def test_add_setpoint_to_controller(self):
# This test just creates an objective then makes sure it has the
# correct variables. More detailed tests will be performed for
# construct_objective_weights and add_objective_function.
nmpc = self.make_nmpc()
time = nmpc.controller_time
t0 = time.first()
namespace = getattr(nmpc.controller, nmpc.namespace_name)
setpoint = [
(nmpc.controller.flow_in[t0], 3.0),
]
# Note: without this initialization, the setpoint arrives at a
# local optimum with inlet flow ~= 0.
nmpc.controller.flow_in[:].set_value(3.0)
initialize_t0(nmpc.controller)
nmpc.calculate_full_state_setpoint(setpoint, outlvl=idaeslog.DEBUG)
categories = [VariableCategory.DIFFERENTIAL]
nmpc.add_setpoint_to_controller(objective_state_categories=categories)
assert hasattr(namespace, 'tracking_objective')
obj_variables = ComponentSet(
identify_variables(namespace.tracking_objective.expr))
n_samples = len(namespace.sample_points) - 1
assert len(obj_variables) == (len(namespace.diff_vars) +
len(namespace.input_vars)) * n_samples
for var in namespace.diff_vars.varlist + namespace.input_vars.varlist:
for ts in namespace.sample_points:
if ts == t0:
continue
assert var[ts] in obj_variables
def test_calculate_full_state_setpoint(self):
# come up with setpoint, solve, check data structures,
# make sure values of setpoint make sense.
nmpc = self.make_nmpc()
namespace = getattr(nmpc.controller, nmpc.namespace_name)
t0 = nmpc.controller_time.first()
setpoint = [
(nmpc.controller.flow_in[t0], 3.0),
]
# Note: without this initialization, the setpoint arrives at a
# local optimum with inlet flow ~= 0.
nmpc.controller.flow_in[:].set_value(3.0)
initialize_t0(nmpc.controller)
nmpc.calculate_full_state_setpoint(setpoint, outlvl=idaeslog.DEBUG)
categories = [
VariableCategory.DIFFERENTIAL, VariableCategory.ALGEBRAIC
]
for categ in categories:
group = namespace.category_dict[categ]
for i, var in enumerate(group):
assert group.setpoint[i] is not None
assert namespace.diff_vars.setpoint[0] == pytest.approx(3.75)
assert namespace.diff_vars.setpoint[1] == pytest.approx(1.25)
assert namespace.alg_vars.setpoint[0] == pytest.approx(3.0)
assert namespace.alg_vars.setpoint[1] == pytest.approx(-3.75)
assert namespace.alg_vars.setpoint[2] == pytest.approx(3.75)
assert namespace.input_vars.setpoint[0] == pytest.approx(3.0)
def test_initialize_by_solving_elements(self):
# Make nmpc
# add setpoint to controller
# add pwc_constraints
# call initialize_by_solving_elements
# assert that values are as expected.
nmpc = self.make_nmpc()
time = nmpc.controller_time
t0 = time.first()
tl = time.last()
controller = nmpc.controller
namespace = getattr(controller, nmpc.namespace_name)
setpoint = [
(nmpc.controller.flow_in[t0], 3.0),
]
