def get_problem():
"""Unconstrained Double integrator problem ."""
# Rename this and/or move to optim package?
problem = beluga.optim.Problem('brysondenham')
# Define independent variables
problem.independent('t', 's')
# Define equations of motion
problem.state('x', 'v','m') \
.state('v', 'u','m/s') \
# Define controls
problem.control('u', 'm/s')
# Define costs
problem.cost['path'] = Expression('u^2', 'm^2/s')
# Define constraints
problem.constraints('default',0) \
.initial('x-x_0','m') \
.initial('v-v_0','m/s') \
.terminal('x-x_f','m') \
.terminal('v-v_f','m/s')
problem.scale.unit('m','x') \
.unit('s',1)\
.unit('kg',1) \
.unit('rad',1)
# problem.bvp_solver = algorithms.SingleShooting(derivative_method='fd',tolerance=1e-4, max_iterations=1000, verbose = True, cached=False)
problem.bvp_solver = algorithms.MultipleShooting(derivative_method='fd',
tolerance=1e-4,
max_iterations=10000,
verbose=True,
cached=False,
number_arcs=4)
problem.guess.setup(
'auto',
start=[0, 1], # Starting values for states in order
direction='forward',
costate_guess=-0.1,
time_integrate=1 ## REQUIRED BECAUSE OF FIXED FINAL TIME
)
problem.steps.add_step().num_cases(5) \
.terminal('x',0)
problem.steps.add_step().num_cases(5) \
.initial('v',1.0) \
.terminal('v', -1)
return problem
def get_problem():
"""A simple test of optimal surface track planning."""
# Rename this and/or move to optim package?
problem = beluga.optim.Problem('Hannibal')
#Define independent variables
problem.independent('t', 's')
# Define equations of motion
problem.state('x','V*cos(hdg)','m') \
.state('y','V*sin(hdg)','m') \
# Define controls
problem.control('hdg','rad')
# Define Cost Functional
problem.cost['path'] = Expression('(1-w)+w*V*conv*elev*(-0.3*exp(-0.5*((x-2.7)^2+1.5*(y-2.1)^2))+2.6*exp(-0.55*(0.87*(x-6.7)^2+(y-2.2)^2))+2.1*exp(-0.27*(0.2*(x-5.5)^2+(y-7.2)^2))+1.6*(cos(0.8*y))^2*(sin(0.796*x))^2)', 's')
#Define constraints
problem.constraints().initial('x-x_0','m') \
.initial('y-y_0','m') \
.terminal('x-x_f','m') \
.terminal('y-y_f','m')
#Define constants
problem.constant('w',0.0,'1') #Initial Terrain weighting factor
problem.constant('conv',1,'s/m^2') #Integral conversion factor
problem.constant('V',1,'m/s') #Vehicle speed
problem.constant('elev',1,'m') #Initial Elevation
#Unit scaling
problem.scale.unit('m',1) \
.unit('s',1) \
.unit('rad',1)
#Configure solver
problem.bvp_solver = algorithms.MultipleShooting(derivative_method='fd',tolerance=1e-4, max_iterations=1000, verbose = True, cached = False, number_arcs=4)
#Initial Guess
problem.guess.setup('auto',start=[4.9,0.4], costate_guess=[0.1,-0.1]) #City A
#Add Continuation Steps
problem.steps.add_step().num_cases(30) \
.terminal('x', 7.2) \
.terminal('y', 8.5)
problem.steps.add_step().num_cases(30) \
.const('w',0.5) #Final Terrain weighting factor
return problem
def get_problem():
"""A simple test of optimal surface track planning."""
