mirror of
https://github.com/WallabyLester/RBF-aPID-Controller.git
synced 2026-05-10 04:58:14 +08:00
Andru Liu
35 lines
1006 B
Python
35 lines
1006 B
Python
import unittest
|
|
import numpy as np
|
|
|
|
from aPID_numpy import AdaptivePIDNP
|
|
from RBF_numpy import RBFNetwork
|
|
|
|
class TestAdaptivePIDNP(unittest.TestCase):
|
|
def setUp(self):
|
|
"""Set up an AdaptivePIDNP instance for testing."""
|
|
Kp = 4.0
|
|
Ki = 0.1
|
|
Kd = 0.01
|
|
self.input_dim = 3
|
|
self.n_centers = 5
|
|
self.rbf = RBFNetwork(self.input_dim, self.n_centers)
|
|
self.apid = AdaptivePIDNP(Kp, Ki, Kd, self.rbf)
|
|
|
|
def test_update(self):
|
|
"""Test the update method."""
|
|
target = 10.0
|
|
measured_value = 8.0
|
|
dt = 0.1
|
|
|
|
control_signal = self.apid.update(target, measured_value, dt)
|
|
|
|
self.assertIsInstance(control_signal, float)
|
|
self.assertGreater(control_signal, 0)
|
|
|
|
measured_value = 9.0
|
|
control_signal_2 = self.apid.update(target, measured_value, dt)
|
|
self.assertNotEqual(control_signal, control_signal_2)
|
|
|
|
if __name__ == '__main__':
|
|
unittest.main()
|