# Note: without this initialization, the setpoint arrives at a
# local optimum with inlet flow ~= 0.
nmpc.controller.flow_in[:].set_value(3.0)
initialize_t0(nmpc.controller)
copy_values_forward(nmpc.controller)
nmpc.calculate_full_state_setpoint(setpoint, outlvl=idaeslog.DEBUG)
override = [
(nmpc.controller.conc[t0, 'A'], 1),
(nmpc.controller.conc[t0, 'B'], 1),
(nmpc.controller.rate[t0, 'A'], 1),
(nmpc.controller.rate[t0, 'B'], 1),
(nmpc.controller.flow_out[t0], 1),
(nmpc.controller.flow_in[t0], 1),
]
nmpc.add_setpoint_to_controller(objective_weight_override=override)
nmpc.constrain_control_inputs_piecewise_constant()
nmpc.controller.flow_in[:].set_value(2.0)
nmpc.initialize_by_solving_elements(
controller,
time,
input_type=ElementInitializationInputOption.INITIAL,
)
input_vars = namespace.input_vars
diff_vars = namespace.diff_vars
deriv_vars = namespace.deriv_vars
assert input_vars[0][tl].value == 2.0
assert diff_vars[0][tl].value == pytest.approx(3.185595567867036)
assert diff_vars[1][tl].value == pytest.approx(1.1532474073395755)
assert deriv_vars[0][tl].value == pytest.approx(0.44321329639889284)
assert deriv_vars[1][tl].value == pytest.approx(0.8791007531878847)
nmpc.initialize_by_solving_elements(
controller,
time,
input_type=ElementInitializationInputOption.SET_POINT,
)
for t in time:
if t != t0:
assert input_vars[0][t] == 3.0
assert diff_vars[0][tl].value == pytest.approx(3.7037037037037037)
assert diff_vars[1][tl].value == pytest.approx(1.0746896480968502)
assert deriv_vars[0][tl].value == pytest.approx(0.1851851851851849)
assert deriv_vars[1][tl].value == pytest.approx(0.47963475941315314)
def test_construct_objective_weights(self):
"""
Populates setpoint values,
"""
nmpc = self.make_nmpc()
time = nmpc.controller_time
t0 = time.first()
namespace = getattr(nmpc.controller, nmpc.namespace_name)
setpoint = [
(nmpc.controller.flow_in[t0], 3.0),
]
# Note: without this initialization, the setpoint arrives at a
# local optimum with inlet flow ~= 0.
nmpc.controller.flow_in[:].set_value(3.0)
initialize_t0(nmpc.controller)
nmpc.calculate_full_state_setpoint(setpoint, outlvl=idaeslog.DEBUG)
reference = namespace.diff_vars.reference
setpoint = namespace.diff_vars.setpoint
n_diff_vars = len(namespace.diff_vars)
predicted_diff_weights = [
1. / abs(reference[i] - setpoint[i]) for i in range(n_diff_vars)
]
tol = 1e-5
nmpc.construct_objective_weights(
nmpc.controller,
categories=[
VariableCategory.DIFFERENTIAL,
VariableCategory.INPUT,
],
objective_weight_tolerance=tol,
)
for pred, act in zip(predicted_diff_weights,
namespace.diff_vars.weights):
assert pred == act
assert namespace.input_vars.weights[0] == 1 / tol
override = [
(nmpc.controller.rate[t0, 'A'], 2),
(nmpc.controller.rate[t0, 'B'], 2),
(nmpc.controller.flow_out[t0], 2),
]
nmpc.construct_objective_weights(
nmpc.controller,
categories=[
VariableCategory.ALGEBRAIC,
],
objective_weight_override=override,
)
for w in namespace.alg_vars.weights:
assert w == 2
def test_solve_control_problem(self):
# make nmpc
# add setpoint
# initialize, from ICs probably
# solve control problem
# assert values are as expected.
# Could probably even do this without initialization
nmpc = self.make_nmpc()
time = nmpc.controller_time
t0 = time.first()
tl = time.last()
controller = nmpc.controller
namespace = getattr(controller, nmpc.namespace_name)
t1 = namespace.sample_points[1]
setpoint = [
(nmpc.controller.flow_in[t0], 3.0),
]