problem = beluga.optim.Problem('Track_demo')
problem.mode = 'analytical' #Other options: 'numerical', 'dae'
#Define independent variables
problem.independent('t', 's')
# Define equations of motion
problem.state('x','V*cos(hdg)','k') \
.state('y','V*sin(hdg)','k') \
# Define controls
problem.control('hdg', 'rad')
# Define cost functional
problem.cost['path'] = Expression('(1-w)+w*V*conv*elev*terrain(x,y)', 's')
#Define constraints
problem.constraints().initial('x-x_0','k') \
.initial('y-y_0','k') \
.terminal('x-x_f','k') \
.terminal('y-y_f','k')
#Define constants
problem.constant('w', 0.9, '1') #Initial Terrain weighting factor
problem.constant('conv', 1, 's/k^2') #Integral conversion factor
problem.constant('V', 1, 'k/s') #Vehicle speed
problem.constant('elev', 0.001, 'k') #Units for the elevation
#Unit scaling
problem.scale.unit('k',1) \
.unit('s',1) \
.unit('rad',1)
#Configure solver
problem.bvp_solver = algorithms.MultipleShooting(derivative_method='fd',
tolerance=1e-4,
max_iterations=50,
verbose=True,
cached=False,
number_arcs=8)
#problem.bvp_solver = algorithms.SingleShooting(derivative_method='fd',tolerance=1e-4, max_iterations=50, verbose = True, cached = False)
#Initial Guess
problem.guess.setup('auto', start=[16, 10], costate_guess=[0.0, -0.1])
#Add continuation steps
problem.steps.add_step(strategy='HPA') \
.terminal('x', 180, 50) \
.terminal('y', 98, 50)
return problem
problem.constant('v_s', 100, 'rad')
problem.constant('gam_s', 1, 'rad')
problem.constant('p11_s', 1e5, 'rad')
problem.constant('p12_s', 1e-2, 'rad')
problem.constant('p13_s', 1e2, 'rad')
problem.constant('p14_s', 1e-1, 'rad')
problem.constant('p22_s', 1e-10, 'rad')
problem.constant('p23_s', 1e-5, 'rad')
problem.constant('p24_s', 1e-8, 'rad')
problem.constant('p33_s', 1e1, 'rad')
problem.constant('p34_s', 1e-3, 'rad')
problem.constant('p44_s', 1e-6, 'rad')
problem.constant('ep', 5, 'rad')
problem.bvp_solver = algorithms.MultipleShooting(derivative_method='fd', tolerance=1e-4, max_iterations=1000, verbose=True, cached=False, number_arcs=16)
# problem.bvp_solver = algorithms.SingleShooting(derivative_method='fd',tolerance=1e-4, max_iterations=1000, verbose=True, cached=False)
problem.scale.unit('m', 1) \
.unit('s', 1) \
.unit('kg', 1) \
.unit('rad', 1)
# Define quantity (not implemented at present)
# Is this actually an Expression rather than a Value?
# problem.quantity = [Value('tanAng','tan(theta)')]
problem.guess.setup('auto', start=[80, 0, 50, -89*pi/180, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], costate_guess=[0, 0, 0, 0, 0.0001, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], time_integrate=2.5) # costate_guess=[0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
# problem.guess.setup('auto',start=[80000,3.38575809e-21,5000,7.98617365e-02, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],direction='forward',time_integrate=229.865209,costate_guess =[-1.37514494e+01,3.80852584e+06,-3.26290152e+03,-2.31984720e-14,0.00,0.01,0.01,0.01,0.01,0.01,0.01,0.01,0.01,0.01])
# Figure out nicer way of representing this. Done?
def get_problem():
"""Brachistochrone example."""
# Rename this and/or move to optim package?
problem = beluga.optim.Problem('brachisto_MS')
# Switch off DAE mode
problem.mode = 'num'
# Define independent variables
problem.independent('t', 's')
# Define equations of motion
problem.state('x', 'v*cos(theta)','m') \
.state('y', '-v*sin(theta)','m') \
.state('v', 'g*sin(theta)','m/s')
# Define controls
problem.control('theta', 'rad')
# Define costs
problem.cost['path'] = Expression('1', 's')
# Define constraints
problem.constraints('default',0) \
.initial('x-x_0','m') \
.initial('y-y_0','m') \
.initial('v-v_0','m/s') \
.terminal('x-x_f','m') \
.terminal('y-y_f','m')
# problem.constraints().interior_point('(x-x1)^2+(y-y1)^2','m^2')
# Define constants (change to have units as well)
problem.constant('g', '9.81', 'm/s^2')
# problem.constant('x1','7.5','m')
# problem.constant('y1','-15','m')
# problem.quantity('gDown','g*sin(theta)')
problem.scale.unit('m',1) \
.unit('s',1)\
.unit('kg',1) \
.unit('rad',1)
problem.bvp_solver = algorithms.MultipleShooting(derivative_method='fd',
tolerance=1e-4,
max_iterations=1000,
verbose=True,
cached=False,
number_arcs=2,
max_error=100)
# problem.bvp_solver = algorithms.SingleShooting(derivative_method='csd',tolerance=1e-4, max_iterations=50, verbose = True, cached=False)
# problem.bvp_solver = algorithms.BroydenShooting(tolerance=1e-4, max_iterations=1000)
# Can be array or function handle
# TODO: implement an "initial guess" class subclassing Solution
# problem.guess = bvpsol.bvpinit(np.linspace(0,1,2), [0,0,1,-0.1,-0.1,-0.1,0.1])
# problem.guess.parameters = np.array([0.1,0.1,0.1,0.1,0.1])
problem.guess.setup(
'auto',
start=[0, 0, 1], # Starting values for states in order
direction='forward',
costate_guess=-0.1)
# Figure out nicer way of representing this. Done?
problem.steps.add_step('bisection') \
.num_cases(2) \
.terminal('x', 5) \
.terminal('y',-5)
# (
# problem.steps.add_step().num_cases(2)
# .terminal('x', 30.0)
# .terminal('y',-30.0),
# problem.steps.add_step()
# .num_cases(10)
# .terminal('x', 1000.0)
# .terminal('y',-1000.0)
# )
return problem
def get_problem():
# Figure out way to implement caching automatically
#@functools.lru_cache(maxsize=None)
# from beluga.utils import keyboard
# keyboard()
"""A simple planar hypersonic problem example."""
