def setUp(self):
        solver = 'SLSQP'
        num_seg = 10
        seg_ncn = 2
        rel_lengths = 'lgl'

        # Instantiate a problem and set it's root to an empty Trajectory
        prob = Problem()
        prob.add_traj(Trajectory("traj0"))

        if solver == 'SNOPT' and pyOptSparseDriver is not None:
            driver = pyOptSparseDriver()
            driver.options['optimizer'] = solver
            driver.opt_settings['Major iterations limit'] = 1000
            driver.opt_settings['iSumm'] = 6
            driver.opt_settings['Major step limit'] = 0.5
            driver.opt_settings["Major feasibility tolerance"] = 1.0E-5
            driver.opt_settings["Major optimality tolerance"] = 1.0E-5
            driver.opt_settings["Minor feasibility tolerance"] = 1.0E-4
            driver.opt_settings['Verify level'] = 3
        else:
            driver = ScipyOptimizer()
            driver.options['tol'] = 1.0E-6
            driver.options['disp'] = True
            driver.options['maxiter'] = 500

        prob.driver = driver

        dynamic_controls = [{'name': 'theta', 'units': 'rad'},
                            {'name': 'psi', 'units': 'rad'}]

        static_controls = [{'name': 'mass', 'units': 'kg'},
                           {'name': 'g', 'units': 'm/s/s'},
                           {'name': 'Cd', 'units': 'unitless'},
                           {'name': 'D_magnetic', 'units': 'N'},
                           {'name': 'R', 'units': 'J/(kg*K)'},
                           {'name': 'S', 'units': 'm**2'},
                           {'name': 'T_ambient', 'units': 'K'},
                           {'name': 'p_tube', 'units': 'Pa'}]

        phase0 = CollocationPhase(name='phase0', rhs_class=MagnePlaneRHS,
                                  num_seg=num_seg, seg_ncn=seg_ncn,
                                  rel_lengths=rel_lengths,
                                  dynamic_controls=dynamic_controls,
                                  static_controls=static_controls)
        prob.trajectories["traj0"].add_phase(phase0)

        phase0.set_state_options('x', lower=0, upper=100,
                                 ic_val=0, ic_fix=True,
                                 fc_val=10, fc_fix=True,
                                 scaler=10.0, defect_scaler=0.1)

        phase0.set_state_options('y', lower=0, upper=0,
                                 ic_val=0, ic_fix=True,
                                 fc_val=0, fc_fix=True,
                                 scaler=10.0, defect_scaler=0.1)

        phase0.set_state_options('z', lower=-10, upper=10,
                                 ic_val=-10, ic_fix=True,
                                 fc_val=-5, fc_fix=True,
                                 scaler=10.0, defect_scaler=0.1)

        phase0.set_state_options('v', lower=0, upper=np.inf,
                                 ic_val=0.0, ic_fix=True,
                                 fc_val=10.0, fc_fix=False,
                                 scaler=10.0, defect_scaler=0.1)

        phase0.set_dynamic_control_options('theta', ic_val=-1.57, fc_val=0.2,
                                           opt=True, lower=-1.58, upper=1.58,
                                           scaler=0.01)

        phase0.set_dynamic_control_options('psi', ic_val=0.0, fc_val=0.0,
                                           opt=True, lower=0.0, upper=0.0,
                                           scaler=0.01)

        phase0.set_static_control_options(name='g', val=9.80665, opt=False)
        phase0.set_static_control_options(name='mass', val=1200, opt=False)
        phase0.set_static_control_options(name='Cd', val=0.0, opt=False)
        phase0.set_static_control_options(name='S', val=0.0, opt=False)
        phase0.set_static_control_options(name='p_tube', val=0.0, opt=False)
        phase0.set_static_control_options(name='T_ambient', val=298.0,
                                          opt=False)
        phase0.set_static_control_options(name='R', val=287.0, opt=False)

        # Set D_magnetic equal to the thrust value for now, no net forces
        # on the pod except gravity.
        phase0.set_static_control_options(name='D_magnetic', val=30000.0,
                                          opt=False)

        phase0.set_time_options(t0_val=0, t0_lower=0, t0_upper=0, tp_val=1.81,
                                tp_lower=0.5, tp_upper=10.0)

        prob.trajectories["traj0"].add_objective(name="t", phase="phase0",
                                                 place="end", scaler=1.0)