# Note: without this initialization, the setpoint arrives at a
# local optimum with inlet flow ~= 0.
# One way to deal with this pitfall is to add bounds to inlet flow.
nmpc.controller.flow_in[:].set_value(3.0)
initialize_t0(nmpc.controller)
copy_values_forward(nmpc.controller)
nmpc.calculate_full_state_setpoint(setpoint, outlvl=idaeslog.DEBUG)
override = [
(nmpc.controller.conc[t0, 'A'], 1),
(nmpc.controller.conc[t0, 'B'], 1),
(nmpc.controller.rate[t0, 'A'], 1),
(nmpc.controller.rate[t0, 'B'], 1),
(nmpc.controller.flow_out[t0], 1),
(nmpc.controller.flow_in[t0], 1),
]
nmpc.add_setpoint_to_controller(objective_weight_override=override)
nmpc.constrain_control_inputs_piecewise_constant()
nmpc.solve_control_problem()
input_vars = namespace.input_vars
diff_vars = namespace.diff_vars
assert input_vars[0][t1].value == pytest.approx(3.192261151432352)
assert input_vars[0][tl].value == pytest.approx(2.9818775607191648)
assert diff_vars[0][tl].value == pytest.approx(3.7101450012850137)
assert diff_vars[1][tl].value == pytest.approx(1.0898406680173942)
assert nmpc.controller_solved
def test_initialize_control_problem(self):
# Each initialization strategy should be tested in more detail
# in other functions.
# This function should test that each strategy can be passed to
# the user-facing function, and that the values left in the
# controller model are somewhat reasonable
nmpc = self.make_nmpc()
time = nmpc.controller_time
t0 = time.first()
namespace = getattr(nmpc.controller, nmpc.namespace_name)
setpoint = [
(nmpc.controller.flow_in[t0], 3.0),
]
# Note: without this initialization, the setpoint arrives at a
# local optimum with inlet flow ~= 0.
nmpc.controller.flow_in[:].set_value(3.0)
initialize_t0(nmpc.controller)
copy_values_forward(nmpc.controller)
nmpc.calculate_full_state_setpoint(setpoint, outlvl=idaeslog.DEBUG)
override = [
(nmpc.controller.conc[t0, 'A'], 1),
(nmpc.controller.conc[t0, 'B'], 1),
(nmpc.controller.rate[t0, 'A'], 1),
(nmpc.controller.rate[t0, 'B'], 1),
(nmpc.controller.flow_out[t0], 1),
(nmpc.controller.flow_in[t0], 1),
]
nmpc.add_setpoint_to_controller(objective_weight_override=override)
nmpc.constrain_control_inputs_piecewise_constant()
nmpc.initialize_control_problem(
control_init_option=ControlInitOption.FROM_INITIAL_CONDITIONS)
nmpc.initialize_control_problem(
control_init_option=ControlInitOption.BY_TIME_ELEMENT)
with pytest.raises(RuntimeError):
nmpc.initialize_control_problem(
control_init_option=ControlInitOption.FROM_PREVIOUS)
def test_initialize_from_previous_sample(self):
nmpc = self.make_nmpc()
time = nmpc.controller_time
t0 = time.first()
tl = time.last()
controller = nmpc.controller
namespace = getattr(controller, nmpc.namespace_name)
sample_points = namespace.sample_points
t1 = sample_points[1]
setpoint = [
(nmpc.controller.flow_in[t0], 3.0),
]
