From a03ce7b404679e024de7e651ce218e9bde31aff3 Mon Sep 17 00:00:00 2001 From: chenxiaodong Date: Tue, 11 Feb 2025 14:38:52 +0800 Subject: [PATCH] save --- data/all_data.csv | 8761 ++++++++++++++++++++++++++++++++++++++++ data/data.csv | 0 models/data_manager.py | 68 + models/env.py | 153 + models/module.py | 78 + models/net.py | 51 + models/parameters.py | 17 + models/tools.py | 55 + train.py | 281 ++ 9 files changed, 9464 insertions(+) create mode 100644 data/all_data.csv delete mode 100644 data/data.csv create mode 100644 models/data_manager.py create mode 100644 models/env.py create mode 100644 models/module.py create mode 100644 models/net.py create mode 100644 models/parameters.py create mode 100644 models/tools.py diff --git a/data/all_data.csv b/data/all_data.csv new file mode 100644 index 0000000..7f4547e --- /dev/null +++ b/data/all_data.csv @@ -0,0 +1,8761 @@ +datetime,solar_power,temper,energy_demand,water_demand,people_count,price +2024/1/1 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+2024/12/30 15:00,35.89,15.188,66.871,81.1,32,0.62 +2024/12/30 16:00,5.03,15.504,61.541,95.74,38,0.74 +2024/12/30 17:00,3.47,15.386,63.822,80.342,32,0.64 +2024/12/30 18:00,19.16,14.89,95.715,242.478,110,1.46 +2024/12/30 19:00,17.09,15.049,145.734,382.773,181,1.32 +2024/12/30 20:00,4.61,13.6,94.256,224.125,102,1.27 +2024/12/30 21:00,6.55,14.417,141.889,383.723,180,1.4 +2024/12/30 22:00,4.2,15.05,68.988,82.326,30,1.37 +2024/12/30 23:00,9.84,14.265,56.33,52.493,18,1.25 diff --git a/data/data.csv b/data/data.csv deleted file mode 100644 index e69de29..0000000 diff --git a/models/data_manager.py b/models/data_manager.py new file mode 100644 index 0000000..2a1fc25 --- /dev/null +++ b/models/data_manager.py @@ -0,0 +1,68 @@ +class Constant: + MONTHS_LEN = [31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31] + + +class DataManager: + def __init__(self) -> None: + self.Prices = [] + self.Temper = [] + self.Solar = [] + self.Electricity = [] + self.Heat = [] + self.People = [] + + def add_price_element(self, e): self.Prices.append(e) + + def add_temper_element(self, e): self.Temper.append(e) + + def add_solar_element(self, e): self.Solar.append(e) + + def add_electricity_element(self, e): self.Electricity.append(e) + + def add_heat_element(self, e): self.Heat.append(e) + + def add_people_element(self, e): self.People.append(e) + + # get current time data based on given month day, and day_time + def get_price_data(self, month, day, day_time): + return self.Prices[(sum(Constant.MONTHS_LEN[:month - 1]) + day - 1) * 24 + day_time] + + def get_temper_data(self, month, day, day_time): + return self.Temper[(sum(Constant.MONTHS_LEN[:month - 1]) + day - 1) * 24 + day_time] + + def get_solar_data(self, month, day, day_time): + return self.Solar[(sum(Constant.MONTHS_LEN[:month - 1]) + day - 1) * 24 + day_time] + + def get_load_data(self, month, day, day_time): + return self.Electricity[(sum(Constant.MONTHS_LEN[:month - 1]) + day - 1) * 24 + day_time] + + def get_heat_data(self, month, day, day_time): + return self.Heat[(sum(Constant.MONTHS_LEN[:month - 1]) + day - 1) * 24 + day_time] + + def get_people_data(self, month, day, day_time): + return self.People[(sum(Constant.MONTHS_LEN[:month - 1]) + day - 1) * 24 + day_time] + + # get series data for one episode + def get_series_price_data(self, month, day): + return self.Prices[(sum(Constant.MONTHS_LEN[:month - 1]) + day - 1) * 24: + (sum(Constant.MONTHS_LEN[:month - 1]) + day - 1) * 24 + 24] + + def get_series_temper_data(self, month, day): + return self.Temper[(sum(Constant.MONTHS_LEN[:month - 1]) + day - 1) * 24: + (sum(Constant.MONTHS_LEN[:month - 1]) + day - 1) * 24 + 24] + + def get_series_solar_data(self, month, day): + return self.Solar[(sum(Constant.MONTHS_LEN[:month - 1]) + day - 1) * 24: + (sum(Constant.MONTHS_LEN[:month - 1]) + day - 1) * 24 + 24] + + def get_series_load_data(self, month, day): + return self.Electricity[(sum(Constant.MONTHS_LEN[:month - 1]) + day - 1) * 24: + (sum(Constant.MONTHS_LEN[:month - 1]) + day - 1) * 24 + 24] + + def get_series_heat_data(self, month, day): + return self.Heat[(sum(Constant.MONTHS_LEN[:month - 1]) + day - 1) * 24: + (sum(Constant.MONTHS_LEN[:month - 1]) + day - 1) * 24 + 24] + + def get_series_people_data(self, month, day): + return self.People[(sum(Constant.MONTHS_LEN[:month - 1]) + day - 1) * 24: + (sum(Constant.MONTHS_LEN[:month - 1]) + day - 1) * 24 + 24] diff --git a/models/env.py b/models/env.py new file mode 100644 index 0000000..ebb826c --- /dev/null +++ b/models/env.py @@ -0,0 +1,153 @@ +import gym +import pandas as pd + +from data_manager import * +from module import * +from parameters import * + + +class WgzGym(gym.Env): + def __init__(self, **kwargs): + super(WgzGym, self).__init__() + self.excess = None + self.shedding = None + self.unbalance = None + self.real_unbalance = None + self.operation_cost = None + self.current_output = None + self.final_step_outputs = None + self.data_manager = DataManager() + self._load_year_data() + self.month = 1 + self.day = 1 + self.TRAIN = True + self.current_time = None + self.episode_length = 24 + self.penalty_coefficient = 50 # 约束惩罚系数 + self.sell_coefficient = 0.1 # 售出利润系数 + self.EC_parameters = kwargs.get('EC_parameters', EC_parameters) # 电解水制氢器 + self.HST_parameters = kwargs.get('dg_parameters', dg_parameters) # 储氢罐 + + self.grid = Grid() + self.EC = EC(self.EC_parameters) + self.HST = HST(self.HST_parameters) + + self.action_space = gym.spaces.Box(low=-1, high=1, shape=(3,), dtype=np.float32) + ''' + 时间 光伏 温度（湿度暂未考虑） 电需 热需（转化为对应热水所需瓦数） 人数 电价 7 + 电解水制氢功率 市电功率 储氢罐容量占比 3 + ''' + self.state_space = gym.spaces.Box(low=0, high=1, shape=(10,), dtype=np.float32) + + def reset(self, *args): + self.month = np.random.randint(1, 13) # choose 12 month + if self.TRAIN: + self.day = np.random.randint(1, 20) + else: + self.day = np.random.randint(20, Constant.MONTHS_LEN[self.month - 1]) + self.current_time = 0 + self.EC.reset() + self.HST.reset() + return self._build_state() + + def _build_state(self): + soc = self.HST.SOC() + ec_output = self.EC.current_output + time_step = self.current_time + + price = self.data_manager.get_price_data(self.month, self.day, self.current_time) + temper = self.data_manager.get_temperature_data(self.month, self.day, self.current_time) + solar = self.data_manager.get_solar_data(self.month, self.day, self.current_time) + load = self.data_manager.get_load_data(self.month, self.day, self.current_time) + heat = self.data_manager.get_heat_data(self.month, self.day, self.current_time) + people = self.data_manager.get_people_data(self.month, self.day, self.current_time) + + obs = np.concatenate((np.float32(time_step), np.float32(soc), np.float32(price), np.float32(netload), + np.float32(dg1_output), np.float32(dg2_output), np.float32(dg3_output), + np.float32(temperature), np.float32(irradiance), np.float32(windspeed)), axis=None) + return obs + + def step(self, action): # state transition: current_obs->take_action->get_reward->get_finish->next_obs + # 在每个组件中添加动作 + current_obs = self._build_state() + temperature = current_obs[7] + irradiance = current_obs[8] + self.wind.current_power = current_obs[9] + self.battery.step(action[0]) # 执行状态转换，电池当前容量也改变 + self.dg1.step(action[1]) + self.dg2.step(action[2]) + self.dg3.step(action[3]) + self.solar.step(temperature, irradiance, action[4]) + self.current_output = np.array((self.dg1.current_output, self.dg2.current_output, self.dg3.current_output, + -self.battery.energy_change, self.solar.current_power, self.wind.current_power)) + actual_production = sum(self.current_output) + price = current_obs[1] + netload = current_obs[3] - self.solar.output_change + unbalance = actual_production - netload + + # reward = 0.0 + excess_penalty = 0 + deficient_penalty = 0 + sell_benefit, buy_cost = 0, 0 + self.excess, self.shedding = 0, 0 + if unbalance >= 0: # 过剩 + if unbalance <= self.grid.exchange_ability: + sell_benefit = self.grid.get_cost(price, unbalance) * self.sell_coefficient + else: + sell_benefit = self.grid.get_cost(price, self.grid.exchange_ability) * self.sell_coefficient + # real unbalance：超电网限值 + self.excess = unbalance - self.grid.exchange_ability + excess_penalty = self.excess * self.penalty_coefficient + else: # unbalance <0, 缺少惩罚 + if abs(unbalance) <= self.grid.exchange_ability: + buy_cost = self.grid.get_cost(price, abs(unbalance)) + else: + buy_cost = self.grid.get_cost(price, self.grid.exchange_ability) + self.shedding = abs(unbalance) - self.grid.exchange_ability + deficient_penalty = self.shedding * self.penalty_coefficient + battery_cost = self.battery.get_cost(self.battery.energy_change) + dg1_cost = self.dg1.get_cost(self.dg1.current_output) + dg2_cost = self.dg2.get_cost(self.dg2.current_output) + dg3_cost = self.dg3.get_cost(self.dg3.current_output) + solar_cost = self.solar.get_cost(self.solar.current_power) + wind_cost = self.wind.gen_cost(self.wind.current_power) + + self.operation_cost = (battery_cost + dg1_cost + dg2_cost + dg3_cost + solar_cost + wind_cost + + excess_penalty + deficient_penalty - sell_benefit + buy_cost) + reward = - self.operation_cost / 1e3 + self.unbalance = unbalance + self.real_unbalance = self.shedding + self.excess + final_step_outputs = [self.dg1.current_output, self.dg2.current_output, self.dg3.current_output, + self.battery.current_capacity, self.solar.current_power, self.wind.current_power] + self.current_time += 1 + finish = (self.current_time == self.episode_length) + if finish: + self.final_step_outputs = final_step_outputs + self.current_time = 0 + next_obs = self.reset() + else: + next_obs = self._build_state() + return current_obs, next_obs, float(reward), finish + + def _load_year_data(self): + data_df = pd.read_csv('data/all_data.csv', sep=',') + solar = data_df['solar_power'].to_numpy(dtype=float) + temper = data_df['temper'].to_numpy(dtype=float) + energy = data_df['energy_demand'].to_numpy(dtype=float) + water = data_df['water_demand'].to_numpy(dtype=float) + people = data_df['people_count'].to_numpy(dtype=float) + price = data_df['price'].to_numpy(dtype=float) + + '''可根据需求重新设计训练数据大小''' + + def process_elements(elements, transform_function, add_function): + for e in elements: + transformed_e = transform_function(e) + add_function(transformed_e) + + process_elements(solar, lambda x: x, self.data_manager.add_load_element) + process_elements(temper, lambda x: x, self.data_manager.add_load_element) + process_elements(energy, lambda x: x, self.data_manager.add_irradiance_element) + process_elements(water, lambda x: x, self.data_manager.add_temperature_element) + process_elements(people, lambda x: x, self.data_manager.add_wind_element) + process_elements(price, lambda x: x, self.data_manager.add_price_element) diff --git a/models/module.py b/models/module.py new file mode 100644 index 0000000..3154fe4 --- /dev/null +++ b/models/module.py @@ -0,0 +1,78 @@ +class EC: + def __init__(self, params): + self.current_output = None + self.electricity_efficiency = params['electricity_efficiency'] + self.hydrogen_produce = params['hydrogen_produce'] + self.power_max = params['power_max'] + self.power_min = params['power_min'] + self.ramp = params['ramp'] + self.lifetime = params['lifetime'] + self.equipment_cost = params['equipment_cost'] + self.carbon_reduce = params['carbon_reduce'] + + def step(self, action_ec): + output = self.current_output + action_ec * self.ramp + output = max(self.power_min, min(self.power_max, output)) if output > 0 else 0 + self.current_output = output + + def get_cost(self, price): + return self.equipment_cost / self.lifetime + price * self.current_output + + def get_hydrogen(self): + return self.current_output * self.electricity_efficiency * self.hydrogen_produce + + def reset(self): + self.current_output = 0 + + +class HST: + def __init__(self, params): + self.current_capacity = None + self.hydrogen_change = None + self.capacity = params['capacity'] + self.min_soc = params['min_soc'] + self.max_soc = params['max_soc'] + self.degradation = params['degradation'] + self.holding = params['holding'] + self.ramp = params['ramp'] + self.efficiency = params['efficiency'] + + ''' + 储氢罐的充气速率 = 电解水制氢速率 （电解水制氢会满足热水需求?） + ''' + def step(self, action_hst): + energy = action_hst * self.ramp + current_energy = self.current_capacity * self.capacity + updated_capacity = max(self.min_soc, min(self.max_soc, (current_energy + energy) / self.capacity)) + self.hydrogen_change = (updated_capacity - self.current_capacity) * self.capacity + self.current_capacity = updated_capacity # update capacity to current state + + def get_cost(self, energy_change): + cost = abs(energy_change) * self.degradation + return cost + + def SOC(self): + return self.current_capacity + + def reset(self): + self.current_capacity = 0.2 + + +class Grid: + def __init__(self): + self.delta = 1 + self.exchange_ability = 100 + + def get_cost(self, current_price, energy_exchange): + return current_price * energy_exchange * self.delta + + def retrieve_past_price(self): + result = [] + # 过去24小时的价格起始、结束索引 + start_index = max(0, 24 * (self.day - 1) + self.time - 24) + end_index = 24 * (self.day - 1) + self.time + past_price = self.price[start_index:end_index] + result.extend(past_price) + # current_day_price = self.price[24 * self.day:24 * self.day + self.time] + # result.extend(current_day_price) + return result diff --git a/models/net.py b/models/net.py new file mode 100644 index 0000000..9cf6e7a --- /dev/null +++ b/models/net.py @@ -0,0 +1,51 @@ +import numpy as np +import torch +import torch.nn as nn + + +class ActorPPO(nn.Module): + def __init__(self, mid_dim, state_dim, action_dim): + super().__init__() + self.net = nn.Sequential(nn.Linear(state_dim, mid_dim), nn.ReLU(), + nn.Linear(mid_dim, mid_dim), nn.ReLU(), + nn.Linear(mid_dim, mid_dim), nn.Hardswish(), + nn.Linear(mid_dim, action_dim)) + # the logarithm (log) of standard deviation (std) of action, it is a trainable parameter + self.a_logstd = nn.Parameter(torch.zeros((1, action_dim)) - 0.5, requires_grad=True) + self.sqrt_2pi_log = np.log(np.sqrt(2 * np.pi)) + + def forward(self, state): + return self.net(state).tanh() # action.tanh() limit the data output of action + + def get_action(self, state): + a_avg = self.forward(state) # too big for the action + a_std = self.a_logstd.exp() + + noise = torch.randn_like(a_avg) + action = a_avg + noise * a_std + return action, noise + + def get_logprob_entropy(self, state, action): + a_avg = self.forward(state) + a_std = self.a_logstd.exp() + delta = ((a_avg - action) / a_std).pow(2) * 0.5 + logprob = -(self.a_logstd + self.sqrt_2pi_log + delta).sum(1) # new_logprob + + dist_entropy = (logprob.exp() * logprob).mean() # policy entropy + return logprob, dist_entropy + + def get_old_logprob(self, _action, noise): # noise = action - a_noise + delta = noise.pow(2) * 0.5 + return -(self.a_logstd + self.sqrt_2pi_log + delta).sum(1) # old_logprob + + +class CriticAdv(nn.Module): + def __init__(self, mid_dim, state_dim, _action_dim): + super().