def setUp(self):
self.p = Problem(model=Group())
self.p.driver = pyOptSparseDriver()
self.p.driver.options['optimizer'] = OPTIMIZER
if OPTIMIZER == 'SNOPT':
self.p.driver.opt_settings['Major iterations limit'] = 50
self.p.driver.opt_settings['iSumm'] = 6
self.p.driver.opt_settings['Verify level'] = 3
phase = Phase(ode_class=_CannonballODE,
transcription=GaussLobatto(num_segments=15, order=3, compressed=False))
self.p.model.add_subsystem('phase0', phase)
phase.set_time_options(initial_bounds=(0, 0), duration_bounds=(10, 20))
phase.set_state_options('r', fix_initial=True, fix_final=False,
scaler=0.001, defect_scaler=0.001)
phase.set_state_options('h', fix_initial=True, fix_final=True, # Require final altitude
scaler=0.001, defect_scaler=0.001)
phase.set_state_options('v', fix_initial=True, fix_final=False,
scaler=0.01, defect_scaler=0.01)
phase.set_state_options('gam', fix_final=False,
scaler=1.0, defect_scaler=1.0)
# Maximize final range by varying initial flight path angle
phase.add_objective('r', loc='final', scaler=-0.01)
def test_initial_val_and_final_val_stick(self):
p = Problem(model=Group())
p.driver = ScipyOptimizeDriver()
p.driver.options['dynamic_simul_derivs'] = True
phase = Phase(ode_class=BrachistochroneODE,
transcription=GaussLobatto(num_segments=8, order=3))
p.model.add_subsystem('phase0', phase)
phase.set_time_options(fix_initial=False, fix_duration=False,
initial_val=0.01, duration_val=1.9)
phase.set_state_options('x', fix_initial=True, fix_final=True)
phase.set_state_options('y', fix_initial=True, fix_final=True)
phase.set_state_options('v', fix_initial=True, fix_final=False)
phase.add_control('theta', continuity=True, rate_continuity=True,
units='deg', lower=0.01, upper=179.9)
phase.add_design_parameter('g', units='m/s**2', opt=False, val=9.80665)
# Minimize time at the end of the phase
phase.add_objective('time', loc='final', scaler=10)
phase.add_boundary_constraint('time', loc='initial', equals=0)
p.model.linear_solver = DirectSolver()
p.setup(check=True)
assert_rel_error(self, p['phase0.t_initial'], 0.01)
assert_rel_error(self, p['phase0.t_duration'], 1.9)
def __init__(self, body, sc, method, nb_seg, order, solver, ode_class, ode_kwargs, ph_name, snopt_opts=None,
rec_file=None):
NLP.__init__(self, body, sc, method, nb_seg, order, solver, snopt_opts=snopt_opts, rec_file=rec_file)
# Transcription object
if self.method == 'gauss-lobatto':
self.transcription = GaussLobatto(num_segments=self.nb_seg, order=self.order, compressed=True)
elif self.method == 'radau-ps':
self.transcription = Radau(num_segments=self.nb_seg, order=self.order, compressed=True)
elif self.method == 'runge-kutta':
self.transcription = RungeKutta(num_segments=self.nb_seg, order=self.order, compressed=True)
else:
raise ValueError('method must be either gauss-lobatto or radau-ps')
# Phase object
self.phase = self.trajectory.add_phase(ph_name, Phase(ode_class=ode_class, ode_init_kwargs=ode_kwargs,
transcription=self.transcription))
self.phase_name = ''.join(['traj.', ph_name])
# discretization nodes
self.state_nodes = None
self.control_nodes = None
self.t_all = None
self.t_state = None
self.t_control = None
self.idx_state_control = None
# time of flight
self.tof = None
def __init__(self, body, sc, method, nb_seg, order, solver, ode_class, ode_kwargs, ph_name, snopt_opts=None,
rec_file=None):
if isinstance(order, int):
order = tuple(order for _ in range(len(nb_seg)))
if isinstance(method, str):
method = tuple(method for _ in range(len(nb_seg)))
NLP.__init__(self, body, sc, method, nb_seg, order, solver, snopt_opts=snopt_opts, rec_file=rec_file)
# Transcription objects list
self.transcription = []
for i in range(len(self.nb_seg)):
if self.method[i] == 'gauss-lobatto':
t = GaussLobatto(num_segments=self.nb_seg[i], order=self.order[i], compressed=True)
elif self.method[i] == 'radau-ps':
t = Radau(num_segments=self.nb_seg[i], order=self.order[i], compressed=True)
elif self.method[i] == 'runge-kutta':
t = RungeKutta(num_segments=self.nb_seg[i], order=self.order[i], compressed=True)
else:
raise ValueError('method must be either gauss-lobatto, radau-ps or runge-kutta')
self.transcription.append(t)
# Phase objects list
self.phase = []
self.phase_name = []
for i in range(len(self.nb_seg)):
ph = self.trajectory.add_phase(ph_name[i], Phase(ode_class=ode_class[i], ode_init_kwargs=ode_kwargs[i],
transcription=self.transcription[i]))
self.phase.append(ph)
self.phase_name.append(''.join(['traj.', ph_name[i]]))
def test_control_rate_path_constraint_gl(self):
from openmdao.api import Problem, Group, ScipyOptimizeDriver, DirectSolver
from openmdao.utils.assert_utils import assert_rel_error
from dymos import Phase, GaussLobatto
from dymos.examples.brachistochrone.brachistochrone_ode import BrachistochroneODE
p = Problem(model=Group())
p.driver = ScipyOptimizeDriver()
phase = Phase(ode_class=BrachistochroneODE,
transcription=GaussLobatto(num_segments=10))
p.model.add_subsystem('phase0', phase)
phase.set_time_options(initial_bounds=(0, 0), duration_bounds=(.5, 10))
phase.set_state_options('x', fix_initial=True, fix_final=True)
phase.set_state_options('y', fix_initial=True, fix_final=True)
phase.set_state_options('v', fix_initial=True)
phase.add_control('theta',
units='deg',
rate_continuity=False,
lower=0.01,
upper=179.9)
phase.add_design_parameter('g', units='m/s**2', opt=False, val=9.80665)
# Minimize time at the end of the phase
phase.add_objective('time', loc='final', scaler=10)
phase.add_path_constraint('theta_rate',
lower=0,
upper=100,
units='deg/s')
p.model.linear_solver = DirectSolver()
p.setup()
p['phase0.t_initial'] = 0.0
p['phase0.t_duration'] = 2.0
p['phase0.states:x'] = phase.interpolate(ys=[0, 10],
nodes='state_input')
p['phase0.states:y'] = phase.interpolate(ys=[10, 5],
nodes='state_input')
p['phase0.states:v'] = phase.interpolate(ys=[0, 9.9],
nodes='state_input')
p['phase0.controls:theta'] = phase.interpolate(ys=[5, 100.5],
nodes='control_input')
# Solve for the optimal trajectory
p.run_driver()
# Test the results
assert_rel_error(self,
p.get_val('phase0.timeseries.time')[-1],
1.8016,
tolerance=1.0E-3)
def test_invalid_boundary_loc(self):
p = Phase(ode_class=BrachistochroneODE,
transcription=GaussLobatto(num_segments=8,
order=3,
compressed=True))
with self.assertRaises(ValueError) as e:
p.add_boundary_constraint('x', loc='foo')
expected = 'Invalid boundary constraint location "foo". Must be "initial" or "final".'