# Note: without this initialization, the setpoint arrives at a
# local optimum with inlet flow ~= 0.
# One way to deal with this pitfall is to add bounds to inlet flow.
nmpc.controller.flow_in[:].set_value(3.0)
initialize_t0(nmpc.controller)
copy_values_forward(nmpc.controller)
nmpc.calculate_full_state_setpoint(setpoint, outlvl=idaeslog.DEBUG)
override = [
(nmpc.controller.conc[t0, 'A'], 1),
(nmpc.controller.conc[t0, 'B'], 1),
(nmpc.controller.rate[t0, 'A'], 1),
(nmpc.controller.rate[t0, 'B'], 1),
(nmpc.controller.flow_out[t0], 1),
(nmpc.controller.flow_in[t0], 1),
]
nmpc.add_setpoint_to_controller(objective_weight_override=override)
nmpc.constrain_control_inputs_piecewise_constant()
nmpc.solve_control_problem()
diff_vars = namespace.diff_vars
input_vars = namespace.input_vars
sample_time = nmpc.sample_time
n_samples = namespace.samples_per_horizon
cat_dict = namespace.category_dict
categories = [
VariableCategory.DIFFERENTIAL,
VariableCategory.INPUT,
]
expected = {
categ: {
s: [{
t - sample_time: cat_dict[categ][i][t].value
for t in time
if sample_points[s] < t and t <= sample_points[s + 1]
} for i in range(len(cat_dict[categ]))]
for s in range(1, n_samples)
}
for categ in categories
}
for categ in categories:
expected[categ][n_samples] = [{
t: cat_dict[categ].setpoint[i]
for t in time
if sample_points[n_samples -
1] < t and t <= sample_points[n_samples]
} for i in range(len(cat_dict[categ]))]
nmpc.initialize_from_previous_sample(nmpc.controller)
for s in range(1, n_samples):
interval = [
t for t in time
if sample_points[s - 1] < t and t <= sample_points[s]
]
for categ in categories:
for i, var in enumerate(cat_dict[categ]):
for t in interval:
assert var[t].value == expected[categ][s][i][t]
def test_add_objective_function(self):
# populate setpoints,
# construct weights (with override everywhere)
# add objective function
# compare objective function to prediction
# for diff+error, diff+action, diff+alg+action setpoints
nmpc = self.make_nmpc()
time = nmpc.controller_time
t0 = time.first()
namespace = getattr(nmpc.controller, nmpc.namespace_name)
setpoint = [
(nmpc.controller.flow_in[t0], 3.0),
]
# Note: without this initialization, the setpoint arrives at a
# local optimum with inlet flow ~= 0.
nmpc.controller.flow_in[:].set_value(3.0)
initialize_t0(nmpc.controller)
copy_values_forward(nmpc.controller)
nmpc.calculate_full_state_setpoint(setpoint, outlvl=idaeslog.DEBUG)
override = [
(nmpc.controller.conc[t0, 'A'], 1),
(nmpc.controller.conc[t0, 'B'], 1),
(nmpc.controller.rate[t0, 'A'], 1),
(nmpc.controller.rate[t0, 'B'], 1),
(nmpc.controller.flow_out[t0], 1),
(nmpc.controller.flow_in[t0], 1),
]
nmpc.construct_objective_weights(
nmpc.controller,
objective_weight_override=override,
)
pred_obj = {i: 0. for i in range(1, 4)}
sample_points = namespace.sample_points[1:]
setpoint = namespace.diff_vars.setpoint
for i, v in enumerate(namespace.diff_vars):
for t in sample_points:
pred_obj[1] += (v[t] - setpoint[i])**2
pred_obj[2] += (v[t] - setpoint[i])**2
pred_obj[3] += (v[t] - setpoint[i])**2
setpoint = namespace.alg_vars.setpoint
for i, v in enumerate(namespace.alg_vars):
for t in sample_points:
pred_obj[3] += (v[t] - setpoint[i])**2
setpoint = namespace.input_vars.setpoint
for i, v in enumerate(namespace.input_vars):
for t in sample_points:
t_prev = t - nmpc.sample_time
pred_obj[1] += (v[t] - setpoint[i])**2
pred_obj[2] += (v[t] - v[t_prev])**2
pred_obj[3] += (v[t] - v[t_prev])**2
nmpc.add_objective_function(
nmpc.controller,