__init__() + self.net = nn.Sequential(nn.Linear(state_dim, mid_dim), nn.ReLU(), + nn.Linear(mid_dim, mid_dim), nn.ReLU(), + nn.Linear(mid_dim, mid_dim), nn.Hardswish(), + nn.Linear(mid_dim, 1)) + + def forward(self, state): + return self.net(state) # Advantage value diff --git a/models/parameters.py b/models/parameters.py new file mode 100644 index 0000000..9ab1cc8 --- /dev/null +++ b/models/parameters.py @@ -0,0 +1,17 @@ +EC_parameters = { + 'electrolysis_efficiency': 0.8, + 'hydrogen_produce': 0.5, + 'power_max': 200, + 'power_min': 0, + 'ramp': 100, + 'lifetime': 6000, # hour + 'equipment_cost': 10000, # yuan + 'carbon_reduce': 1, +} + +HST_parameters = { + 'capacity': 1000, + 'min_soc': 0.1, + 'max_soc': 0.9, + 'efficiency': 0.95, +} diff --git a/models/tools.py b/models/tools.py new file mode 100644 index 0000000..1432d1f --- /dev/null +++ b/models/tools.py @@ -0,0 +1,55 @@ +import torch + + +def test_one_episode(env, act, device): + """to get evaluate information, here record the unbalance of after taking action""" + record_state = [] + record_action = [] + record_reward = [] + record_unbalance = [] + record_system_info = [] # [time,price,netload,action,real action,soc,output*4,unbalance(exchange+penalty),cost] + record_init_info = [] # include month,day,time,intial soc + env.TRAIN = False + state = env.reset() + record_init_info.append([env.month, env.day, env.current_time, env.battery.current_capacity]) + print(f'current testing month is {env.month}, day is {env.day},initial_soc is {env.battery.current_capacity}') + for i in range(24): + s_tensor = torch.as_tensor((state,), device=device) + a_tensor = act(s_tensor) + action = a_tensor.detach().cpu().numpy()[0] # not need detach(), because with torch.no_grad() outside + real_action = action + state, next_state, reward, done = env.step(action) + + record_system_info.append([state[0], state[1], state[3] + env.wind.current_power, action, real_action, + env.battery.SOC(), env.battery.energy_change, next_state[4], next_state[5], + next_state[6], env.solar.current_power, env.wind.current_power, env.unbalance, + env.operation_cost, reward]) + record_state.append(state) + record_action.append(real_action) + record_reward.append(reward) + record_unbalance.append(env.unbalance) + state = next_state + # add information of last step dg1, dh2, dg3, soc, tem, irr + record_system_info[-1][7:12] = [env.final_step_outputs[0], env.final_step_outputs[1], env.final_step_outputs[2], + env.final_step_outputs[4], env.final_step_outputs[5]] + record_system_info[-1][5] = env.final_step_outputs[3] + record = {'init_info': record_init_info, 'system_info': record_system_info, 'state': record_state, + 'action': record_action, 'reward': record_reward, 'unbalance': record_unbalance} + return record + + +def get_episode_return(env, act, device): + episode_reward = 0.0 # sum of rewards in an episode + episode_unbalance = 0.0 + state = env.reset() + for i in range(24): + s_tensor = torch.as_tensor((state,), device=device) + a_tensor = act(s_tensor) + action = a_tensor.detach().cpu().numpy()[0] # not need detach(), because with torch.no_grad() outside + state, next_state, reward, done, = env.step(action) + state = next_state + episode_reward += reward + episode_unbalance += env.real_unbalance + if done: + break + return episode_reward, episode_unbalance diff --git a/train.py b/train.py index e69de29..c1403df 100644 --- a/train.py +++ b/train.py @@ -0,0 +1,281 @@ +import os +import pickle + +os.environ['OMP_WAIT_POLICY'] = 'PASSIVE' # 确保在pytorch前设置 +from copy import deepcopy +import pandas as pd +import torch.nn.functional as F +from models.env import WgzGym +from models.net import ActorPPO, CriticAdv +from models.tools import get_episode_return, test_one_episode + + +def