# Rename this and/or move to optim package?
problem = beluga.optim.Problem('planarHypersonic')
# problem = beluga.optim.Problem()
# Define independent variables
problem.independent('t', 's')
# rho = 'rho0*exp(-h/H)'
# Cl = '(1.5658*alfa + -0.0000)'
# Cd = '(1.6537*alfa^2 + 0.0612)'
# D = '(0.5*'+rho+'*v^2*'+Cd+'*Aref)'
# L = '(0.5*'+rho+'*v^2*'+Cl+'*Aref)'
# r = '(re+h)'
problem.quantity('rho', 'rho0*exp(-h/H)')
problem.quantity('Cl', '(Cl1*alfa + -0.0000)')
problem.quantity('Cd', '(Cd2*alfa^2 + Cd0)')
problem.quantity('qA', '0.5*rho*v^2*Aref')
# problem.quantity('D','0.5*rho*v^2*Cd*Aref')
# problem.quantity('L','0.5*rho*v^2*Cl*Aref')
problem.quantity('r', 're+h')
# Define equations of motion
problem.state('h','v*sin(gam)','m') \
.state('theta','v*cos(gam)/r','rad') \
.state('v','-qA*Cd/mass - mu*sin(gam)/r**2','m/s') \
.state('gam','qA*Cl/(mass*v) + (v/r - mu/(v*r^2))*cos(gam)','rad')
#.state('alfa','alfaRateMax*sin(alfaDotTrig)','rad')
# problem.state('h','v*sin(gam)','m') \
# .state('theta','v*cos(gam)/'+r,'rad') \
# .state('v','-'+D+'/mass - mu*sin(gam)/'+r+'**2','m/s') \
# .state('gam',L+'/(mass*v) + (v/'+r+' - mu/(v*'+r+'^2))*cos(gam)','rad')
# Define controls
problem.control('alfa', 'rad')
# problem.control('alfaDot','rad/s')
# problem.control('alfaDotTrig','rad')
# Define costs
problem.cost['terminal'] = Expression('-v^2', 'm^2/s^2')
# Define constraints
problem.constraints().initial('h-h_0','m') \
.initial('theta-theta_0','rad') \
.initial('v-v_0','m/s') \
.terminal('h-h_f','m') \
.terminal('theta-theta_f','rad') \
#.path('h','<','hMax','m') \
#.control('alfaDot','-alfaRateMax','alfaRateMax','rad/s')
# Define constants
problem.constant('mu', 3.986e5 * 1e9,
'm^3/s^2') # Gravitational parameter, m^3/s^2
problem.constant('rho0', 1.2,
'kg/m^3') # Sea-level atmospheric density, kg/m^3
problem.constant('H', 7500, 'm') # Scale height for atmosphere of Earth, m
problem.constant('Cd2', 1.6537, 'nd')
problem.constant('Cd0', 0.0612, 'nd')
problem.constant('Cl1', 1.5658, 'nd')
problem.constant('mass', 750 / 2.2046226, 'kg') # Mass of vehicle, kg
problem.constant('re', 6378000, 'm') # Radius of planet, m
problem.constant('Aref',
pi * (24 * .0254 / 2)**2,
'm^2') # Reference area of vehicle, m^2
problem.constant('rn', 1 / 12 * 0.3048, 'm') # Nose radius, m
problem.constant('hMax', 150000, 'm')
problem.constant('alfaRateMax', 10 * pi / 180, 'rad/s')
problem.constant('eps', 100, 'm/s')
problem.constant('w', 0, 'nd')
problem.bvp_solver = algorithms.MultipleShooting(derivative_method='fd',
tolerance=1e-4,
max_iterations=31,
verbose=True,
cached=False,
number_arcs=2)
# problem.bvp_solver = algorithms.SingleShooting(derivative_method='csd',tolerance=1e-4, max_iterations=100000, verbose = True, cached = False)
problem.scale.unit('m','h') \
.unit('s','h/v') \
.unit('kg','mass') \
.unit('rad',1) \
.unit('nd',1)
problem.guess.setup('auto', start=[80000, 0.01, 5000, -90 * pi / 180])
#problem.guess.setup('auto',start=[80000,3.38575809e-21,5000,7.98617365e-02],direction='forward',time_integrate=229.865209,costate_guess =[-1.37514494e+01,3.80852584e+06,-3.26290152e+03,-2.31984720e-14])
# Figure out nicer way of representing this. Done?
problem.steps.add_step('bisection') \
.num_cases(11) \
.terminal('h', 0)
problem.steps.add_step('bisection') \
.num_cases(11) \
.terminal('theta', 10*pi/180)
#
return problem
def get_problem():
#User Defined Terrain Elevation
#def terr( x_pos, y_pos ):
#Defines terrain elevation [m] as a function of x and y positions [m]
# elev=100.0*(np.sin(0.5*(x_pos/1000.0)))**2.0 #User defined elevation map
# return elev
#User Defined Tunnel Cost
#def tunnel(depth):
#Defines additional cost for placing a 1 meter length of track a non-zero
#depth below the ground.
