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383 lines
11 KiB
383 lines
11 KiB
/*
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* This file is part of ACADO Toolkit.
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*
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* ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
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* Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
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* Milan Vukov, Rien Quirynen, KU Leuven.
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* Developed within the Optimization in Engineering Center (OPTEC)
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* under supervision of Moritz Diehl. All rights reserved.
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*
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* ACADO Toolkit is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 3 of the License, or (at your option) any later version.
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*
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* ACADO Toolkit is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with ACADO Toolkit; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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/**
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* \file include/acado/simulation_environment/simulation_environment.hpp
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* \author Hans Joachim Ferreau, Boris Houska
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*/
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#ifndef ACADO_TOOLKIT_SIMULATION_ENVIRONMENT_HPP
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#define ACADO_TOOLKIT_SIMULATION_ENVIRONMENT_HPP
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#include <acado/utils/acado_utils.hpp>
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#include <acado/simulation_environment/simulation_block.hpp>
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#include <acado/clock/clock.hpp>
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#include <acado/curve/curve.hpp>
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#include <acado/process/process.hpp>
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#include <acado/controller/controller.hpp>
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BEGIN_NAMESPACE_ACADO
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/**
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* \brief Allows to run closed-loop simulations of dynamic systems.
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*
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* \ingroup UserInterfaces
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*
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* The class Simulation Environment is designed to run closed-loop simulations
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* of dynamic systems.
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*
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* In a standard setup the Simulation Environment consists of a Process and a
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* Controller that are connected by signals. These two main members can be specified
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* within the constructor or set afterwards by using the methods "setController" and
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* "setProcess" , respectively.
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*
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* A simulation has to be initialized by providing the initial value of the differential
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* states of the dynamic system to be simulated. Afterwards, the simulation can be run
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* at once or stepped until a given intermediate time.
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*
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* \author Hans Joachim Ferreau, Boris Houska
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*
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*/
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class SimulationEnvironment : public SimulationBlock
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{
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//
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// PUBLIC MEMBER FUNCTIONS:
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//
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public:
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/** Default constructor.
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*/
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SimulationEnvironment( );
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/** Constructor which takes the name of the block and the sampling time.
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*
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* @param[in] _startTime Start time of the simulation.
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* @param[in] _endTime End time of the simulation.
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* @param[in] _process Process used for simulating the dynamic system.
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* @param[in] _controller Controller used for controlling the dynamic system.
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*
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* \note Only pointers to Process and Controller are stored!
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*/
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SimulationEnvironment( double _startTime,
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double _endTime,
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Process& _process,
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Controller& _controller
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);
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/** Copy constructor (deep copy).
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*
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* @param[in] rhs Right-hand side object.
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*/
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SimulationEnvironment( const SimulationEnvironment &rhs
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);
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/** Destructor.
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*/
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virtual ~SimulationEnvironment();
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/** Assignment Operator (deep copy).
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*
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* @param[in] rhs Right-hand side object.
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*/
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SimulationEnvironment& operator=( const SimulationEnvironment &rhs
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);
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/** Assigns new process block to be used for simulation.
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*
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* @param[in] _process New process block.
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*
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* \note Only a pointer is stored!
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*
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* \return SUCCESSFUL_RETURN
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*/
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returnValue setProcess( Process& _process
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);
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/** Assigns new controller block to be used for simulation.
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*
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* @param[in] _controller New controller block.
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*
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* \note Only a pointer is stored!
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*
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* \return SUCCESSFUL_RETURN
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*/
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returnValue setController( Controller& _controller
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);
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/** Initializes algebraic states of the process.
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*
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* @param[in] _xa_init Initial value for algebraic states.
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*
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* \return SUCCESSFUL_RETURN
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*/
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returnValue initializeAlgebraicStates( const VariablesGrid& _xa_init
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);
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/** Initializes algebraic states of the process from data file.
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*
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* @param[in] fileName Name of file containing initial value for algebraic states.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_FILE_CAN_NOT_BE_OPENED
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*/
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returnValue initializeAlgebraicStates( const char* fileName
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);
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/** Initializes the simulation with given start values and
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* performs a number of consistency checks.
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*
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* @param[in] x0_ Initial value for differential states.
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* @param[in] p_ Initial value for parameters.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_ENVIRONMENT_INIT_FAILED, \n
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* RET_NO_CONTROLLER_SPECIFIED, \n
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* RET_NO_PROCESS_SPECIFIED, \n
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* RET_BLOCK_DIMENSION_MISMATCH
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*/
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returnValue init( const DVector &x0_,
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const DVector &p_ = emptyConstVector
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);
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/** Performs next step of the simulation.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_BLOCK_NOT_READY, \n
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* RET_ENVIRONMENT_STEP_FAILED, \n
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* RET_COMPUTATIONAL_DELAY_TOO_BIG
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*/
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returnValue step( );
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/** Performs next steps of the simulation until given intermediate time.