self.assertEqual(str(e.exception), expected)
def test_add_existing_control_as_design_parameter(self):
p = Phase(ode_class=BrachistochroneODE,
transcription=GaussLobatto(num_segments=8, order=3))
p.add_control('theta')
with self.assertRaises(ValueError) as e:
p.add_design_parameter('theta')
expected = 'theta has already been added as a control.'
self.assertEqual(str(e.exception), expected)
def test_add_existing_design_parameter_as_input_parameter(self):
p = Phase(ode_class=_A,
transcription=GaussLobatto(num_segments=14,
order=3,
compressed=True))
p.add_design_parameter('theta')
with self.assertRaises(ValueError) as e:
p.add_input_parameter('theta')
expected = 'theta has already been added as a design parameter.'
self.assertEqual(str(e.exception), expected)
def test_objective_design_parameter_gl(self):
p = Problem(model=Group())
p.driver = ScipyOptimizeDriver()
p.driver.options['dynamic_simul_derivs'] = True
phase = Phase(ode_class=BrachistochroneODE,
transcription=GaussLobatto(num_segments=8,
order=3,
compressed=True))
p.model.add_subsystem('phase0', phase)
phase.set_time_options(fix_initial=True, duration_bounds=(4, 10))
phase.set_state_options('x', fix_initial=True, fix_final=True)
phase.set_state_options('y', fix_initial=True, fix_final=True)
phase.set_state_options('v', fix_initial=True, fix_final=False)
phase.add_control('theta',
continuity=True,
rate_continuity=True,
units='deg',
lower=0.01,
upper=179.9)
phase.add_design_parameter('g', units='m/s**2', opt=True, val=9.80665)
# Minimize time at the end of the phase
phase.add_objective('g')
p.model.linear_solver = DirectSolver()
p.setup(check=True)
p['phase0.t_initial'] = 0.0
p['phase0.t_duration'] = 2.0
p['phase0.states:x'] = phase.interpolate(ys=[0, 10],
nodes='state_input')
p['phase0.states:y'] = phase.interpolate(ys=[10, 5],
nodes='state_input')
p['phase0.states:v'] = phase.interpolate(ys=[0, 9.9],
nodes='state_input')
p['phase0.controls:theta'] = phase.interpolate(ys=[5, 100],
nodes='control_input')
p['phase0.design_parameters:g'] = 9.80665
p.run_driver()
assert_rel_error(self, p['phase0.t_duration'], 10, tolerance=1.0E-3)
def test_invalid_options_nonoptimal_design_param(self):
p = Problem(model=Group())
p.driver = ScipyOptimizeDriver()
p.driver.options['dynamic_simul_derivs'] = True
phase = Phase(ode_class=BrachistochroneODE,
transcription=GaussLobatto(num_segments=16,
order=3,
compressed=True))
p.model.add_subsystem('phase0', phase)
phase.set_time_options(fix_initial=True, duration_bounds=(4, 10))
phase.set_state_options('x', fix_initial=True, fix_final=True)
phase.set_state_options('y', fix_initial=True, fix_final=True)
phase.set_state_options('v', fix_initial=True, fix_final=False)
phase.add_control('theta',
continuity=True,
rate_continuity=True,
opt=False)
phase.add_design_parameter('g',
units='m/s**2',
opt=False,
lower=5,
upper=10,
ref0=5,
ref=10,
scaler=1,
adder=0)
# Minimize time at the end of the phase
phase.add_objective('g')
p.model.linear_solver = DirectSolver()
with warnings.catch_warnings(record=True) as w:
warnings.simplefilter('always')
p.setup(check=False)
print('\n'.join([str(ww.message) for ww in w]))
expected = 'Invalid options for non-optimal design_parameter \'g\' in phase \'phase0\': ' \
'lower, upper, scaler, adder, ref, ref0'
self.assertIn(expected, [str(ww.message) for ww in w])
def test_fixed_time_invalid_options(self):
p = Problem(model=Group())
p.driver = ScipyOptimizeDriver()
p.driver.options['dynamic_simul_derivs'] = True
phase = Phase(ode_class=BrachistochroneODE,
transcription=GaussLobatto(num_segments=8, order=3))
p.model.add_subsystem('phase0', phase)
phase.set_time_options(fix_initial=True, fix_duration=True,
initial_bounds=(1.0, 5.0), initial_adder=0.0,
initial_scaler=1.0, initial_ref0=0.0,
initial_ref=1.0, duration_bounds=(1.0, 5.0),
duration_adder=0.0, duration_scaler=1.0,
duration_ref0=0.0, duration_ref=1.0)
phase.set_state_options('x', fix_initial=True, fix_final=True)
phase.set_state_options('y', fix_initial=True, fix_final=True)
phase.set_state_options('v', fix_initial=True, fix_final=False)
phase.add_control('theta', continuity=True, rate_continuity=True,
units='deg', lower=0.01, upper=179.9)
phase.add_design_parameter('g', units='m/s**2', opt=False, val=9.80665)
# Minimize time at the end of the phase
phase.add_objective('time', loc='final', scaler=10)
phase.add_boundary_constraint('time', loc='initial', equals=0)
p.model.linear_solver = DirectSolver()
expected_msg0 = 'Phase time options have no effect because fix_initial=True for ' \
'phase \'phase0\': initial_bounds, initial_scaler, initial_adder, ' \
'initial_ref, initial_ref0'
expected_msg1 = 'Phase time options have no effect because fix_duration=True for' \
' phase \'phase0\': duration_bounds, duration_scaler, ' \
'duration_adder, duration_ref, duration_ref0'
with warnings.catch_warnings(record=True) as ctx:
warnings.simplefilter('always')
p.setup(check=True)
self.assertIn(expected_msg0, [str(w.message) for w in ctx])
self.assertIn(expected_msg1, [str(w.message) for w in ctx])
def test_ex_double_integrator_input_and_fixed_times_warns(self):
"""
Tests that time optimization options cause a ValueError to be raised when t_initial and
t_duration are connected to external sources.