smooth_rewards(rewards, window=10): + rewards = rewards.unsqueeze(0).unsqueeze(0) # 将 rewards 转为 [1, 1, len] 的形状以适应 conv1d + kernel = torch.ones(1, 1, window, device=rewards.device) / window # 创建一个均匀的滑动平均核 + smoothed_rewards = F.conv1d(rewards, kernel, padding='valid') # 滑动平均 + smoothed_rewards = smoothed_rewards.squeeze(0).squeeze(0) # 去掉多余的维度 + # 保持与原始奖励序列相同的长度，将前 window-1 个奖励保持不变 + return torch.cat((rewards[0, 0, :window - 1], smoothed_rewards)) + + +def update_buffer(_trajectory): + _trajectory = list(map(list, zip(*_trajectory))) # 2D-list transpose, here cut the trajectory into 5 parts + ten_state = torch.as_tensor(_trajectory[0]) # tensor state here + ten_reward = torch.as_tensor(_trajectory[1], dtype=torch.float32) + # _trajectory[2] = done, 将 done 替换为掩码，节省内存 + ten_mask = (1.0 - torch.as_tensor(_trajectory[2], dtype=torch.float32)) * gamma + ten_action = torch.as_tensor(_trajectory[3]) + ten_noise = torch.as_tensor(_trajectory[4], dtype=torch.float32) + buffer[:] = (ten_state, ten_action, ten_noise, ten_reward, ten_mask) # list store tensors + _steps = ten_reward.shape[0] # steps collected in all trajectories + _r_exp = ten_reward.mean() # the mean reward + return _steps, _r_exp + + +class AgentPPO: + def __init__(self): + super().__init__() + self.state = None + self.device = None + self.action_dim = None + + self.criterion = torch.nn.SmoothL1Loss() + self.cri = self.cri_target = self.if_use_cri_target = self.cri_optim = self.ClassCri = None + self.act = self.act_target = self.if_use_act_target = self.act_optim = self.ClassAct = None + + '''init modify''' + self.ClassCri = CriticAdv + self.ClassAct = ActorPPO + + self.ratio_clip = 0.2 + self.lambda_entropy = 0.02 # be 0.01~0.05 + self.lambda_gae_adv = 0.98 # be 0.95~0.99 + self.get_reward_sum = None + self.trajectory_list = None + + def init(self, net_dim, state_dim, action_dim, learning_rate=1e-4, gpu_id=0): + self.device = torch.device(f"cuda:{gpu_id}" if (torch.cuda.is_available() and (gpu_id >= 0)) else "cpu") + self.trajectory_list = list() + self.get_reward_sum = self.get_reward_sum_gae + + self.cri = self.ClassCri(net_dim, state_dim, action_dim).to(self.device) + self.act = self.ClassAct(net_dim, state_dim, action_dim).to(self.device) if self.ClassAct else self.cri + self.cri_target = deepcopy(self.cri) if self.if_use_cri_target else self.cri + self.act_target = deepcopy(self.act) if self.if_use_act_target else self.act + + self.cri_optim = torch.optim.Adam(self.cri.parameters(), learning_rate) + self.act_optim = torch.optim.Adam(self.act.parameters(), learning_rate) if self.ClassAct else self.cri + + def select_action(self, state): + states = torch.as_tensor((state,), dtype=torch.float32, device=self.device) + actions, noises = self.act.get_action(states) + return actions[0].detach().cpu().numpy(), noises[0].detach().cpu().numpy() + + def explore_env(self, env, target_step): + state = self.state + trajectory_temp = list() + last_done = 0 + for i in range(target_step): + action, noise = self.select_action(state) + state, next_state, reward, done = env.step(np.tanh(action)) + trajectory_temp.append((state, reward, done, action, noise)) + if done: + state = env.reset() + last_done = i + else: + state = next_state + self.state = state + + '''splice list''' + # store 0 trajectory information to list + trajectory_list = self.trajectory_list + trajectory_temp[:last_done + 1] + self.trajectory_list = trajectory_temp[last_done:] + return trajectory_list + + def update_net(self, buffer, batch_size, repeat_times, soft_update_tau): + """put data extract and update network together""" + with torch.no_grad(): + buf_len = buffer[0].shape[0] + # decompose buffer data + buf_state, buf_action, buf_noise, buf_reward, buf_mask = [ten.to(self.device) for ten in