        # Do top-level FD
        prob.root.deriv_options['type'] = 'fd'

        self.prob = prob
Beispiel #2
0
def magneplane_brachistochrone(solver='SLSQP', num_seg=3, seg_ncn=3):

    prob = Problem()
    traj = prob.add_traj(Trajectory("traj0"))

    if solver == 'SNOPT':
        if pyOptSparseDriver is None:
            raise ValueError('Requested SNOPT but pyoptsparse is not available')
        driver=pyOptSparseDriver()
        driver.options['optimizer'] = solver
        driver.opt_settings['Major iterations limit'] = 1000
        driver.opt_settings['iSumm'] = 6
        driver.opt_settings['Major step limit'] = 0.5
        driver.opt_settings["Major feasibility tolerance"] = 1.0E-6
        driver.opt_settings["Major optimality tolerance"] = 1.0E-6
        driver.opt_settings["Minor feasibility tolerance"] = 1.0E-4
        driver.opt_settings['Verify level'] = 3
    else:
        driver=ScipyOptimizer()
        driver.options['tol'] = 1.0E-6
        driver.options['disp'] = True
        driver.options['maxiter'] = 500

    prob.driver = driver

    dynamic_controls = [ {'name':'g','units':'m/s**2'},
                        {'name':'T','units':'N'},
                        {'name':'D','units':'N'},
                        {'name':'mass','units':'kg'},
                        {'name':'psi','units':'rad'},
                        {'name':'theta', 'units':'rad'},
                        {'name':'phi','units':'rad'} ]

    phase0 = CollocationPhase(name='phase0',rhs_class=MagneplaneRHS,num_seg=num_seg,seg_ncn=seg_ncn,rel_lengths="equal",
                              dynamic_controls=dynamic_controls,static_controls=None)

    traj.add_phase(phase0)

    phase0.set_state_options('x', lower=0,upper=10,ic_val=0,ic_fix=True,fc_val=10,fc_fix=True,defect_scaler=0.1)
    phase0.set_state_options('y', lower=0,upper=0,ic_val=0,ic_fix=True,fc_val=0,fc_fix=True,defect_scaler=0.1)
    phase0.set_state_options('z', lower=-10,upper=0,ic_val=-10,ic_fix=True,fc_val=-5,fc_fix=True,defect_scaler=0.1)
    phase0.set_state_options('v', lower=0, upper=np.inf,ic_val=0.0,ic_fix=True,fc_val=10.0,fc_fix=False,defect_scaler=0.1)

    phase0.set_dynamic_control_options(name='psi', val=phase0.node_space(0.0, 0.0), opt=False)
    phase0.set_dynamic_control_options(name='theta', val=phase0.node_space(-.46,-.46),opt=True,lower=-1.57,upper=1.57,scaler=1.0)
    phase0.set_dynamic_control_options(name='phi', val=phase0.node_space(0.0, 0.0), opt=False)

    phase0.set_dynamic_control_options(name='g', val=phase0.node_space(9.80665, 9.80665), opt=False)
    phase0.set_dynamic_control_options(name='T', val=phase0.node_space(0.0, 0.0), opt=False)
    phase0.set_dynamic_control_options(name='D', val=phase0.node_space(0.0, 0.0), opt=False)
    phase0.set_dynamic_control_options(name='mass', val=phase0.node_space(1000.0, 1000.0), opt=False)

    phase0.set_time_options(t0_val=0,t0_lower=0,t0_upper=0,tp_val=2.0,tp_lower=0.5,tp_upper=10.0)

    traj.add_objective(name="t",phase="phase0",place="end",scaler=1.0)

    return prob
Beispiel #3
0
def magneplane_brachistochrone(solver='SLSQP', num_seg=3, seg_ncn=3):

    prob = Problem()
    traj = prob.add_traj(Trajectory("traj0"))