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*
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* @param[in] intermediateTime Intermediate time.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_BLOCK_NOT_READY, \n
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* RET_ENVIRONMENT_STEP_FAILED, \n
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* RET_COMPUTATIONAL_DELAY_TOO_BIG, \n
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* RET_INVALID_ARGUMENTS
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*/
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returnValue step( double intermediateTime
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);
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/** Runs the complete simulation.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_BLOCK_NOT_READY, \n
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* RET_ENVIRONMENT_STEP_FAILED, \n
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* RET_COMPUTATIONAL_DELAY_TOO_BIG
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*/
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returnValue run( );
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/** Returns number of process outputs.
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*
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* \return Number of process outputs
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*/
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inline uint getNY( ) const;
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/** Returns number of feedback controls.
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*
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* \return Number of feedback controls
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*/
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inline uint getNU( ) const;
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/** Returns number of feedback parameters.
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*
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* \return Number of feedback parameters
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*/
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inline uint getNP( ) const;
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/** Returns current number of simulation steps.
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*
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* \return Current number of simulation steps
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*/
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inline uint getNumSteps( ) const;
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/** Returns continuous output of the process.
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*
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* @param[out] _processOutput Continuous output of the process.
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*
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* \return SUCCESSFUL_RETURN
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*/
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inline returnValue getProcessOutput( Curve& _processOutput
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) const;
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/** Returns output of the process at sampling instants.
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*
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* @param[out] _sampledProcessOutput Sampled output of the process.
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*
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* \return SUCCESSFUL_RETURN
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*/
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inline returnValue getSampledProcessOutput( VariablesGrid& _sampledProcessOutput
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);
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/** Returns differential states of the process over the whole simulation.
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*
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* @param[out] _diffStates Differential states of the process.
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*
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* \return SUCCESSFUL_RETURN
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*/
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inline returnValue getProcessDifferentialStates( VariablesGrid& _diffStates
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);
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/** Returns algebraic states of the process over the whole simulation.
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*
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* @param[out] _algStates Algebraic states of the process.
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*
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* \return SUCCESSFUL_RETURN
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*/
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inline returnValue getProcessAlgebraicStates( VariablesGrid& _algStates
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);
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/** Returns intermediate states of the process over the whole simulation.
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*
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* @param[out] _interStates Intermediate states of the process.
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*
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* \return SUCCESSFUL_RETURN
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*/
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inline returnValue getProcessIntermediateStates( VariablesGrid& _interStates
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);
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/** Returns feedback control signals of the controller over the whole simulation.
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*
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* @param[out] _feedbackControl Feedback control signals of the controller.
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*
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* \return SUCCESSFUL_RETURN
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*/
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inline returnValue getFeedbackControl( Curve& _feedbackControl
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) const;
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/** Returns feedback control signals of the controller over the whole simulation.
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*
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* @param[out] _sampledFeedbackControl Feedback control signals of the controller.
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*
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* \return SUCCESSFUL_RETURN
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*/
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inline returnValue getFeedbackControl( VariablesGrid& _sampledFeedbackControl
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);
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/** Returns feedback parameter signals of the controller over the whole simulation.
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*
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* @param[out] _feedbackParameter Feedback parameter signals of the controller.
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*
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* \return SUCCESSFUL_RETURN
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*/
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inline returnValue getFeedbackParameter( Curve& _feedbackParameter
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) const;
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/** Returns feedback parameter signals of the controller over the whole simulation.
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*
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* @param[out] _sampledFeedbackParameter Feedback parameter signals of the controller.
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*
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* \return SUCCESSFUL_RETURN
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*/
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inline returnValue getFeedbackParameter( VariablesGrid& _sampledFeedbackParameter
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);
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//
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// PROTECTED MEMBER FUNCTIONS:
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//
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protected:
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/** Sets-up default options.
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*
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* \return SUCCESSFUL_RETURN
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*/
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virtual returnValue setupOptions( );
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/** Sets-up default logging information.
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*
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* \return SUCCESSFUL_RETURN
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*/
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virtual returnValue setupLogging( );
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/** Returns computational delay used for simulation based on the actual real
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* controller runtime and the options set by the user.
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*
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* @param[in] controllerRuntime Real controller runtime.
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*
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* \return Computational delay used for simulation
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*/
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double determineComputationalDelay( double controllerRuntime
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) const;
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//
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// PROTECTED MEMBERS:
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//
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protected:
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double startTime; /**< Start time of the simulation. */
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double endTime; /**< End time of the simulation. */
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Process* process; /**< Pointer to Process used for simulating the dynamic system. */
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Controller* controller; /**< Pointer to Controller used for controlling the dynamic system. */
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SimulationClock simulationClock; /**< Clock for managing the simulation time. */
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Curve processOutput; /**< Curve storing output of the Process during the whole simulation. */
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Curve feedbackControl; /**< Curve storing control signals from the Controller during the whole simulation. */
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Curve feedbackParameter; /**< Curve storing parameter signals from the Controller during the whole simulation. */
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uint nSteps; /**< Number of simulation steps (loops) that have been performed. */
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};
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CLOSE_NAMESPACE_ACADO
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#include <acado/simulation_environment/simulation_environment.ipp>
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#endif // ACADO_TOOLKIT_SIMULATION_ENVIRONMENT_HPP
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/*
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* end of file
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*/
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