# TunnelCost=(50e3)/(1+np.exp(-(depth-5))) #Tunneling Cost (2016 USD)
# return TunnelCost
#def bridge(height):
#Defines additional cost for placing a 1 meter length of track a non-zero
#heigh above the ground.
# BridgeCost=10e3*(height/10)**2 #Bridge Cost (2016 USD)
# return BridgeCost
"""A simple test of optimal surface track planning."""
# Rename this and/or move to optim package?
problem = beluga.optim.Problem('surftest_noinc')
#Define independent variables
problem.independent('t', 's')
# Define equations of motion
problem.state('x','V*cos(hdg)','m') \
.state('y','V*sin(hdg)','m') \
.state('V','amax*sin(thrA) + eps*(cos(thrA)+cos(hdgA))','m/s') \
.state('hdg','cmax/V*sin(hdgA)','rad')
# Define controls
#problem.control('thrA','rad') \
# .control('hdgA','rad')
problem.control('hdgA', 'rad')
# Define Cost Functional
problem.cost['path'] = Expression('1', 's')
#problem.cost['path'] = Expression('TimeToUSD+trk*V', 'USD')
#+ \
#'(50e3)/(1.0+exp(-1.0*(z-0.0*(sin(0.5*(x/1000.0)))**2.0-5.0)))+'+ \
#'10e3*((0.0*(sin(0.5*(x/1000.0)))**2.0-z)/10.0)**2.0','USD')
#Define constraints
problem.constraints().initial('x-x_0','m') \
.initial('y-y_0','m') \
.initial('V-V_0','m/s') \
.initial('hdg-hdg_0','rad') \
.terminal('x-x_f','m') \
.terminal('y-y_f','m')
#.terminal('V-V_f','m/s')
#.initial('hdg-hdg_0','rad') \
#Define constants
problem.constant('g', 9.81, 'm/s^2') #Acceleration due to gravity
problem.constant(
'trk', 1, 'USD/m') #Basic cost of 1 m of track on ground (10k per m)
problem.constant('amax', 1.0,
'm/s^2') #Maximum thrust acceleration of vehicle
problem.constant('cmax', 1.0,
'm/s^2') #Maximum allowed centripetal acceleration
problem.constant('eps', 10, 'm/s^2') #Error constant
problem.constant('TimeToUSD', 1, 'USD/s') #Time is Money!!
problem.constant('thrA', 0, 'rad')
#Unit scaling
problem.scale.unit('m','x') \
.unit('s','x/V') \
.unit('rad',1) \
.unit('USD',1)
#Configure solver
problem.bvp_solver = algorithms.MultipleShooting(derivative_method='fd',
tolerance=1e-4,
max_iterations=1000,
verbose=True,
cached=False,
number_arcs=2)
#Initial Guess
problem.guess.setup('auto',
start=[0.0, 0.0, 1.0, pi / 4 - 0.2],
costate_guess=-0.1) #City A
#Add Continuation Steps
problem.steps.add_step().num_cases(10) \
.terminal('x', 10) \
.terminal('y', 0)
problem.steps.add_step().num_cases(10) \
.const('eps', 0.2)
#problem.steps.add_step().num_cases(10) \
# .terminal('y', 2*pi*1000) \
# .terminal('z', 0.0) \
# .terminal('inc', 0.0)
#^ City B
return problem
def get_problem():
"""A simple example of graph search continuation"""
# Rename this and/or move to optim package?
problem = beluga.optim.Problem('boat')
#Define independent variables
problem.independent('t', 's')
# Define equations of motion
problem.state('x','V*cos(hdg)+eps*k*cos(hdgA)','m') \
.state('y','V*sin(hdg)','m') \
.state('hdg','k*sin(hdgA)','rad')
# Define controls
problem.control('hdgA', 'rad')
# problem.control('hdgdot','rad/s')
problem.mode = 'analytic'
# Define Cost Functional
problem.cost['terminal'] = Expression('t', 's')
#Define constraints
problem.constraints().initial('x-x_0','m') \
.initial('y-y_0','m') \
.initial('hdg-hdg_0','rad') \
.terminal('x-x_f','m') \
.terminal('y-y_f','m')
#Define constants
problem.constant('cmax', 1.0,
'm/s^2') #Maximum allowed centripetal acceleration
problem.constant('V', 1, 'm/s') #Velocity
problem.constant('k', 1, 'rad/s')
problem.constant('eps', 0.5, 'm') #Error constant
#Problem scaling
problem.scale.unit('m',1) \
.unit('s',1) \
.unit('rad',1)
#Configure solver
problem.bvp_solver = algorithms.MultipleShooting(derivative_method='fd',
tolerance=1e-4,
max_iterations=1000,
verbose=True,
cached=False,
number_arcs=16)
#problem.bvp_solver = algorithms.SingleShooting(derivative_method='fd',tolerance=1e-4, max_iterations=100, verbose = True, cached = False)
#Initial Guess....................x0..y0..hdg0
problem.guess.setup('auto', start=[0.0, 0.0, 0.0])
#Add Continuation Steps
#problem.steps.add_step().num_cases(2) \
# .terminal('x', 3) \
# .terminal('y', 0.1)
problem.steps.add_step().num_cases(10) \
.terminal('x', 1.0) \
.terminal('y', 0) \
problem.steps.add_step().num_cases(10) \
.terminal('x', 10.05) \
.terminal('y', 0) \
problem.steps.add_step().num_cases(10) \
.terminal('y', 10) \
problem.steps.add_step().num_cases(10) \
.const('eps', 0.1) \
problem.steps.add_step().num_cases(6) \
.const('eps', 0.01)
return problem
def get_problem():
"""A simple planar hypersonic problem example."""