"""
p = Problem(model=Group())
p.driver = ScipyOptimizeDriver()
p.driver.options['dynamic_simul_derivs'] = True
phase = Phase(ode_class=BrachistochroneODE,
transcription=GaussLobatto(num_segments=8, order=3))
p.model.add_subsystem('phase0', phase)
phase.set_time_options(input_initial=True, fix_initial=True,
input_duration=True, fix_duration=True)
phase.set_state_options('x', fix_initial=True, fix_final=True)
phase.set_state_options('y', fix_initial=True, fix_final=True)
phase.set_state_options('v', fix_initial=True, fix_final=False)
phase.add_control('theta', continuity=True, rate_continuity=True,
units='deg', lower=0.01, upper=179.9)
phase.add_design_parameter('g', units='m/s**2', opt=False, val=9.80665)
# Minimize time at the end of the phase
phase.add_objective('time', loc='final', scaler=10)
phase.add_boundary_constraint('time', loc='initial', equals=0)
p.model.linear_solver = DirectSolver()
with warnings.catch_warnings(record=True) as ctx:
warnings.simplefilter('always')
p.setup(check=True)
expected_msg0 = 'Phase \'phase0\' initial time is an externally-connected input, therefore ' \
'fix_initial has no effect.'
expected_msg1 = 'Phase \'phase0\' time duration is an externally-connected input, ' \
'therefore fix_duration has no effect.'
self.assertIn(expected_msg0, [str(w.message) for w in ctx])
self.assertIn(expected_msg1, [str(w.message) for w in ctx])
def _make_problem(self, transcription, num_seg, transcription_order=3):
p = Problem(model=Group())
p.driver = ScipyOptimizeDriver()
# Compute sparsity/coloring when run_driver is called
p.driver.options['dynamic_simul_derivs'] = True
t = {'gauss-lobatto': GaussLobatto(num_segments=num_seg, order=transcription_order),
'radau-ps': Radau(num_segments=num_seg, order=transcription_order),
'runge-kutta': RungeKutta(num_segments=num_seg)}
phase = Phase(ode_class=_BrachistochroneTestODE, transcription=t[transcription])
p.model.add_subsystem('phase0', phase)
phase.set_time_options(initial_bounds=(1, 1), duration_bounds=(.5, 10))
phase.set_state_options('x', fix_initial=True)
phase.set_state_options('y', fix_initial=True)
phase.set_state_options('v', fix_initial=True)
phase.add_control('theta', units='deg', rate_continuity=True, lower=0.01, upper=179.9)
phase.add_design_parameter('g', units='m/s**2', opt=False, val=9.80665)
phase.add_boundary_constraint('x', loc='final', equals=10)
phase.add_boundary_constraint('y', loc='final', equals=5)
# Minimize time at the end of the phase
phase.add_objective('time', loc='final', scaler=10)
p.model.linear_solver = DirectSolver()
p.setup()
p['phase0.t_initial'] = 1.0
p['phase0.t_duration'] = 3.0
p['phase0.states:x'] = phase.interpolate(ys=[0, 10], nodes='state_input')
p['phase0.states:y'] = phase.interpolate(ys=[10, 5], nodes='state_input')
p['phase0.states:v'] = phase.interpolate(ys=[0, 9.9], nodes='state_input')
p['phase0.controls:theta'] = phase.interpolate(ys=[5, 100.5], nodes='control_input')
return p
def test_gauss_lobatto(self):
p = Problem(model=Group())
phase = Phase(ode_class=MyODE,
ode_init_kwargs={'n_traj': n_traj},
transcription=GaussLobatto(num_segments=25,
order=3,
compressed=True))
p.model.add_subsystem('phase0', phase)
phase.add_input_parameter('alpha', val=np.ones((n_traj, 2)), units='m')
try:
p.setup()
except Exception as e:
self.fail('Exception encountered in setup:\n' + str(e))
def test_unbounded_time(self):
p = Problem(model=Group())
p.driver = ScipyOptimizeDriver()
p.driver.options['dynamic_simul_derivs'] = True
phase = Phase(ode_class=BrachistochroneODE,
transcription=GaussLobatto(num_segments=8, order=3))
p.model.add_subsystem('phase0', phase)
phase.set_time_options(fix_initial=False, fix_duration=False)
phase.set_state_options('x', fix_initial=True, fix_final=True)
phase.set_state_options('y', fix_initial=True, fix_final=True)
phase.set_state_options('v', fix_initial=True, fix_final=False)
phase.add_control('theta', continuity=True, rate_continuity=True,
units='deg', lower=0.01, upper=179.9)
phase.add_design_parameter('g', units='m/s**2', opt=False, val=9.80665)
# Minimize time at the end of the phase
phase.add_objective('time', loc='final', scaler=10)
phase.add_boundary_constraint('time', loc='initial', equals=0)
p.model.linear_solver = DirectSolver()
p.setup(check=True)
p['phase0.t_initial'] = 0.0
p['phase0.t_duration'] = 2.0
p['phase0.states:x'] = phase.interpolate(ys=[0, 10], nodes='state_input')
p['phase0.states:y'] = phase.interpolate(ys=[10, 5], nodes='state_input')
p['phase0.states:v'] = phase.interpolate(ys=[0, 9.9], nodes='state_input')
p['phase0.controls:theta'] = phase.interpolate(ys=[5, 100], nodes='control_input')
p['phase0.design_parameters:g'] = 9.80665
p.run_driver()
self.assertTrue(p.driver.result.success,
msg='Brachistochrone with outbounded times has failed')
def test_invalid_ode_wrong_class(self):
p = Problem(model=Group())
p.driver = ScipyOptimizeDriver()
p.driver.options['dynamic_simul_derivs'] = True
phase = Phase(ode_class=_A,
transcription=GaussLobatto(num_segments=20,
order=3,
compressed=True))
p.model.add_subsystem('phase0', phase)
phase.set_time_options(fix_initial=True, duration_bounds=(4, 10))
phase.set_state_options('x', fix_initial=True, fix_final=True)
phase.set_state_options('y', fix_initial=True, fix_final=True)
phase.set_state_options('v', fix_initial=True, fix_final=False)
phase.add_control('theta',
continuity=True,
rate_continuity=True,
opt=False)
phase.add_design_parameter('g', units='m/s**2', opt=True, val=9.80665)
# Minimize time at the end of the phase
phase.add_objective('g')
p.model.linear_solver = DirectSolver()
with self.assertRaises(ValueError) as e:
p.setup(check=True)
self.assertEqual(
str(e.exception),
'ode_class must be derived from openmdao.core.System.')