    if solver == 'SNOPT':
        if pyOptSparseDriver is None:
            raise ValueError(
                'Requested SNOPT but pyoptsparse is not available')
        driver = pyOptSparseDriver()
        driver.options['optimizer'] = solver
        driver.opt_settings['Major iterations limit'] = 1000
        driver.opt_settings['iSumm'] = 6
        driver.opt_settings['Major step limit'] = 0.5
        driver.opt_settings["Major feasibility tolerance"] = 1.0E-6
        driver.opt_settings["Major optimality tolerance"] = 1.0E-6
        driver.opt_settings["Minor feasibility tolerance"] = 1.0E-4
        driver.opt_settings['Verify level'] = 3
    else:
        driver = ScipyOptimizer()
        driver.options['tol'] = 1.0E-6
        driver.options['disp'] = True
        driver.options['maxiter'] = 500

    prob.driver = driver

    dynamic_controls = [{
        'name': 'g',
        'units': 'm/s**2'
    }, {
        'name': 'T',
        'units': 'N'
    }, {
        'name': 'D',
        'units': 'N'
    }, {
        'name': 'mass',
        'units': 'kg'
    }, {
        'name': 'psi',
        'units': 'rad'
    }, {
        'name': 'theta',
        'units': 'rad'
    }, {
        'name': 'phi',
        'units': 'rad'
    }]

    phase0 = CollocationPhase(name='phase0',
                              rhs_class=MagneplaneRHS,
                              num_seg=num_seg,
                              seg_ncn=seg_ncn,
                              rel_lengths="equal",
                              dynamic_controls=dynamic_controls,
                              static_controls=None)

    traj.add_phase(phase0)

    phase0.set_state_options('x',
                             lower=0,
                             upper=10,
                             ic_val=0,
                             ic_fix=True,
                             fc_val=10,
                             fc_fix=True,
                             defect_scaler=0.1)
    phase0.set_state_options('y',
                             lower=0,
                             upper=0,
                             ic_val=0,
                             ic_fix=True,
                             fc_val=0,
                             fc_fix=True,
                             defect_scaler=0.1)
    phase0.set_state_options('z',
                             lower=-10,
                             upper=0,
                             ic_val=-10,
                             ic_fix=True,
                             fc_val=-5,
                             fc_fix=True,
                             defect_scaler=0.1)
    phase0.set_state_options('v',
                             lower=0,
                             upper=np.inf,
                             ic_val=0.0,
                             ic_fix=True,
                             fc_val=10.0,
                             fc_fix=False,
                             defect_scaler=0.1)

    phase0.set_dynamic_control_options(name='psi',
                                       val=phase0.node_space(0.0, 0.0),
                                       opt=False)
    phase0.set_dynamic_control_options(name='theta',
                                       val=phase0.node_space(-.46, -.46),
                                       opt=True,
                                       lower=-1.57,
                                       upper=1.57,
                                       scaler=1.0)
    phase0.set_dynamic_control_options(name='phi',
                                       val=phase0.node_space(0.0, 0.0),
                                       opt=False)

    phase0.set_dynamic_control_options(name='g',
                                       val=phase0.node_space(9.80665, 9.80665),
                                       opt=False)
    phase0.set_dynamic_control_options(name='T',
                                       val=phase0.node_space(0.0, 0.0),
                                       opt=False)
    phase0.set_dynamic_control_options(name='D',
                                       val=phase0.node_space(0.0, 0.0),
                                       opt=False)
    phase0.set_dynamic_control_options(name='mass',
                                       val=phase0.node_space(1000.0, 1000.0),
                                       opt=False)

    phase0.set_time_options(t0_val=0,
                            t0_lower=0,
                            t0_upper=0,
                            tp_val=2.0,
                            tp_lower=0.5,
                            tp_upper=10.0)

    traj.add_objective(name="t", phase="phase0", place="end", scaler=1.0)

    return prob
Beispiel #4
0
    def setUp(self):
        solver = 'SLSQP'
        num_seg = 10
        seg_ncn = 2
        rel_lengths = 'lgl'