buffer] + + '''get buf_r_sum, buf_logprob''' + bs = batch_size + buf_value = [self.cri_target(buf_state[i:i + bs]) for i in range(0, buf_len, bs)] + buf_value = torch.cat(buf_value, dim=0) + buf_logprob = self.act.get_old_logprob(buf_action, buf_noise) + + buf_r_sum, buf_advantage = self.get_reward_sum(buf_len, buf_reward, buf_mask, buf_value) # detach() + # normalize advantage + buf_advantage = (buf_advantage - buf_advantage.mean()) / (buf_advantage.std() + 1e-5) + buf_advantage = smooth_rewards(buf_advantage, window=10) + del buf_noise, buffer[:] + + '''PPO: Surrogate objective of Trust Region''' + obj_critic = obj_actor = None + for _ in range(int(buf_len / batch_size * repeat_times)): + indices = torch.randint(buf_len, size=(batch_size,), requires_grad=False, device=self.device) + + state = buf_state[indices] + action = buf_action[indices] + r_sum = buf_r_sum[indices] + logprob = buf_logprob[indices] + advantage = buf_advantage[indices] + + new_logprob, obj_entropy = self.act.get_logprob_entropy(state, action) # it is obj_actor + ratio = (new_logprob - logprob.detach()).exp() + surrogate1 = advantage * ratio + surrogate2 = advantage * ratio.clamp(1 - self.ratio_clip, 1 + self.ratio_clip) + obj_surrogate = -torch.min(surrogate1, surrogate2).mean() + obj_actor = obj_surrogate + obj_entropy * self.lambda_entropy + self.optim_update(self.act_optim, obj_actor) # update actor + + value = self.cri(state).squeeze(1) # critic network predicts the reward_sum (Q value) of state + # use smoothloss L1 to evaluate the value loss + # obj_critic = self.criterion(value, r_sum) / (r_sum.std() + 1e-6) + obj_critic = self.criterion(value, r_sum) + self.optim_update(self.cri_optim, obj_critic) # calculate and update the back propogation of value loss + # choose to use soft update + self.soft_update(self.cri_target, self.cri, soft_update_tau) if self.cri_target is not self.cri else None + + a_std_log = getattr(self.act, 'a_std_log', torch.zeros(1)) + return obj_critic.item(), obj_actor.item(), a_std_log.mean().item() # logging_tuple + + def get_reward_sum_gae(self, buf_len, ten_reward, ten_mask, ten_value) -> (torch.Tensor, torch.Tensor): + buf_r_sum = torch.empty(buf_len, dtype=torch.float32, device=self.device) # old policy value + buf_advantage = torch.empty(buf_len, dtype=torch.float32, device=self.device) # advantage value + pre_r_sum = 0.0 + pre_advantage = 0.0 # advantage value of previous step + for i in range(buf_len - 1, -1, -1): + buf_r_sum[i] = ten_reward[i] + ten_mask[i] * pre_r_sum + pre_r_sum = buf_r_sum[i] + buf_advantage[i] = ten_reward[i] + ten_mask[i] * (pre_advantage - ten_value[i]) + pre_advantage = ten_value[i] + buf_advantage[i] * self.lambda_gae_adv + return buf_r_sum, buf_advantage + + @staticmethod + def optim_update(optimizer, objective): + optimizer.zero_grad() + objective.backward() + optimizer.step() + + @staticmethod + def soft_update(target_net, current_net, tau): + for tar, cur in zip(target_net.parameters(), current_net.parameters()): + tar.data.copy_(cur.data.__mul__(tau) + tar.data.__mul__(1.0 - tau)) + + +class Arguments: + def __init__(self, agent=None, env=None): + self.agent = agent + self.env = env + self.cwd = None # current work directory. None means set automatically + self.if_remove = False # remove the cwd folder? (True, False, None:ask me) + self.visible_gpu = '0' # os.environ['CUDA_VISIBLE_DEVICES'] = '0, 2,' + self.num_threads = 32 # cpu_num for evaluate model + + '''Arguments for training''' + self.num_episode = 1000 + self.gamma = 0.995 # discount factor of reward + self.learning_rate = 1e-4 # 1e-4 2 ** -14 2e-4 + self.soft_update_tau = 2 ** -8 # 1e-3 2 ** -8 + + self.net_dim = 256 # the network width + self.batch_size = 4096 # num of transitions sampled from replay