# Rename this and/or move to optim package?
problem = beluga.optim.Problem('HF_planarHypersonic')
problem.mode = 'analytical'
# problem = beluga.optim.Problem()
# alfatest = 15*np.pi/180
# dc = 25*np.pi/180
# rc = 2.5
# rn = 0.25
# print(CLfunction(alfatest, dc, rn, rc))
# quit()
# Define independent variables
problem.independent('t', 's')
# Define quantities used in the problem
problem.quantity('rho', 'rho0*exp(-h/H)')
# problem.quantity('Cl','CLfunction(alfa, dc, rn, rc)')
# problem.quantity('Cd','CDfunction(alfa, dc, rn, rc)')
# problem.quantity('Cl','(1.5658*alfa + -0.0000)')
# problem.quantity('Cd','(1.6537*alfa^2 + 0.0612)')
# problem.quantity('D','0.5*rho*v^2*Cd*Aref')
# problem.quantity('L','0.5*rho*v^2*Cl*Aref')
problem.quantity('r', 're+h')
#TODO: need to look through problem quantities to find custom functions
# Define equations of motion
# problem.state('h','v*sin(gam)','m') \
# .state('theta','v*cos(gam)/r','rad') \
# .state('v','-D/mass - mu*sin(gam)/r**2','m/s') \
# .state('gam','L/(mass*v) + (v/r - mu/(v*r^2))*cos(gam)','rad')
problem.state('h','v*sin(gam)','m') \
.state('theta','v*cos(gam)/r','rad') \
.state('v','-0.5*rho*v^2*CDlookup(alfa, dc, rn, rc)*Aref/mass - mu*sin(gam)/r**2','m/s') \
.state('gam','0.5*rho*v^2*CLlookup(alfa, dc, rn, rc)*Aref/(mass*v) + (v/r - mu/(v*r^2))*cos(gam)','rad')
# Define controls
problem.control('alfa', 'rad')
# Define costs
problem.cost['terminal'] = Expression('-v^2', 'm^2/s^2')
# Define constraints
problem.constraints().initial('h-h_0','m') \
.initial('theta-theta_0','rad') \
.initial('v-v_0','m/s') \
.terminal('h-h_f','m') \
.terminal('theta-theta_f','rad')
# Define constants
problem.constant('mu', 3.986e5 * 1e9,
'm^3/s^2') # Gravitational parameter, m^3/s^2
problem.constant('rho0', 1.2,
'kg/m^3') # Sea-level atmospheric density, kg/m^3
problem.constant('H', 7500, 'm') # Scale height for atmosphere of Earth, m
problem.constant('dc', 25 * np.pi / 180, 'rad') #Vehicle cone angle
problem.constant('rc', 0.3, 'm') #Vehicle cone base radius
problem.constant('rn', 0.01, 'm') #Vehicle nose radius
problem.constant('mass', 750 / 2.2046226, 'kg') # Mass of vehicle, kg
problem.constant('re', 6378000, 'm') # Radius of planet, m
problem.constant('Aref',
pi * (0.3)**2, 'm^2') # Reference area of vehicle, m^2
problem.bvp_solver = algorithms.MultipleShooting(derivative_method='fd',
tolerance=1e-4,
max_iterations=1000,
verbose=True,
cached=False,
number_arcs=4,
max_error=200)
# problem.bvp_solver = algorithms.SingleShooting(derivative_method='fd',tolerance=1e-4, max_iterations=100000, verbose = True, cached = False)
problem.scale.unit('m','h') \
.unit('s','h/v') \
.unit('kg','mass') \
.unit('rad',1)
problem.guess.setup('auto',
start=[80000, 0, 5000, -90 * pi / 180],
costate_guess=-0.1)
#problem.guess.setup('auto',start=[80000,3.38575809e-21,5000,7.98617365e-02],direction='forward',time_integrate=229.865209,costate_guess =[-1.37514494e+01,3.80852584e+06,-3.26290152e+03,-2.31984720e-14])
# Figure out nicer way of representing this. Done?
problem.steps.add_step().num_cases(10) \
.terminal('h', 0)
problem.steps.add_step().num_cases(40) \
.terminal('theta', 10*pi/180)
# #
# problem.steps.add_step()
# .num_cases(3)
# .terminal('x', 40.0)
# .terminal('y',-40.0)
# )
return problem
def get_problem():
"""A simple planar hypersonic problem example."""
