Table 6.

Training parameters setting of DDPG.

Training Parameters	Values
Size of experience pool	5000
Number of cycles in the outer layer	2000
Time step of inner layer	7
Adjustment time of inner action space	60
Threshold of discarding the sample	0.5
Discount factor	0.9
Learning rates of actual network	0.0001
Learning rates of target network	0.01
Soft update rate	0.001
Exploration noise	0.01