def test_timeseries_gl(self):
p = Problem(model=Group())
p.driver = ScipyOptimizeDriver()
p.driver.options['dynamic_simul_derivs'] = True
phase = Phase(ode_class=BrachistochroneODE,
transcription=GaussLobatto(num_segments=8,
order=3,
compressed=True))
p.model.add_subsystem('phase0', phase)
phase.set_time_options(fix_initial=True, duration_bounds=(.5, 10))
phase.set_state_options('x', fix_initial=True, fix_final=True)
phase.set_state_options('y', fix_initial=True, fix_final=True)
phase.set_state_options('v', fix_initial=True, fix_final=False)
phase.add_control('theta',
continuity=True,
rate_continuity=True,
units='deg',
lower=0.01,
upper=179.9)
phase.add_design_parameter('g', units='m/s**2', opt=False, val=9.80665)
# Minimize time at the end of the phase
phase.add_objective('time_phase', loc='final', scaler=10)
p.model.linear_solver = DirectSolver()
p.setup(check=True)
p['phase0.t_initial'] = 0.0
p['phase0.t_duration'] = 2.0
p['phase0.states:x'] = phase.interpolate(ys=[0, 10],
nodes='state_input')
p['phase0.states:y'] = phase.interpolate(ys=[10, 5],
nodes='state_input')
p['phase0.states:v'] = phase.interpolate(ys=[0, 9.9],
nodes='state_input')
p['phase0.controls:theta'] = phase.interpolate(ys=[5, 100],
nodes='control_input')
p['phase0.design_parameters:g'] = 9.80665
p.run_driver()
gd = phase.options['transcription'].grid_data
state_input_idxs = gd.subset_node_indices['state_input']
control_input_idxs = gd.subset_node_indices['control_input']
col_idxs = gd.subset_node_indices['col']
assert_rel_error(self, p.get_val('phase0.time'),
p.get_val('phase0.timeseries.time')[:, 0])
assert_rel_error(self, p.get_val('phase0.time_phase'),
p.get_val('phase0.timeseries.time_phase')[:, 0])
for state in ('x', 'y', 'v'):
assert_rel_error(
self, p.get_val('phase0.states:{0}'.format(state)),
p.get_val('phase0.timeseries.states:'
'{0}'.format(state))[state_input_idxs])
assert_rel_error(
self,
p.get_val('phase0.state_interp.state_col:{0}'.format(state)),
p.get_val('phase0.timeseries.states:'
'{0}'.format(state))[col_idxs])
for control in ('theta', ):
assert_rel_error(
self, p.get_val('phase0.controls:{0}'.format(control)),
p.get_val('phase0.timeseries.controls:'
'{0}'.format(control))[control_input_idxs])
for dp in ('g', ):
for i in range(gd.subset_num_nodes['all']):
assert_rel_error(
self,
p.get_val('phase0.design_parameters:{0}'.format(dp))[0, :],
p.get_val('phase0.timeseries.design_parameters:{0}'.format(
dp))[i])
def test_reentry_gauss_lobatto_dymos(self):
p = Problem(model=Group())
p.driver = pyOptSparseDriver()
p.driver.declare_coloring()
traj = p.model.add_subsystem("traj", Trajectory())
phase0 = traj.add_phase(
"phase0",
Phase(ode_class=ShuttleODE,
transcription=GaussLobatto(num_segments=50, order=3)))
phase0.set_time_options(fix_initial=True, units="s", duration_ref=200)
phase0.set_state_options("h",
fix_initial=True,
fix_final=True,
units="ft",
rate_source="hdot",
targets=["h"],
lower=0,
ref0=75000,
ref=300000,
defect_ref=1000)
phase0.set_state_options("gamma",
fix_initial=True,
fix_final=True,
units="rad",
rate_source="gammadot",
targets=["gamma"],
lower=-89. * np.pi / 180,
upper=89. * np.pi / 180)
phase0.set_state_options("phi",
fix_initial=True,
fix_final=False,
units="rad",
rate_source="phidot",
lower=0,
upper=89. * np.pi / 180)
phase0.set_state_options("psi",
fix_initial=True,
fix_final=False,
units="rad",
rate_source="psidot",
targets=["psi"],
lower=0,
upper=90. * np.pi / 180)
phase0.set_state_options("theta",
fix_initial=True,
fix_final=False,
units="rad",
rate_source="thetadot",
targets=["theta"],
lower=-89. * np.pi / 180,
upper=89. * np.pi / 180)
phase0.set_state_options("v",
fix_initial=True,
fix_final=True,
units="ft/s",
rate_source="vdot",
targets=["v"],
lower=0,
ref0=2500,
ref=25000)
phase0.add_control("alpha",
units="rad",
opt=True,
lower=-np.pi / 2,
upper=np.pi / 2,
targets=["alpha"])
phase0.add_control("beta",
units="rad",
opt=True,
lower=-89 * np.pi / 180,
upper=1 * np.pi / 180,
targets=["beta"])
phase0.add_path_constraint("q",
lower=0,
upper=70,
units="Btu/ft**2/s",
ref=70)
phase0.add_objective("theta", loc="final", ref=-0.01)
p.driver.options["optimizer"] = 'SNOPT'
p.driver.opt_settings["iSumm"] = 6
p.setup(check=True)
p.set_val("traj.phase0.states:h",
phase0.interpolate(ys=[260000, 80000], nodes="state_input"),
units="ft")
p.set_val("traj.phase0.states:gamma",
phase0.interpolate(ys=[-1 * np.pi / 180, -5 * np.pi / 180],
nodes="state_input"),
units="rad")
p.set_val("traj.phase0.states:phi",
phase0.interpolate(ys=[0, 75 * np.pi / 180],
nodes="state_input"),
units="rad")
p.set_val("traj.phase0.states:psi",
phase0.interpolate(ys=[90 * np.pi / 180, 10 * np.pi / 180],
nodes="state_input"),
units="rad")
p.set_val("traj.phase0.states:theta",
phase0.interpolate(ys=[0, 25 * np.pi / 180],
nodes="state_input"),
units="rad")
p.set_val("traj.phase0.states:v",
phase0.interpolate(ys=[25600, 2500], nodes="state_input"),
units="ft/s")
p.set_val("traj.phase0.t_initial", 0, units="s")
p.set_val("traj.phase0.t_duration", 2000, units="s")
p.set_val("traj.phase0.controls:alpha",
phase0.interpolate(
ys=[17.4 * np.pi / 180, 17.4 * np.pi / 180],
nodes="control_input"),
units="rad")
p.set_val("traj.phase0.controls:beta",
phase0.interpolate(ys=[-75 * np.pi / 180, 0 * np.pi / 180],
nodes="control_input"),
units="rad")
p.run_driver()
print(p.get_val("traj.phase0.timeseries.time")[-1])
print(p.get_val("traj.phase0.timeseries.states:theta")[-1])
assert_rel_error(self,
p.get_val("traj.phase0.timeseries.time")[-1],
2181.88191719,
tolerance=1e-3)
assert_rel_error(self,
p.get_val("traj.phase0.timeseries.states:theta")[-1],
.53440955,
tolerance=1e-3)
def test_brachistochrone_recording(self):
import matplotlib
