbstractAgent/train (第 86 行)

trainingResult = run(tm);

原因:

错误使用 rl.env.internal.reportSimulinkSimError (第 29 行)

在仿真运行时，无法更改 'mcb_pmsm_foc_sim_RL/Current Control/Input Scaling/ Calculate Position and Speed/Speed Measurement' 的属性 'Enabled'

Answer 1

[joy wang]

I ‘m also running into this issue, did you solve it

Answer 2

[MULI]

Hi @hai hu,

I understand that you are facing an issue in the "TrainTD3AgentForPMSMControl" example model when “doTraining” flag is set to “true”. I encountered a similiar issue and was able to resolve it through the following workaround:

• In the example model, navigate to the block located at"Current Control/Input Scaling/Calculate Position and Speed/Speed Measurement".
• Replace the parameter values in the "Speed Measurement" block with their respective numeric values and datatype:

Discrete step size (s):0.0002

Per unit speed (RPM):3476

Speed data type:'single'

For another potential workaround to the issue:

• In the example model find the "Speed Measurement" block at "Current Control/Input Scaling/Calculate Position and Speed".
• Replace this block with the Speed Measurement block from the "Motor Control Blockset HDL Support/Sensor Decoders" library.
• Set the block parameters to the same values as in the original block.

Hope this is helpful!