        # Instantiate a problem and set it's root to an empty Trajectory
        prob = Problem()
        prob.add_traj(Trajectory("traj0"))

        if solver == 'SNOPT' and pyOptSparseDriver is not None:
            driver = pyOptSparseDriver()
            driver.options['optimizer'] = solver
            driver.opt_settings['Major iterations limit'] = 1000
            driver.opt_settings['iSumm'] = 6
            driver.opt_settings['Major step limit'] = 0.5
            driver.opt_settings["Major feasibility tolerance"] = 1.0E-5
            driver.opt_settings["Major optimality tolerance"] = 1.0E-5
            driver.opt_settings["Minor feasibility tolerance"] = 1.0E-4
            driver.opt_settings['Verify level'] = 3
        else:
            driver = ScipyOptimizer()
            driver.options['tol'] = 1.0E-6
            driver.options['disp'] = True
            driver.options['maxiter'] = 500

        prob.driver = driver

        dynamic_controls = [{
            'name': 'theta',
            'units': 'rad'
        }, {
            'name': 'psi',
            'units': 'rad'
        }]

        static_controls = [{
            'name': 'mass',
            'units': 'kg'
        }, {
            'name': 'g',
            'units': 'm/s/s'
        }, {
            'name': 'Cd',
            'units': 'unitless'
        }, {
            'name': 'D_magnetic',
            'units': 'N'
        }, {
            'name': 'R',
            'units': 'J/(kg*K)'
        }, {
            'name': 'S',
            'units': 'm**2'
        }, {
            'name': 'T_ambient',
            'units': 'K'
        }, {
            'name': 'p_tube',
            'units': 'Pa'
        }]

        phase0 = CollocationPhase(name='phase0',
                                  rhs_class=MagnePlaneRHS,
                                  num_seg=num_seg,
                                  seg_ncn=seg_ncn,
                                  rel_lengths=rel_lengths,
                                  dynamic_controls=dynamic_controls,
                                  static_controls=static_controls)
        prob.trajectories["traj0"].add_phase(phase0)

        phase0.set_state_options('x',
                                 lower=0,
                                 upper=100,
                                 ic_val=0,
                                 ic_fix=True,
                                 fc_val=10,
                                 fc_fix=True,
                                 scaler=10.0,
                                 defect_scaler=0.1)

        phase0.set_state_options('y',
                                 lower=0,
                                 upper=0,
                                 ic_val=0,
                                 ic_fix=True,
                                 fc_val=0,
                                 fc_fix=True,
                                 scaler=10.0,
                                 defect_scaler=0.1)

        phase0.set_state_options('z',
                                 lower=-10,
                                 upper=10,
                                 ic_val=-10,
                                 ic_fix=True,
                                 fc_val=-5,
                                 fc_fix=True,
                                 scaler=10.0,
                                 defect_scaler=0.1)

        phase0.set_state_options('v',
                                 lower=0,
                                 upper=np.inf,
                                 ic_val=0.0,
                                 ic_fix=True,
                                 fc_val=10.0,
                                 fc_fix=False,
                                 scaler=10.0,
                                 defect_scaler=0.1)

        phase0.set_dynamic_control_options('theta',
                                           ic_val=-1.57,
                                           fc_val=0.2,
                                           opt=True,
                                           lower=-1.58,
                                           upper=1.58,
                                           scaler=0.01)

        phase0.set_dynamic_control_options('psi',
                                           ic_val=0.0,
                                           fc_val=0.0,
                                           opt=True,
                                           lower=0.0,
                                           upper=0.0,
                                           scaler=0.01)

        phase0.set_static_control_options(name='g', val=9.80665, opt=False)
        phase0.set_static_control_options(name='mass', val=1200, opt=False)
        phase0.set_static_control_options(name='Cd', val=0.0, opt=False)
        phase0.set_static_control_options(name='S', val=0.0, opt=False)
        phase0.set_static_control_options(name='p_tube', val=0.0, opt=False)
        phase0.set_static_control_options(name='T_ambient',
                                          val=298.0,
                                          opt=False)
        phase0.set_static_control_options(name='R', val=287.0, opt=False)