matplotlib.use('Agg')
from openmdao.api import Problem, Group, ScipyOptimizeDriver, DirectSolver, \
SqliteRecorder, CaseReader
from openmdao.utils.assert_utils import assert_rel_error
from dymos import Phase, GaussLobatto
from dymos.examples.brachistochrone.brachistochrone_ode import BrachistochroneODE
p = Problem(model=Group())
p.driver = ScipyOptimizeDriver()
phase = Phase(ode_class=BrachistochroneODE,
transcription=GaussLobatto(num_segments=10))
p.model.add_subsystem('phase0', phase)
phase.set_time_options(initial_bounds=(0, 0), duration_bounds=(.5, 10))
phase.set_state_options('x', fix_initial=True, fix_final=True)
phase.set_state_options('y', fix_initial=True, fix_final=True)
phase.set_state_options('v', fix_initial=True)
phase.add_control('theta',
units='deg',
rate_continuity=False,
lower=0.01,
upper=179.9)
phase.add_design_parameter('g', units='m/s**2', opt=False, val=9.80665)
# Minimize time at the end of the phase
phase.add_objective('time', loc='final', scaler=10)
p.model.linear_solver = DirectSolver()
# Recording
rec = SqliteRecorder('brachistochrone_solution.db')
p.driver.recording_options['record_desvars'] = True
p.driver.recording_options['record_responses'] = True
p.driver.recording_options['record_objectives'] = True
p.driver.recording_options['record_constraints'] = True
p.model.recording_options['record_metadata'] = True
p.driver.add_recorder(rec)
p.model.add_recorder(rec)
phase.add_recorder(rec)
p.setup()
p['phase0.t_initial'] = 0.0
p['phase0.t_duration'] = 2.0
p['phase0.states:x'] = phase.interpolate(ys=[0, 10],
nodes='state_input')
p['phase0.states:y'] = phase.interpolate(ys=[10, 5],
nodes='state_input')
p['phase0.states:v'] = phase.interpolate(ys=[0, 9.9],
nodes='state_input')
p['phase0.controls:theta'] = phase.interpolate(ys=[5, 100.5],
nodes='control_input')
# Solve for the optimal trajectory
p.run_driver()
# Test the results
assert_rel_error(self,
p.get_val('phase0.timeseries.time')[-1],
1.8016,
tolerance=1.0E-3)
cr = CaseReader('brachistochrone_solution.db')
system_cases = cr.list_cases('root')
case = cr.get_case(system_cases[-1])
outputs = dict([
(o[0], o[1])
for o in case.list_outputs(units=True, shape=True, out_stream=None)
])
assert_rel_error(
self, p['phase0.controls:theta'],
outputs['phase0.control_group.indep_controls.controls:theta']
['value'])
ignored_pairs = []
for i, j in combinations(range(n_traj), 2):
theta, heading, start_x, start_y, end_x, end_y = locs[i]
line1 = [start_x, start_y, end_x, end_y]
theta, heading, start_x, start_y, end_x, end_y = locs[j]
line2 = [start_x, start_y, end_x, end_y]
crosses, pt = intersect(line1, line2, r_space)
if not crosses:
ignored_pairs.append((i, j))
print("ignoring pair:", (i, j))
if not coloring:
ignored_pairs = []
phase = Phase(transcription=GaussLobatto(num_segments=20, order=3),
ode_class=PlaneODE2D,
ode_init_kwargs={'ignored_pairs': ignored_pairs})
p.model.add_subsystem('phase0', phase)
max_time = 500.0
start_mass = 25.0
phase.set_time_options(initial_bounds=(0, 0), duration_bounds=(10, max_time))
for i in range(n_traj):
theta, heading, start_x, start_y, end_x, end_y = locs[i]
phase.set_state_options('p%dx' % i,
def test_brachistochrone_integrated_control_gauss_lobatto(self):
import numpy as np
from openmdao.api import Problem, Group, ScipyOptimizeDriver, DirectSolver
from openmdao.utils.assert_utils import assert_rel_error
from dymos import Phase, GaussLobatto
p = Problem(model=Group())
p.driver = ScipyOptimizeDriver()
phase = Phase(ode_class=BrachistochroneODE,
transcription=GaussLobatto(num_segments=10))
p.model.add_subsystem('phase0', phase)
phase.set_time_options(initial_bounds=(0, 0), duration_bounds=(.5, 10))
phase.set_state_options('x', fix_initial=True, fix_final=True)
phase.set_state_options('y', fix_initial=True, fix_final=True)
phase.set_state_options('v', fix_initial=True)
phase.set_state_options('theta', targets='theta', fix_initial=False)
phase.add_control('theta_dot',
units='deg/s',
rate_continuity=True,
lower=0,
upper=60)
phase.add_design_parameter('g', units='m/s**2', opt=False, val=9.80665)
# Minimize time at the end of the phase
phase.add_objective('time', loc='final', scaler=10)
p.model.linear_solver = DirectSolver()
p.setup()
p['phase0.t_initial'] = 0.0
p['phase0.t_duration'] = 2.0
p['phase0.states:x'] = phase.interpolate(ys=[0, 10],
nodes='state_input')
p['phase0.states:y'] = phase.interpolate(ys=[10, 5],
nodes='state_input')
p['phase0.states:v'] = phase.interpolate(ys=[0, 9.9],
nodes='state_input')
p['phase0.states:theta'] = np.radians(
phase.interpolate(ys=[0.05, 100.0], nodes='state_input'))
p['phase0.controls:theta_dot'] = phase.interpolate(
ys=[50, 50], nodes='control_input')
# Solve for the optimal trajectory
p.run_driver()
# Test the results
assert_rel_error(self,
p.get_val('phase0.timeseries.time')[-1],
1.8016,
tolerance=1.0E-3)
sim_out = phase.simulate(times_per_seg=20)
x_sol = p.get_val('phase0.timeseries.states:x')
y_sol = p.get_val('phase0.timeseries.states:y')
v_sol = p.get_val('phase0.timeseries.states:v')
theta_sol = p.get_val('phase0.timeseries.states:theta')
theta_dot_sol = p.get_val('phase0.timeseries.controls:theta_dot')
time_sol = p.get_val('phase0.timeseries.time')
x_sim = sim_out.get_val('phase0.timeseries.states:x')
y_sim = sim_out.get_val('phase0.timeseries.states:y')
v_sim = sim_out.get_val('phase0.timeseries.states:v')
theta_sim = sim_out.get_val('phase0.timeseries.states:theta')
theta_dot_sim = sim_out.get_val('phase0.timeseries.controls:theta_dot')
time_sim = sim_out.get_val('phase0.timeseries.time')
x_interp = interp1d(time_sim[:, 0], x_sim[:, 0])
y_interp = interp1d(time_sim[:, 0], y_sim[:, 0])
v_interp = interp1d(time_sim[:, 0], v_sim[:, 0])