buffer + self.repeat_times = 2 ** 5 # collect target_step, then update network + self.target_step = 4096 # repeatedly update network to keep critic's loss small + self.max_memo = self.target_step # capacity of replay buffer + + '''Arguments for evaluate''' + self.random_seed = 1234 + # self.random_seed_list = [1234, 2234, 3234, 4234, 5234] + self.random_seed_list = [1234] + self.train = True + self.save_network = True + self.test_network = True + self.save_test_data = True + + def init_before_training(self): + if self.cwd is None: + agent_name = self.agent.__class__.__name__ + self.cwd = f'./{agent_name}' + + np.random.seed(self.random_seed) + torch.manual_seed(self.random_seed) + torch.set_num_threads(self.num_threads) + torch.set_default_dtype(torch.float32) + os.environ['CUDA_VISIBLE_DEVICES'] = str(self.visible_gpu) + + +if __name__ == '__main__': + args = Arguments() + reward_record = {'episode': [], 'steps': [], 'mean_episode_reward': [], 'unbalance': []} + loss_record = {'episode': [], 'steps': [], 'critic_loss': [], 'actor_loss': [], 'entropy_loss': []} + args.visible_gpu = '0' + for seed in args.random_seed_list: + args.random_seed = seed + args.agent = AgentPPO() + agent_name = f'{args.agent.__class__.__name__}' + args.agent.cri_target = True + args.env = WgzGym() + args.init_before_training() + '''init agent and environment''' + agent = args.agent + env = args.env + agent.init(args.net_dim, env.state_space.shape[0], env.action_space.shape[0], args.learning_rate) + gamma = args.gamma + batch_size = args.batch_size # data used to update net + target_step = args.target_step # steps of one episode should stop + repeat_times = args.repeat_times # times should update for one batch size data + soft_update_tau = args.soft_update_tau + num_episode = args.num_episode + agent.state = env.reset() + '''init buffer''' + buffer = list() + '''init training params''' + # args.train = False + # args.save_network = False + # args.test_network = False + # args.save_test_data = False + if args.train: + for i_episode in range(num_episode): + with torch.no_grad(): + trajectory_list = agent.explore_env(env, target_step) + _steps, _r_exp = update_buffer(trajectory_list) + critic_loss, actor_loss, entropy_loss = agent.update_net(buffer, batch_size, repeat_times, + soft_update_tau) + loss_record['critic_loss'].append(critic_loss) + loss_record['actor_loss'].append(actor_loss) + loss_record['entropy_loss'].append(entropy_loss) + + with torch.no_grad(): + episode_reward, episode_unbalance = get_episode_return(env, agent.act, agent.device) + reward_record['mean_episode_reward'].append(episode_reward) + reward_record['unbalance'].append(episode_unbalance) + print(f'epsiode: {i_episode}, reward: {episode_reward}, unbalance: {episode_unbalance}') + + act_save_path = f'{args.cwd}/actor.pth' + loss_record_path = f'{args.cwd}/loss.pkl' + reward_record_path = f'{args.cwd}/reward.pkl' + + if args.save_network: + with open(loss_record_path, 'wb') as tf: + pickle.dump(loss_record, tf) + with open(reward_record_path, 'wb') as tf: + pickle.dump(reward_record, tf) + torch.save(agent.act.state_dict(), act_save_path) + print('actor params have been saved') + + if args.test_network: + args.cwd = agent_name + agent.act.load_state_dict(torch.load(act_save_path)) + print('params have been reload and test') + record = test_one_episode(env, agent.act, agent.device) + eval_data = pd.DataFrame(record['system_info']) + eval_data.columns = ['time_step', 'price', 'load', 'action', 'real_action', 'soc', 'battery', + 'gen1', 'gen2', 'gen3', 'pv', 'wind', 'unbalance', 'operation_cost', 'reward'] + if args.save_test_data: + test_data_save_path = f'{args.cwd}/test.pkl' + with open(test_data_save_path, 'wb') as tf: + pickle.dump(record, tf)