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針對 CoppeliaSim 中 Python Remote API 不提供的功能, 可以透過 Lua 製作, 然後再以 https://www.coppeliarobotics.com/helpFiles/en/remoteApiFunctionsPython.htm#simxCallScriptFunction 呼叫. 相關討論請參考 https://forum.coppeliarobotics.com/viewtopic.php?t=7699

以下的 Inverted Pedulum 控制模擬可以視為專題 Task 之一:

https://github.com/mdecourse/vrep_inverted_pendulum 採用舊版的 Python2 以及舊版的 V-rep 製作, 可以嘗試改為 Python3 以及 CoppeliaSim 4.1.0 rev1 版本相容.

Webots Inverted Pendulum:

https://robotbenchmark.net/benchmark/inverted_pendulum/

https://github.com/mdecourse/vrep-stuff

inverted pendulum system modeling

simulation of the inverted pendulum.pdf

solve the inverted pendulum problem using DQN algorithm

https://in.mathworks.com/help/control/ug/control-of-an-inverted-pendulum-on-a-cart.html

磁浮控制系統:

Magnetic levitation control.pdf

Controller Design for a Magnetic Levitation Kit usingOpenModelica’s Integration with the Julia Language.pdf

CoppeliaSim Lua feedback PID Control:

function saturate(x,thr)
    if x>thr then return thr end
    if x<-thr then return -thr end
    return x
end

function PID_create(Kp,Ki,Kd)
    pid={}
    pid.pre_error=0.0
    pid.integral=0.0
    pid.Kp=Kp
    pid.Ki=Ki
    pid.Kd=Kd
    return pid
end

function PID(pid, setpoint, actual_position, dt)
    error=setpoint-actual_position
    if pid.Ki>0.0 then
        pid.integral=pid.integral+error*dt
    end
    derivative=(error-pid.pre_error)/dt
    output=pid.Kp*error+saturate(pid.Ki*pid.integral,1000)+pid.Kd*derivative
    output=saturate(output,2000)
    pid.pre_error=error
    return output
end

if (sim_call_type==sim.syscb_init) then
    --graph=sim.getObjectHandle('Graph')
    pjoint=sim.getObjectHandle('pjoint')
    rjoint1=sim.getObjectHandle('rjoint1')
    pad=sim.getObjectHandle('pad')
    pidRot=PID_create(64.05,34.65,0.709)
    pidPos=PID_create(54,0,0.629)
    sim.addStatusbarMessage('angle controller = { P='..pidRot.Kp..'  I='..pidRot.Ki..'  D='..pidRot.Kd..' }   horizontal controller = { P='..pidPos.Kp..'  I='..pidPos.Ki..'  D='..pidPos.Kd..' }')
end

if (sim_call_type==sim.syscb_actuation) then  
    dt=sim.getSimulationTimeStep()
    u_angle=PID(pidRot, 0, sim.getJointPosition(rjoint1), dt)
    u_pos=PID(pidPos, 0, sim.getJointPosition(pjoint), dt)
   -- sim.setGraphUserData(graph,'e_ang',pid1.pre_error)
   -- sim.setGraphUserData(graph,'e_pos',pid2.pre_error)
    u=u_angle-u_pos
    sim.setJointTargetVelocity(pjoint,u)
end

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