theta_interp = interp1d(time_sim[:, 0], theta_sim[:, 0])
theta_dot_interp = interp1d(time_sim[:, 0], theta_dot_sim[:, 0])
assert_rel_error(self, x_interp(time_sol), x_sol, tolerance=1.0E-5)
assert_rel_error(self, y_interp(time_sol), y_sol, tolerance=1.0E-5)
assert_rel_error(self, v_interp(time_sol), v_sol, tolerance=1.0E-5)
assert_rel_error(self,
theta_interp(time_sol),
theta_sol,
tolerance=1.0E-5)
assert_rel_error(self,
theta_dot_interp(time_sol),
theta_dot_sol,
tolerance=1.0E-5)
def test_two_phase_cannonball_for_docs(self):
from openmdao.api import Problem, Group, IndepVarComp, DirectSolver, SqliteRecorder, \
pyOptSparseDriver
from openmdao.utils.assert_utils import assert_rel_error
from dymos import Phase, Trajectory, Radau, GaussLobatto
from dymos.examples.cannonball.cannonball_ode import CannonballODE
from dymos.examples.cannonball.size_comp import CannonballSizeComp
p = Problem(model=Group())
p.driver = pyOptSparseDriver()
p.driver.options['optimizer'] = 'SLSQP'
p.driver.options['dynamic_simul_derivs'] = True
external_params = p.model.add_subsystem('external_params', IndepVarComp())
external_params.add_output('radius', val=0.10, units='m')
external_params.add_output('dens', val=7.87, units='g/cm**3')
external_params.add_design_var('radius', lower=0.01, upper=0.10, ref0=0.01, ref=0.10)
p.model.add_subsystem('size_comp', CannonballSizeComp())
traj = p.model.add_subsystem('traj', Trajectory())
transcription = Radau(num_segments=5, order=3, compressed=True)
ascent = Phase(ode_class=CannonballODE, transcription=transcription)
ascent = traj.add_phase('ascent', ascent)
# All initial states except flight path angle are fixed
# Final flight path angle is fixed (we will set it to zero so that the phase ends at apogee)
ascent.set_time_options(fix_initial=True, duration_bounds=(1, 100),
duration_ref=100, units='s')
ascent.set_state_options('r', fix_initial=True, fix_final=False)
ascent.set_state_options('h', fix_initial=True, fix_final=False)
ascent.set_state_options('gam', fix_initial=False, fix_final=True)
ascent.set_state_options('v', fix_initial=False, fix_final=False)
# Limit the muzzle energy
ascent.add_boundary_constraint('kinetic_energy.ke', loc='initial', units='J',
upper=400000, lower=0, ref=100000, shape=(1,))
# Second Phase (descent)
transcription = GaussLobatto(num_segments=5, order=3, compressed=True)
descent = Phase(ode_class=CannonballODE, transcription=transcription)
traj.add_phase('descent', descent)
# All initial states and time are free (they will be linked to the final states of ascent.
# Final altitude is fixed (we will set it to zero so that the phase ends at ground impact)
descent.set_time_options(initial_bounds=(.5, 100), duration_bounds=(.5, 100),
duration_ref=100)
descent.set_state_options('r', fix_initial=False, fix_final=False)
descent.set_state_options('h', fix_initial=False, fix_final=True)
descent.set_state_options('gam', fix_initial=False, fix_final=False)
descent.set_state_options('v', fix_initial=False, fix_final=False)
descent.add_objective('r', loc='final', scaler=-1.0)
# Add internally-managed design parameters to the trajectory.
traj.add_design_parameter('CD', val=0.5, units=None, opt=False)
traj.add_design_parameter('CL', val=0.0, units=None, opt=False)
traj.add_design_parameter('T', val=0.0, units='N', opt=False)
traj.add_design_parameter('alpha', val=0.0, units='deg', opt=False)
# Add externally-provided design parameters to the trajectory.
traj.add_input_parameter('mass',
target_params={'ascent': 'm', 'descent': 'm'},
val=1.0)
traj.add_input_parameter('S', val=0.005)
# Link Phases (link time and all state variables)
traj.link_phases(phases=['ascent', 'descent'], vars=['*'])
# Issue Connections
p.model.connect('external_params.radius', 'size_comp.radius')
p.model.connect('external_params.dens', 'size_comp.dens')
p.model.connect('size_comp.mass', 'traj.input_parameters:mass')
p.model.connect('size_comp.S', 'traj.input_parameters:S')
# Finish Problem Setup
p.model.linear_solver = DirectSolver()
p.driver.add_recorder(SqliteRecorder('ex_two_phase_cannonball.db'))
p.setup(check=True)
# Set Initial Guesses
p.set_val('external_params.radius', 0.05, units='m')
p.set_val('external_params.dens', 7.87, units='g/cm**3')
p.set_val('traj.design_parameters:CD', 0.5)
p.set_val('traj.design_parameters:CL', 0.0)
p.set_val('traj.design_parameters:T', 0.0)
p.set_val('traj.ascent.t_initial', 0.0)
p.set_val('traj.ascent.t_duration', 10.0)
p.set_val('traj.ascent.states:r', ascent.interpolate(ys=[0, 100], nodes='state_input'))
p.set_val('traj.ascent.states:h', ascent.interpolate(ys=[0, 100], nodes='state_input'))
p.set_val('traj.ascent.states:v', ascent.interpolate(ys=[200, 150], nodes='state_input'))
p.set_val('traj.ascent.states:gam', ascent.interpolate(ys=[25, 0], nodes='state_input'),
units='deg')
p.set_val('traj.descent.t_initial', 10.0)
p.set_val('traj.descent.t_duration', 10.0)
p.set_val('traj.descent.states:r', descent.interpolate(ys=[100, 200], nodes='state_input'))
p.set_val('traj.descent.states:h', descent.interpolate(ys=[100, 0], nodes='state_input'))
p.set_val('traj.descent.states:v', descent.interpolate(ys=[150, 200], nodes='state_input'))
p.set_val('traj.descent.states:gam', descent.interpolate(ys=[0, -45], nodes='state_input'),
units='deg')
p.run_driver()
assert_rel_error(self, p.get_val('traj.descent.states:r')[-1],
3183.25, tolerance=1.0E-2)
exp_out = traj.simulate()
print('optimal radius: {0:6.4f} m '.format(p.get_val('external_params.radius',
units='m')[0]))
print('cannonball mass: {0:6.4f} kg '.format(p.get_val('size_comp.mass',
units='kg')[0]))
print('launch angle: {0:6.4f} '
'deg '.format(p.get_val('traj.ascent.timeseries.states:gam', units='deg')[0, 0]))
