u = prob.addControllerInputs(1, [0.0], [1.0])
rhs = Expression(SX.zeros(3))
rhs[0] = x[0] - x[0] * x[1] + w[0]
rhs[1] = -x[1] + x[0] * x[1] + u * x[2] * x[1] + w[1]
rhs[2] = -x[2] + 0.50 + w[2]
m = SX.zeros(2, 2)
m[0, 0] = 2 + 1.414
m[1, 0] = 1 + 1.414
m[0, 1] = 1 + 1.414
m[1, 1] = 1 + 1.414
prob.addControllerODEs(x, rhs)
f = sum((1 - x[0]('coll')) * (1 - x[0]('coll')) + (1 - x[1]('coll')) *
(1 - x[1]('coll')) + u('coll') * u('coll')) + (mul((mul(
(x[0:2](-1).T, m)), x[0:2](-1))))
prob.addControlObjective(f)
#prob.addConstraints(x(0),[1,1,0.50])
x1 = prob.addPlantStates(3)
u1 = prob.addPlantInputs(1)
rhs1 = SX.zeros(3)
rhs1[0] = x1[0] - x1[0] * x1[1]
rhs1[1] = -x1[1] + x1[0] * x1[1] + u1 * x1[2] * x1[1]
rhs1[2] = -x1[2] + 0.50
prob.addPlantODEs(x1, rhs1)
x0 = NP.array([1, 1, 0.50])
prob.setInitCondition(x0)
solver = MPCsolve(prob, printlevel=0)
solver.solve()
solver.plotStates() #
solver.plotControls() #
rhs[12] = stream_6_flow * (stream_6_conc[3]) - stream_7_flow * (stream_7_conc[3]) + reactor_conv_rate[3];
rhs[13] = stream_6_flow * (stream_6_conc[4]) - stream_7_flow * (stream_7_conc[4]) + reactor_conv_rate[4];
rhs[14] = stream_6_flow * (stream_6_conc[5]) - stream_7_flow * (stream_7_conc[5]) + reactor_conv_rate[5];
rhs[15] = stream_6_flow * (stream_6_conc[6]) - stream_7_flow * (stream_7_conc[6]) + reactor_conv_rate[6];
rhs[16] = stream_6_flow * (stream_6_conc[7]) - stream_7_flow * (stream_7_conc[7]) + reactor_conv_rate[7];
rhs[17] = ((1/1000.0) * stream_6_flow * stream_6_cp * (mixing[8] - reactor[8]) - Qr - reactor_exoth_heat)/reactor_Ncp;
MPC.addControllerODEs(x,rhs)
r = NP.array([393.5,2.745,25.93,114.5/3600.0,98.0/3600.0,11.2/3600.0,])
h = NP.array([reactor[8],pr_MPa,u[0],u[1],u[2],u[3]])
H = h - r
S = [9.8657122193156304e-01,0.1428778068436973e-01,0.01,0.01,0.01,0.01]
ff = sum(S[0]*H[0]('coll')*H[0]('coll')+S[1]*H[1]('coll')*H[1]('coll')+S[2]*H[2]('coll')*H[2]('coll')+S[3]*H[3]('coll')*H[3]('coll')+S[4]*H[4]('coll')*H[4]('coll')+S[5]*H[5]('coll')*H[5]('coll'))
MPC.addControlObjective(ff)
x1 = MPC.addPlantStates(18)
u1 = MPC.addPlantInputs(4)
mixing = x1[0:9] #mixing(8) is temperature
reactor = x1[9:18] #reactor(8) is temperature
mixing_zone_N = (mixing[0] + mixing[1] + mixing[2] + mixing[3] + mixing[4] + mixing[5] + mixing[6] + mixing[7])
pm_MPa = mixing_zone_N * (RkJ * mixing[8] / Vm) / 1000.0
stream_6_conc = SX.zeros(8)
for i in range(8):
stream_6_conc[i] = mixing[i]/mixing_zone_N
25.93,
114.5 / 3600.0,
98.0 / 3600.0,
11.2 / 3600.0,
])
h = NP.array([reactor[8], pr_MPa, u[0], u[1], u[2], u[3]])
H = h - r
S = [9.8657122193156304e-01, 0.1428778068436973e-01, 0.01, 0.01, 0.01, 0.01]
ff = sum(S[0] * H[0]('coll') * H[0]('coll') +
S[1] * H[1]('coll') * H[1]('coll') +
S[2] * H[2]('coll') * H[2]('coll') +
S[3] * H[3]('coll') * H[3]('coll') +
S[4] * H[4]('coll') * H[4]('coll') +
S[5] * H[5]('coll') * H[5]('coll'))
MPC.addControlObjective(ff)
x1 = MPC.addPlantStates(18)
u1 = MPC.addPlantInputs(4)
mixing = x1[0:9] #mixing(8) is temperature
reactor = x1[9:18] #reactor(8) is temperature
mixing_zone_N = (mixing[0] + mixing[1] + mixing[2] + mixing[3] + mixing[4] +
mixing[5] + mixing[6] + mixing[7])
pm_MPa = mixing_zone_N * (RkJ * mixing[8] / Vm) / 1000.0
stream_6_conc = SX.zeros(8)
for i in range(8):
stream_6_conc[i] = mixing[i] / mixing_zone_N
#w.fix()
w.plot()
u = prob.addControllerInputs(1,[0.0],[1.0])
rhs = Expression(SX.zeros(3))
rhs[0] = x[0] - x[0]*x[1] + w[0]
rhs[1] = -x[1] + x[0]*x[1] + u*x[2]*x[1] + w[1]
rhs[2] = -x[2] + 0.50 + w[2]
m = SX.zeros(2,2)
m[0,0] = 2 + 1.414
m[1,0] = 1 + 1.414
m[0,1] = 1 + 1.414
m[1,1] = 1 + 1.414
prob.addControllerODEs(x,rhs)
f = sum((1 - x[0]('coll'))*(1 - x[0]('coll')) + (1 - x[1]('coll'))*(1-x[1]('coll')) + u('coll')*u('coll')) + (mul((mul((x[0:2](-1).T,m)),x[0:2](-1))))
prob.addControlObjective(f)
#prob.addConstraints(x(0),[1,1,0.50])
x1 = prob.addPlantStates(3)
u1 = prob.addPlantInputs(1)
rhs1 = SX.zeros(3)
rhs1[0] = x1[0] - x1[0]*x1[1]
rhs1[1] = -x1[1] + x1[0]*x1[1] + u1*x1[2]*x1[1]
rhs1[2] = -x1[2] + 0.50
prob.addPlantODEs(x1,rhs1)
x0 = NP.array([1,1,0.50])
prob.setInitCondition(x0)
solver = MPCsolve(prob,printlevel=0)
solver.solve()
solver.plotStates()#
solver.plotControls()#