control_penalty_type=ControlPenaltyType.ERROR,
objective_state_categories=[
VariableCategory.DIFFERENTIAL,
])
assert aml.value(namespace.objective.expr == pred_obj[1])
namespace.del_component(namespace.objective)
nmpc.add_objective_function(
nmpc.controller,
control_penalty_type=ControlPenaltyType.ACTION,
objective_state_categories=[
VariableCategory.DIFFERENTIAL,
])
assert aml.value(namespace.objective.expr == pred_obj[2])
namespace.del_component(namespace.objective)
nmpc.add_objective_function(
nmpc.controller,
control_penalty_type=ControlPenaltyType.ACTION,
objective_state_categories=[
VariableCategory.DIFFERENTIAL,
VariableCategory.ALGEBRAIC,
])
assert aml.value(namespace.objective.expr == pred_obj[3])
namespace.del_component(namespace.objective)
def test_calculate_full_state_setpoint(nmpc):
controller = nmpc.controller
controller.mixer.E_inlet.flow_vol[0].fix(0.1)
controller.mixer.S_inlet.flow_vol[0].fix(2.0)
nmpc.solve_consistent_initial_conditions(controller)
assert nmpc.has_consistent_initial_conditions(controller, tolerance=1e-6)
# Deactivate tracking objective from previous tests
#controller._NMPC_NAMESPACE.tracking_objective.deactivate()
set_point = [(controller.cstr.outlet.conc_mol[0, 'P'], 0.4),
# (controller.cstr.outlet.conc_mol[0, 'S'], 0.0),
# (controller.cstr.control_volume.energy_holdup[0, 'aq'], 300),
(controller.mixer.E_inlet.flow_vol[0], 0.2),
(controller.mixer.S_inlet.flow_vol[0], 2.5)]
weight_tolerance = 5e-7
weight_override = [
(controller.mixer.E_inlet.flow_vol[0.], 20.),
(controller.mixer.S_inlet.flow_vol[0.], 2.),
(controller.cstr.control_volume.energy_holdup[0., 'aq'], 0.1),
(controller.cstr.outlet.conc_mol[0., 'P'], 1.),
(controller.cstr.outlet.conc_mol[0., 'S'], 1.),
]
# FIXME: This steady state setpoint solve is more sensitive than I
# would like.
nmpc.calculate_full_state_setpoint(set_point,
objective_weight_tolerance=weight_tolerance,
objective_weight_override=weight_override)
assert hasattr(controller._NMPC_NAMESPACE, 'user_setpoint')
user_setpoint = controller._NMPC_NAMESPACE.user_setpoint
assert hasattr(controller._NMPC_NAMESPACE, 'user_setpoint_weights')
user_setpoint_weights = controller._NMPC_NAMESPACE.user_setpoint_weights
assert hasattr(controller._NMPC_NAMESPACE, 'user_setpoint_vars')
user_setpoint_vars = controller._NMPC_NAMESPACE.user_setpoint_vars
for i, var in enumerate(user_setpoint_vars):
# if var.local_name.startswith('conc'):
# assert user_setpoint_weights[i] == 1.
# elif var.local_name.startswith('energy'):
# assert user_setpoint_weights[i] == 0.1
if var.local_name.startswith('E_'):
assert user_setpoint_weights[i] == 20.
elif var.local_name.startswith('S_'):
assert user_setpoint_weights[i] == 2.
alg_vars = controller._NMPC_NAMESPACE.alg_vars
diff_vars = controller._NMPC_NAMESPACE.diff_vars
input_vars = controller._NMPC_NAMESPACE.input_vars
categories = [
VariableCategory.DIFFERENTIAL,
VariableCategory.ALGEBRAIC,
VariableCategory.DERIVATIVE,
VariableCategory.INPUT,
]
category_dict = controller._NMPC_NAMESPACE.category_dict
for categ in categories:
group = category_dict[categ]
# Assert that setpoint has been populated with non-None values
assert not any([sp is None for sp in group.setpoint])
# Assert that setpoint (target) and reference (initial) values are
# different in some way
assert not all([sp == ref for sp, ref in
zip(group.setpoint, group.reference)])
# Assert that initial and reference values are the same
assert all([ref == var[0].value for ref, var in
zip(group.reference, group.varlist)])