# Author: Joseph Williams
problem = beluga.optim.Problem('planarHypersonicWithThrust')
# Define independent variables
problem.independent('t', 's')
# alfa = 'alfa'
# alfadot = '(3*pi/180*sin(alfadottrig))'
alfa = '(10*pi/180*sin(alfatrig))'
rho = 'rho0*exp(-h/H)'
Cl = '(0.496*' + alfa + ' + 0.0049)'
Cd = '(0.4747*' + alfa + '^2 + 0.0096*' + alfa + ' + 0.0007)'
# T = 'ThrustFunction()'
D = '(0.5*' + rho + '*v^2*' + Cd + '*Aref)'
L = '(0.5*' + rho + '*v^2*' + Cl + '*Aref)'
r = '(re+h)'
Ft = '(T*cos(' + alfa + ') - ' + D + ')'
Fn = '(T*sin(' + alfa + ') + ' + L + ')'
# Define equations of motion
problem.state('h','v*sin(gam)+ ep*(cos(alfadottrig))','m') \
.state('theta','v*cos(gam)/'+r,'rad') \
.state('v',Ft+'/mass - mu*sin(gam)/'+r+'**2','m/s') \
.state('gam',Fn+'/(mass*v) + (v/'+r+' - mu/(v*'+r+'^2))*cos(gam)','rad') \
.state('mass','-T/(G0*Isp)','kg') \
.state('alfatrig','(5*pi/180*sin(alfadottrig))/(10*pi/180*cos(alfatrig))','rad')
# Define controls
problem.control('alfadottrig', 'rad')
# Define costs
problem.cost['terminal'] = Expression('-v^2', 'm^2/s^2')
# problem.cost['terminal'] = Expression('-theta','rad')
# problem.cost['path'] = Expression('1','s')
# Define constraints
problem.constraints().initial('h-h_0','m') \
.initial('theta-theta_0','rad') \
.initial('v-v_0','m/s') \
.initial('mass-mass_0','kg') \
.terminal('h-h_f','m') \
.terminal('theta-theta_f','rad')
# Define constants
problem.constant('mu', 3.986e5 * 1e9,
'm^3/s^2') # Gravitational parameter, m^3/s^2
problem.constant('rho0', 1.2,
'kg/m^3') # Sea-level atmospheric density, kg/m^3
problem.constant('H', 7500, 'm') # Scale height for atmosphere of Earth, m
# problem.constant('T',2668932,'kg*m/s^2') # Constant Thrust of Vehcicle, kgm/s^2
# problem.constant('mdotf',15.5*0.05,'kg/s') # Fuel Mass Flow Rate of Vehicle, kg
problem.constant('T', 2668932,
'kg*m/s^2') # Constant Thrust of Vehcicle, kgm/s^2
problem.constant('G0', 9.81,
'm/s^2') # Gravitational Constant at the surface of Earth
problem.constant('Isp', 1600, 's') # Specific Impulse of Engine
problem.constant('ep', 0.5, 'm/s')
problem.constant('re', 6378000, 'm') # Radius of planet, m
problem.constant('Aref', 557.4, 'm^2') # Reference area of vehicle, m^2
problem.constant('rn', 1 / 12 * 0.3048, 'm') # Nose radius, m
problem.bvp_solver = algorithms.MultipleShooting(derivative_method='fd',
tolerance=1e-4,
max_iterations=10000,
verbose=True,
cached=False,
number_arcs=4)
#problem.bvp_solver = algorithms.SingleShooting(derivative_method='fd',tolerance=1e-4, max_iterations=1000, verbose = True, cached = False)
problem.scale.unit('m','h') \
.unit('s','h/v') \
.unit('kg','mass') \
.unit('rad',1)
# Define quantity (not implemented at present)
# Is this actually an Expression rather than a Value?
# problem.quantity = [Value('tanAng','tan(theta)')]
# problem.guess.setup('auto',start=[1000,0,100,-90*pi/180,127005])
problem.guess.setup('auto',
start=[50000, 0, 4000, -90 * pi / 180, 127005, 0],
costate_guess=0.1)
#problem.guess.setup('auto',start=[80000,3.38575809e-21,5000,7.98617365e-02],direction='forward',time_integrate=229.865209,costate_guess =[-1.37514494e+01,3.80852584e+06,-3.26290152e+03,-2.31984720e-14])
# Figure out nicer way of representing this. Done?
problem.steps.add_step().num_cases(21) \
.terminal('h', 0) \
# .initial('h',60000)\
# .initial('v',5000)
#.terminal('theta', 10*pi/180)
# problem.steps.add_step().num_cases(5) \
# .const('T', 2668932) \
problem.steps.add_step().num_cases(101) \
.terminal('theta', 10*pi/180) \
problem.steps.add_step().num_cases(5) \
.const('T', 0) \
#
# problem.steps.add_step()
# .num_cases(3)
# .terminal('x', 40.0)
# .terminal('y',-40.0)
# )
return problem
def get_problem(state,costate,param,time):