print('maximum range: {0:6.4f} '
'm '.format(p.get_val('traj.descent.timeseries.states:r')[-1, 0]))
fig, axes = plt.subplots(nrows=1, ncols=1, figsize=(10, 6))
time_imp = {'ascent': p.get_val('traj.ascent.timeseries.time'),
'descent': p.get_val('traj.descent.timeseries.time')}
time_exp = {'ascent': exp_out.get_val('traj.ascent.timeseries.time'),
'descent': exp_out.get_val('traj.descent.timeseries.time')}
r_imp = {'ascent': p.get_val('traj.ascent.timeseries.states:r'),
'descent': p.get_val('traj.descent.timeseries.states:r')}
r_exp = {'ascent': exp_out.get_val('traj.ascent.timeseries.states:r'),
'descent': exp_out.get_val('traj.descent.timeseries.states:r')}
h_imp = {'ascent': p.get_val('traj.ascent.timeseries.states:h'),
'descent': p.get_val('traj.descent.timeseries.states:h')}
h_exp = {'ascent': exp_out.get_val('traj.ascent.timeseries.states:h'),
'descent': exp_out.get_val('traj.descent.timeseries.states:h')}
axes.plot(r_imp['ascent'], h_imp['ascent'], 'bo')
axes.plot(r_imp['descent'], h_imp['descent'], 'ro')
axes.plot(r_exp['ascent'], h_exp['ascent'], 'b--')
axes.plot(r_exp['descent'], h_exp['descent'], 'r--')
axes.set_xlabel('range (m)')
axes.set_ylabel('altitude (m)')
fig, axes = plt.subplots(nrows=4, ncols=1, figsize=(10, 6))
states = ['r', 'h', 'v', 'gam']
for i, state in enumerate(states):
x_imp = {'ascent': p.get_val('traj.ascent.timeseries.states:{0}'.format(state)),
'descent': p.get_val('traj.descent.timeseries.states:{0}'.format(state))}
x_exp = {'ascent': exp_out.get_val('traj.ascent.timeseries.states:{0}'.format(state)),
'descent': exp_out.get_val('traj.descent.timeseries.states:{0}'.format(state))}
axes[i].set_ylabel(state)
axes[i].plot(time_imp['ascent'], x_imp['ascent'], 'bo')
axes[i].plot(time_imp['descent'], x_imp['descent'], 'ro')
axes[i].plot(time_exp['ascent'], x_exp['ascent'], 'b--')
axes[i].plot(time_exp['descent'], x_exp['descent'], 'r--')
params = ['CL', 'CD', 'T', 'alpha', 'm', 'S']
fig, axes = plt.subplots(nrows=6, ncols=1, figsize=(12, 6))
for i, param in enumerate(params):
p_imp = {
'ascent': p.get_val('traj.ascent.timeseries.traj_parameters:{0}'.format(param)),
'descent': p.get_val('traj.descent.timeseries.traj_parameters:{0}'.format(param))}
p_exp = {'ascent': exp_out.get_val('traj.ascent.timeseries.'
'traj_parameters:{0}'.format(param)),
'descent': exp_out.get_val('traj.descent.timeseries.'
'traj_parameters:{0}'.format(param))}
axes[i].set_ylabel(param)
axes[i].plot(time_imp['ascent'], p_imp['ascent'], 'bo')
axes[i].plot(time_imp['descent'], p_imp['descent'], 'ro')
axes[i].plot(time_exp['ascent'], p_exp['ascent'], 'b--')
axes[i].plot(time_exp['descent'], p_exp['descent'], 'r--')
plt.show()
def test_cruise_results_gl(self):
p = Problem(model=Group())
if optimizer == 'SNOPT':
p.driver = pyOptSparseDriver()
p.driver.options['optimizer'] = optimizer
p.driver.options['dynamic_simul_derivs'] = True
p.driver.opt_settings['Major iterations limit'] = 100
p.driver.opt_settings['Major step limit'] = 0.05
p.driver.opt_settings['Major feasibility tolerance'] = 1.0E-6
p.driver.opt_settings['Major optimality tolerance'] = 1.0E-6
p.driver.opt_settings["Linesearch tolerance"] = 0.10
p.driver.opt_settings['iSumm'] = 6
p.driver.opt_settings['Verify level'] = 3
else:
p.driver = ScipyOptimizeDriver()
p.driver.options['dynamic_simul_derivs'] = True
transcription = GaussLobatto(num_segments=1,
order=13,
compressed=False)
phase = Phase(ode_class=AircraftODE, transcription=transcription)
p.model.add_subsystem('phase0', phase)
# Pass Reference Area from an external source
assumptions = p.model.add_subsystem('assumptions', IndepVarComp())
assumptions.add_output('S', val=427.8, units='m**2')
assumptions.add_output('mass_empty', val=1.0, units='kg')
assumptions.add_output('mass_payload', val=1.0, units='kg')
phase.set_time_options(initial_bounds=(0, 0),
duration_bounds=(3600, 3600),
duration_ref=3600)
phase.set_state_options('range',
units='km',
fix_initial=True,
fix_final=False,
scaler=0.01,
defect_scaler=0.01)
phase.set_state_options('mass_fuel',
fix_final=True,
upper=20000.0,
lower=0.0,
scaler=1.0E-4,
defect_scaler=1.0E-2)
phase.set_state_options('alt', units='km', fix_initial=True)
phase.add_control('mach', units=None, opt=False)
phase.add_control('climb_rate', units='m/s', opt=False)
phase.add_input_parameter('S', units='m**2')
phase.add_input_parameter('mass_empty', units='kg')
phase.add_input_parameter('mass_payload', units='kg')
phase.add_path_constraint('propulsion.tau',
lower=0.01,
upper=1.0,
shape=(1, ))
phase.add_timeseries_output('tas_comp.TAS', units='m/s')
p.model.connect('assumptions.S', 'phase0.input_parameters:S')
p.model.connect('assumptions.mass_empty',
'phase0.input_parameters:mass_empty')
p.model.connect('assumptions.mass_payload',
'phase0.input_parameters:mass_payload')
phase.add_objective('time', loc='final', ref=3600)
p.model.linear_solver = DirectSolver()
p.setup()
p['phase0.t_initial'] = 0.0
p['phase0.t_duration'] = 1.515132 * 3600.0
p['phase0.states:range'] = phase.interpolate(ys=(0, 1296.4),
nodes='state_input')
p['phase0.states:mass_fuel'] = phase.interpolate(ys=(12236.594555, 0),
nodes='state_input')
p['phase0.states:alt'] = 5.0
p['phase0.controls:mach'] = 0.8
p['phase0.controls:climb_rate'] = 0.0
p['assumptions.S'] = 427.8
p['assumptions.mass_empty'] = 0.15E6
p['assumptions.mass_payload'] = 84.02869 * 400
p.run_driver()
time = p.get_val('phase0.timeseries.time')
tas = p.get_val('phase0.timeseries.TAS', units='km/s')
range = p.get_val('phase0.timeseries.states:range')
assert_rel_error(self, range, tas * time, tolerance=1.0E-4)
def test_control_rate2_boundary_constraint_gl(self):
p = Problem(model=Group())
p.driver = ScipyOptimizeDriver()
