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Midterm Exam for Dynamic Optimization

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February 15, 2018, at 05:39 PM by 199.201.64.144 -
Added lines 25-256:

(:toggle hide gekko2 button show="Show GEKKO (Python) Code":)
(:div id=gekko2:)
(:source lang=python:)
import gekko
import numpy as np
import matplotlib.pyplot as plt

# Write data
boat = '''time,rpm,x
0.00,0.00,0.00
1.00,4007.30,0.00
2.00,4076.12,3.96
3.00,4032.04,9.59
4.00,5018.40,8.84
5.00,5033.08,25.65
6.00,5085.69,33.06
7.00,2084.71,38.92
8.00,2002.84,51.49
9.00,2082.02,64.40
10.00,2091.07,78.46
11.00,2074.44,88.33
12.00,2002.35,89.96
13.00,2013.06,107.71
14.00,0.00,117.54
15.00,0.00,121.15
16.00,0.00,131.14
17.00,0.00,130.36
18.00,0.00,138.19
19.00,0.00,147.58
20.00,0.00,150.32
21.00,0.00,155.60
22.00,0.00,155.86
23.00,0.00,152.69
24.00,0.00,163.63
25.00,0.00,167.09
26.00,0.00,166.98
27.00,0.00,170.07
28.00,0.00,172.09
29.00,0.00,170.63
30.00,0.00,175.21
'''

fid = open('boat.csv','w')
fid.write(boat)
fid.close()

#%% Model

#initialize model
m = gekko.GEKKO()

#set time
m.time = np.linspace(0,30,31)

#set parameters
m_boat = m.Param(value=500)
dens = m.Param(value=1000)
Cd = m.Param(value=0.05)
Ac = m.Param(value=0.8)

m_passengers = m.FV(value=400)
RPM = m.MV(lb=0,ub=5000)

#Variables
Fd = m.Var(value=0) #drag force
Fp = m.Var(value=0) #propeller force
x = m.CV(value=0) #position
v = m.CV(value=0) #velocity
a = m.Var(value=0) #acceleration
 
#Equations
m.Equation(Fd == 1/2 * dens * v**2 * Cd * Ac)
m.Equation(Fp == 40 * m.sqrt(RPM))
m.Equation(x.dt() == v)
m.Equation(v.dt() == a)
m.Equation((m_boat+m_passengers)*a == Fp - Fd)

## Simulation

m.options.IMODE = 4 #simulation
m.options.NODES = 3
m.options.TIME_SHIFT = 0 #allow resolving without timeshift
#don't use .MEAS to update values
RPM.FSTATUS = 0
m_passengers.FSTATUS = 0
v.FSTATUS = 0
x.FSTATUS = 0

#set RPM to jump from 0 to 5000 at time=1
RPM.value = np.ones(np.size(m.time))*5000
RPM.value[0:5]=0

#initially set passengers to 0
m_passengers.value = 0

m.solve(disp=False)

plt.figure(1)
plt.plot(m.time,v.value,'k--')
print("Velocity at time 6: ", v.value[10])

#add passengers
m_passengers.value = 400

m.solve(disp=False)
plt.plot(m.time,v.value,'r-')
print("Velocity at time 6: ", v.value[10])

#%% Estimation
#initialize model
m = gekko.GEKKO()

#set time
m.time = np.linspace(0,30,31)

#set parameters
m_boat = m.Param(value=500)
dens = m.Param(value=1000)
Cd = m.Param(value=0.05)
Ac = m.Param(value=0.8)

m_passengers = m.FV(value=400)
RPM = m.MV(lb=0,ub=5000)

#Variables
Fd = m.Var(value=0) #drag force
Fp = m.Var(value=0) #propeller force
x = m.CV(value=0) #position
v = m.CV(value=0) #velocity
a = m.Var(value=0) #acceleration
 
#Equations
m.Equation(Fd == 1/2 * dens * v**2 * Cd * Ac)
m.Equation(Fp == 40 * m.sqrt(RPM))
m.Equation(x.dt() == v)
m.Equation(v.dt() == a)
m.Equation((m_boat+m_passengers)*a == Fp - Fd)

#load data from csv
m.time, RPM.value, x.value = np.loadtxt('boat.csv', \
                delimiter=',',skiprows=1,unpack=True)
time, RPM_data, x_data = np.loadtxt('boat.csv', \
                delimiter=',',skiprows=1,unpack=True)