# Rename this and/or move to optim package?
problem = beluga.optim.Problem('hypersonci3DOFCrossrange')
# Define independent variables
problem.independent('t', 's')
# Updated aero from Mike Bolender
#x = 'v/a' # mach
#y = '(9*sin(ang)+5)'
Cl = '((14185132937801937*sin(alfa))/72057594037927936 - (5421779306486855*(v/a))/2305843009213693952 - (1574554238845453*(v/a)*(9*sin(alfa) + 5))/576460752303423488 - (1081832482396803*(v/a)*(9*sin(alfa) + 5)^2)/147573952589676412928 + (795005714371527*(v/a)^2*(9*sin(alfa) + 5))/4611686018427387904 - (2905380043335151*(v/a)^2)/18446744073709551616 + (7384633541699571*(9*sin(alfa) + 5)^2)/36893488147419103232 + (4723631850413463*(9*sin(alfa) + 5)^3)/4722366482869645213696 + 40090326007262905/288230376151711744)'
Cd = '((7975570356452291*(v/a))/144115188075855872 - (939292000388127*sin(alfa))/144115188075855872 + (4181805097702493*(v/a)^2*(9*sin(alfa) + 5)^2)/295147905179352825856 + (5799269589896587*(v/a)*(9*sin(alfa) + 5))/2305843009213693952 - (3435815237005351*(v/a)*(9*sin(alfa) + 5)^2)/18446744073709551616 - (6565772557668597*(v/a)^2*(9*sin(alfa) + 5))/9223372036854775808 - (2327227566991187*(v/a)*(9*sin(alfa) + 5)^3)/1180591620717411303424 + (3879272510917453*(v/a)^3*(9*sin(alfa) + 5))/73786976294838206464 - (4630940327334427*(v/a)^2)/144115188075855872 + (3228336930707955*(v/a)^3)/576460752303423488 - (5752786461422987*(v/a)^4)/18446744073709551616 + (59645010131291*(9*sin(alfa) + 5)^2)/72057594037927936 + (1198177006620385*(9*sin(alfa) + 5)^3)/73786976294838206464 + (1971121512347433*(9*sin(alfa) + 5)^4)/302231454903657293676544 + 506236799411217/18014398509481984)'
rho = 'rho0*exp(-(r-re)/H)'
#Cl = '(1.5658*sin(alfa) + -0.0000)'
#Cd = '(1.6537*sin(alfa)^2 + 0.0612)'
# Cl = 'CLfunction(alfa)'
# Cd = 'CDfunction(alfa)'
D = '(0.5*'+rho+'*v^2*'+Cd+'*Aref)'
L = '(0.5*'+rho+'*v^2*'+Cl+'*Aref)'
#r = '(re+h)'
r = 'r'
# Define equations of motion
problem.state('r','v*sin(gam)','m') \
.state('lam','v*cos(gam)*sin(chi)/('+r+'*cos(phi))','rad') \
.state('phi','v*cos(gam)*cos(chi)/'+r,'rad') \
.state('v','-'+D+'/mass - mu*sin(gam)/'+r+'^2','m/s') \
.state('gam',L+'*cos(bank)/(mass*v) - mu/(v*'+r+'^2)*cos(gam) + v/'+r+'*cos(gam)','rad') \
.state('chi',L+'*sin(bank)/(mass*cos(gam)*v) + v/'+r+'*cos(gam)*sin(chi)*tan(phi)','rad')
# Define controls
problem.control('bank','rad') \
.control('alfa','rad')
# Define costs
problem.cost['terminal'] = Expression('-phi^2','rad')
# Define constraints
problem.constraints().initial('r-r_0','m') \
.initial('lam-lam_0','rad') \
.initial('phi-phi_0','rad') \
.initial('v-v_0','m/s') \
.initial('gam-gam_0','rad') \
.initial('chi-chi_0','rad') \
.terminal('r-r_f','m') \
.terminal('lam-lam_f','rad')
# Define constants
problem.constant('mu',3.986e5*1e9,'m^3/s^2') # Gravitational parameter, m^3/s^2
problem.constant('rho0',1.2,'kg/m^3') # Sea-level atmospheric density, kg/m^3
problem.constant('H',7500,'m') # Scale height for atmosphere of Earth, m
problem.constant('mass',750/2.2046226,'kg') # Mass of vehicle, kg
problem.constant('re',6378000,'m') # Radius of planet, m
problem.constant('Aref',pi*(24*.0254/2)**2,'m^2') # Reference area of vehicle, m^2
#problem.constant('rn',1/12*0.3048,'m') # Nose radius, m
problem.constant('a',330,'m/s') # Speed of sound approx
#in.const.a = {330,'m/s'}; % speed of sound
#in.const.rn = {1/12*0.3048,'m'}; % Nose radius
#in.const.k = {1.74153e-4,'sqrt(kg)/m^2'}; % heat rate coefficient
#in.const.gammaThermo = {1.4,'nd'};
#in.const.RThermo = {287,'m^2/(s^2*K)'};
problem.scale.unit('m','r') \
.unit('s','r/v')\
.unit('kg','mass') \
.unit('rad',1)