        # Set D_magnetic equal to the thrust value for now, no net forces
        # on the pod except gravity.
        phase0.set_static_control_options(name='D_magnetic',
                                          val=30000.0,
                                          opt=False)

        phase0.set_time_options(t0_val=0,
                                t0_lower=0,
                                t0_upper=0,
                                tp_val=1.81,
                                tp_lower=0.5,
                                tp_upper=10.0)

        prob.trajectories["traj0"].add_objective(name="t",
                                                 phase="phase0",
                                                 place="end",
                                                 scaler=1.0)

        # Do top-level FD
        prob.root.deriv_options['type'] = 'fd'

        self.prob = prob
Beispiel #5
0
def magneplane_brachistochrone(solver="SLSQP", num_seg=3, seg_ncn=3):

    prob = Problem()
    traj = prob.add_traj(Trajectory("traj0"))

    if solver == "SNOPT":
        if pyOptSparseDriver is None:
            raise ValueError("Requested SNOPT but pyoptsparse is not available")
        driver = pyOptSparseDriver()
        driver.options["optimizer"] = solver
        driver.opt_settings["Major iterations limit"] = 1000
        driver.opt_settings["iSumm"] = 6
        driver.opt_settings["Major step limit"] = 0.5
        driver.opt_settings["Major feasibility tolerance"] = 1.0e-6
        driver.opt_settings["Major optimality tolerance"] = 1.0e-6
        driver.opt_settings["Minor feasibility tolerance"] = 1.0e-4
        driver.opt_settings["Verify level"] = 3
    else:
        driver = ScipyOptimizer()
        driver.options["tol"] = 1.0e-6
        driver.options["disp"] = True
        driver.options["maxiter"] = 500

    prob.driver = driver

    dynamic_controls = [
        {"name": "g", "units": "m/s**2"},
        {"name": "T", "units": "N"},
        {"name": "D", "units": "N"},
        {"name": "mass", "units": "kg"},
        {"name": "psi", "units": "rad"},
        {"name": "theta", "units": "rad"},
        {"name": "phi", "units": "rad"},
    ]

    phase0 = CollocationPhase(
        name="phase0",
        rhs_class=MagneplaneRHS,
        num_seg=num_seg,
        seg_ncn=seg_ncn,
        rel_lengths="equal",
        dynamic_controls=dynamic_controls,
        static_controls=None,
    )

    traj.add_phase(phase0)

    phase0.set_state_options("x", lower=0, upper=10, ic_val=0, ic_fix=True, fc_val=10, fc_fix=True, defect_scaler=0.1)
    phase0.set_state_options("y", lower=0, upper=0, ic_val=0, ic_fix=True, fc_val=0, fc_fix=True, defect_scaler=0.1)
    phase0.set_state_options(
        "z", lower=-10, upper=0, ic_val=-10, ic_fix=True, fc_val=-5, fc_fix=True, defect_scaler=0.1
    )
    phase0.set_state_options(
        "v", lower=0, upper=np.inf, ic_val=0.0, ic_fix=True, fc_val=10.0, fc_fix=False, defect_scaler=0.1
    )

    phase0.set_dynamic_control_options(name="psi", val=phase0.node_space(0.0, 0.0), opt=False)
    phase0.set_dynamic_control_options(
        name="theta", val=phase0.node_space(-0.46, -0.46), opt=True, lower=-1.57, upper=1.57, scaler=1.0
    )
    phase0.set_dynamic_control_options(name="phi", val=phase0.node_space(0.0, 0.0), opt=False)

    phase0.set_dynamic_control_options(name="g", val=phase0.node_space(9.80665, 9.80665), opt=False)
    phase0.set_dynamic_control_options(name="T", val=phase0.node_space(0.0, 0.0), opt=False)
    phase0.set_dynamic_control_options(name="D", val=phase0.node_space(0.0, 0.0), opt=False)
    phase0.set_dynamic_control_options(name="mass", val=phase0.node_space(1000.0, 1000.0), opt=False)

    phase0.set_time_options(t0_val=0, t0_lower=0, t0_upper=0, tp_val=2.0, tp_lower=0.5, tp_upper=10.0)

    traj.add_objective(name="t", phase="phase0", place="end", scaler=1.0)

    return prob