#set options
m.options.IMODE = 5 #Dynamic estimation
m.options.EV_TYPE = 2
RPM.STATUS = 0
v.STATUS = 0
m_passengers.STATUS = 1
x.STATUS = 1
x.WMODEL = 0

m.solve(disp=False)


plt.figure(2)
plt.subplot(3,1,1)
plt.plot(m.time,x.value,'r-')
plt.scatter(m.time,x_data)
plt.ylabel('x')
plt.subplot(3,1,2)
plt.plot(m.time,v.value,'k--')
plt.ylabel('v')
plt.subplot(3,1,3)
plt.plot(m.time,RPM.value,'b-')
plt.scatter(m.time,RPM_data)
plt.ylabel('RPM')
plt.xlabel('time')

print("Passenger weight: ", m_passengers.value[0])


#%% Control
#initialize model
m = gekko.GEKKO()

#set time
m.time = np.linspace(0,30,31)

#set parameters
m_boat = m.Param(value=500)
dens = m.Param(value=1000)
Cd = m.Param(value=0.05)
Ac = m.Param(value=0.8)

m_passengers = m.FV(value=400)
RPM = m.MV(lb=0,ub=5000)

#Variables
Fd = m.Var(value=0) #drag force
Fp = m.Var(value=0) #propeller force
x = m.CV(value=0) #position
v = m.CV(value=0) #velocity
a = m.Var(value=0) #acceleration
 
#Equations
m.Equation(Fd == 1/2 * dens * v**2 * Cd * Ac)
m.Equation(Fp == 40 * m.sqrt(RPM))
m.Equation(x.dt() == v)
m.Equation(v.dt() == a)
m.Equation((m_boat+m_passengers)*a == Fp - Fd)

m.options.IMODE = 6 #dynamic control
m.options.CV_TYPE = 1

m_passengers.STATUS = 0
RPM.STATUS = 1
x.STATUS = 0
v.STATUS = 1
m_passengers.value = 400
a.UB = 1
v.SPHI = 10.1
v.SPLO = 9.9

m.solve(disp=False)

plt.figure(3)
plt.subplot(3,1,1)
plt.plot(m.time,RPM.value,'b-')
plt.ylabel('RPM')
plt.subplot(3,1,2)
plt.plot(m.time,v.value,'k--')
plt.ylabel('v')
plt.subplot(3,1,3)
plt.plot(m.time,a.value,'g-')
plt.ylabel('a')
plt.xlabel('time')
plt.show()
(:sourceend:)
(:divend:)
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!!!! Midterm Exam
to:
!!!! Midterm Exam 2015
May 22, 2015, at 06:27 AM by 45.56.3.184 -
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(:htmlend:)
to:
(:htmlend:)

Note: the solution (zip) files are correct. The video uses nodes=2, causing numerical integration error that gives a different estimated weight of the passengers.
May 20, 2015, at 05:11 PM by 45.56.3.184 -
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May 20, 2015, at 05:10 PM by 45.56.3.184 -
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!!!! Solution: Orthogonal Collocation
to:
!!!! Solution

Attach
:download.png [[Attach:midterm_solution_key.pdf|Mid-term Exam Solution Key (PDF)]]

----

Attach:download.png [[Attach:midterm_solution1_files.zip|Orthogonal
Collocation Solution Files]]
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!!!! Solution: Simulation, MHE, and MPC
to:
----

Attach
:download.png [[Attach:midterm_solution2_files.zip|Boat Solution Files]]
May 19, 2015, at 12:05 AM by 10.10.150.47 -
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!!!! Solution for Orthogonal Collocation
to:
!!!! Solution: Orthogonal Collocation
Changed lines 16-17 from:
!!!! Solution for Simulation, MHE, and MPC
to:
!!!! Solution: Simulation, MHE, and MPC

(:html:)
<iframe width="560" height="315" src="https://www.youtube.com/embed/NR76GRnCB2g" frameborder="0" allowfullscreen></iframe>
(:htmlend:)
May 18, 2015, at 11:34 PM by 10.10.150.47 -
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!!!! Solution for Orthogonal Collocation
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!!!! Solution for Simulation, MHE, and MPC
May 18, 2015, at 11:33 PM by 10.10.150.47 -
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to:
(:html:)
<iframe width="560" height="315" src="https://www.youtube.com/embed/9uneug4cUrs" frameborder="0" allowfullscreen></iframe>
(:htmlend:)
May 15, 2015, at 07:10 PM by 10.10.148.40 -
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(:title Midterm Exam for Dynamic Optimization:)
(:keywords Python, MATLAB, Simulink, nonlinear control, model predictive control, exam, midterm:)
(:description Mid-term exam for dynamic estimation and optimization as a graduate-level course.:)

!!!! Midterm Exam

Attach:download.png [[Attach:midterm_exam.pdf|Mid-term Exam]]
Attach:download.png [[Attach:midterm_exam_files.zip|Mid-term Exam Files]]