# Define quantity (not implemented at present)
# Is this actually an Expression rather than a Value?
# problem.quantity = [Value('tanAng','tan(theta)')]
#problem.bvp_solver = algorithms.SingleShooting(derivative_method='fd',tolerance=1e-4, max_iterations=1000, verbose = True, cached = False)
problem.bvp_solver = algorithms.MultipleShooting(derivative_method='fd',tolerance=1e-4, max_iterations=1000, verbose = True, cached = False, number_arcs=4)
#problem.guess.setup('auto',start=state,costate_guess=costate,time_integrate=time)
problem.guess.setup('auto',start=[6378050,0,0,10,-80*pi/180,0])
#costate_guess = [.8*1000,-.2*1000,-1.0*1000,-0.09*1000,0.005*1000,-0.05*1000]
#problem.guess.setup('auto',start=[40000,-45*pi/180,0,2200,-80*pi/180,-90*pi/180],costate_guess=costate_guess,time_integrate=1)
problem.steps.add_step().num_cases(20) \
.terminal('r',6378000)
problem.steps.add_step().num_cases(2) \
.terminal('r',6378000) \
.terminal('lam',-2.122494903350304)
return problem
def get_problem():
"""A test of dynamic continuation on aircraft noise minimization"""
problem = beluga.optim.Problem('AircraftNoise3DOF')
problem.mode = 'analytical' #Other options: 'numerical', 'dae'
#Define independent variables
problem.independent('t', 's')
#Problem quantities
problem.quantity('bank','bankmax*sin(banktrig)') \
.quantity('alfa','alfamax*sin(alfatrig)') \
.quantity('D','C1*v^2+C2/(v^2)') \
.quantity('L','mass*g') \
.quantity('T','1560*sin(Ttrignew)+1860') \
.quantity('Ft','T*cos(alfa) - D') \
.quantity('Fn','T*sin(alfa) + L')
#Define equations of motion
problem.state('x','v*cos(gam)*cos(psii)','m') \
.state('y','v*cos(gam)*sin(psii)','m') \
.state('z','v*sin(gam)','m') \
.state('v','Ft/mass - g*sin(gam)','m/s') \
.state('psii','Fn*sin(bank)/(mass*cos(gam)*v)','rad') \
.state('gam','Fn*cos(bank)/(mass*v) - g*cos(gam)/v','rad')
# Define controls
problem.control('banktrig','rad') \
.control('alfatrig','rad') \
.control('Ttrignew','kg*m/s^2')
# Define cost functional
problem.cost['path'] = Expression('T^5.2 * cos(gam)/(v*(z+50)^2.5)', 'nd')
#Define constraints
problem.constraints().initial('x-x_0','m') \
.initial('y-y_0','m') \
.initial('z-z_0','m') \
.initial('v-v_0','m/s') \
.initial('psii-psii_0','rad') \
.initial('gam-gam_0','rad') \
.terminal('x-x_f','m') \
.terminal('y-y_f','m') \
.terminal('z-z_f','m') \
.terminal('v-v_f','m/s') \
.terminal('psii-psii_f','rad') \
.terminal('gam-gam_f','rad')
#Define constants
problem.constant('mu', 3.986e5 * 1e9, 'm^3/s^2') #Gravitational parameter
problem.constant('rho0', 1.2, 'kg/m^3') #Sea level atmospheric density
problem.constant('H', 7500, 'm') #Atmospheric scale height
problem.constant('re', 6378000, 'm') #Radius of Earth
problem.constant('Aref', 112, 'm^2')
problem.constant('bankmax', 60 * np.pi / 180, 'rad')
problem.constant('alfamax', 15 * np.pi / 180, 'rad')
problem.constant('Tmax', 3420, 'kg*m/s^2')
problem.constant('Tmin', 300, 'kg*m/s^2')
problem.constant('g', 9.81, 'm/s^2')
problem.constant('mass', 7180 / 9.81, 'kg')
problem.constant('C1', 0.226, 'kg/m')
problem.constant('C2', 5.2e6, 'kg*m^3/s^4')
#Unit scaling
problem.scale.unit('m',1) \
.unit('s',1) \
.unit('kg',1) \
.unit('nd',1) \
.unit('rad',1)
#Configure solver
problem.bvp_solver = algorithms.MultipleShooting(derivative_method='fd',
tolerance=1e-4,
max_iterations=50,
verbose=True,
cached=False,
number_arcs=8)
#problem.bvp_solver = algorithms.SingleShooting(derivative_method='fd',tolerance=1e-4, max_iterations=50, verbose = True, cached = False)
#Initial Guess
problem.guess.setup(
'auto', start=[0, 0, 1197, 124, 0 * np.pi / 180, 0 * np.pi / 180])
#Add continuation steps
problem.steps.add_step(strategy='manual').num_cases(20) \
.terminal('x', 5400) \
.terminal('y', 4600) \
.terminal('z', 0) \
.terminal('v', 77.5) \
.terminal('psii', 45*np.pi/180) \
.terminal('gam', 0)
return problem