p.driver.options['dynamic_simul_derivs'] = True
phase = Phase(ode_class=BrachistochroneODE,
transcription=GaussLobatto(num_segments=20,
order=3,
compressed=True))
p.model.add_subsystem('phase0', phase)
phase.set_time_options(fix_initial=True, duration_bounds=(0.1, 10))
phase.set_state_options('x', fix_initial=True, fix_final=True)
phase.set_state_options('y', fix_initial=True, fix_final=True)
phase.set_state_options('v', fix_initial=True, fix_final=False)
phase.add_control('theta',
continuity=True,
rate_continuity=True,
rate2_continuity=True,
units='deg',
lower=0.01,
upper=179.9)
phase.add_design_parameter('g', units='m/s**2', opt=False, val=9.80665)
phase.add_boundary_constraint('theta_rate2',
loc='final',
equals=0.0,
units='deg/s**2')
# Minimize time at the end of the phase
phase.add_objective('time')
p.model.linear_solver = DirectSolver()
p.setup(check=True)
p['phase0.t_initial'] = 0.0
p['phase0.t_duration'] = 2.0
p['phase0.states:x'] = phase.interpolate(ys=[0, 10],
nodes='state_input')
p['phase0.states:y'] = phase.interpolate(ys=[10, 5],
nodes='state_input')
p['phase0.states:v'] = phase.interpolate(ys=[0, 9.9],
nodes='state_input')
p['phase0.controls:theta'] = phase.interpolate(ys=[5, 100],
nodes='control_input')
p['phase0.design_parameters:g'] = 8
p.run_driver()
plt.plot(p.get_val('phase0.timeseries.states:x'),
p.get_val('phase0.timeseries.states:y'), 'ko')
plt.figure()
plt.plot(p.get_val('phase0.timeseries.time'),
p.get_val('phase0.timeseries.controls:theta'), 'ro')
plt.plot(p.get_val('phase0.timeseries.time'),
p.get_val('phase0.timeseries.control_rates:theta_rate'), 'bo')
plt.plot(p.get_val('phase0.timeseries.time'),
p.get_val('phase0.timeseries.control_rates:theta_rate2'),
'go')
plt.show()
assert_rel_error(
self,
p.get_val('phase0.timeseries.control_rates:theta_rate2')[-1],
0,
tolerance=1.0E-6)
def test_design_parameter_boundary_constraint(self):
p = Problem(model=Group())
p.driver = ScipyOptimizeDriver()
p.driver.options['dynamic_simul_derivs'] = True
phase = Phase(ode_class=BrachistochroneODE,
transcription=GaussLobatto(num_segments=20,
order=3,
compressed=True))
p.model.add_subsystem('phase0', phase)
phase.set_time_options(fix_initial=True, duration_bounds=(.5, 10))
phase.set_state_options('x', fix_initial=True, fix_final=True)
phase.set_state_options('y', fix_initial=True, fix_final=True)
phase.set_state_options('v', fix_initial=True, fix_final=False)
phase.add_control('theta',
continuity=True,
rate_continuity=True,
units='deg',
lower=0.01,
upper=179.9)
phase.add_design_parameter('g', units='m/s**2', opt=True, val=9.80665)
# We'll let g vary, but make sure it hits the desired value.
# It's a static design parameter, so it shouldn't matter whether we enforce it
# at the start or the end of the phase, so here we'll do both.
# Note if we make these equality constraints, some optimizers (SLSQP) will
# see the problem as infeasible.
phase.add_boundary_constraint('g',
loc='initial',
units='m/s**2',
upper=9.80665)
phase.add_boundary_constraint('g',
loc='final',
units='m/s**2',
upper=9.80665)
# Minimize time at the end of the phase
phase.add_objective('time_phase', loc='final', scaler=10)
p.model.linear_solver = DirectSolver()
p.setup(check=True)
p['phase0.t_initial'] = 0.0
p['phase0.t_duration'] = 2.0
p['phase0.states:x'] = phase.interpolate(ys=[0, 10],
nodes='state_input')
p['phase0.states:y'] = phase.interpolate(ys=[10, 5],
nodes='state_input')
p['phase0.states:v'] = phase.interpolate(ys=[0, 9.9],
nodes='state_input')
p['phase0.controls:theta'] = phase.interpolate(ys=[5, 100],
nodes='control_input')
p['phase0.design_parameters:g'] = 5
p.run_driver()
assert_rel_error(self,
p.get_val('phase0.timeseries.time')[-1],
1.8016,
tolerance=1.0E-4)
assert_rel_error(self,
p.get_val('phase0.timeseries.design_parameters:g')[0],
9.80665,
tolerance=1.0E-6)
assert_rel_error(
self,
p.get_val('phase0.timeseries.design_parameters:g')[-1],
9.80665,
tolerance=1.0E-6)
def brachistochrone_min_time(transcription='gauss-lobatto',
num_segments=8,
transcription_order=3,
run_driver=True,
compressed=True,
optimizer='SLSQP'):
p = Problem(model=Group())
# if optimizer == 'SNOPT':
p.driver = pyOptSparseDriver()
p.driver.options['optimizer'] = optimizer
p.driver.options['dynamic_simul_derivs'] = True
if transcription == 'gauss-lobatto':
t = GaussLobatto(num_segments=num_segments,
order=transcription_order,
compressed=compressed)
elif transcription == 'radau-ps':
t = Radau(num_segments=num_segments,
order=transcription_order,
compressed=compressed)
elif transcription == 'runge-kutta':
t = RungeKutta(num_segments=num_segments,
order=transcription_order,
compressed=compressed)
phase = Phase(ode_class=BrachistochroneODE, transcription=t)
p.model.add_subsystem('phase0', phase)
phase.set_time_options(fix_initial=True, duration_bounds=(.5, 10))
phase.set_state_options('x',
fix_initial=True,
fix_final=False,
solve_segments=False)
phase.set_state_options('y',
fix_initial=True,
fix_final=False,
solve_segments=False)
phase.set_state_options('v',
fix_initial=True,
fix_final=False,
solve_segments=False)
phase.add_control('theta',
continuity=True,
rate_continuity=True,
units='deg',
lower=0.01,
upper=179.9)
phase.add_input_parameter('g', units='m/s**2', val=9.80665)
phase.add_boundary_constraint('x', loc='final', equals=10)
phase.add_boundary_constraint('y', loc='final', equals=5)
# Minimize time at the end of the phase
phase.add_objective('time_phase', loc='final', scaler=10)
p.model.linear_solver = DirectSolver()
p.setup(check=True)
p['phase0.t_initial'] = 0.0
p['phase0.t_duration'] = 2.0
p['phase0.states:x'] = phase.interpolate(ys=[0, 10], nodes='state_input')
p['phase0.states:y'] = phase.interpolate(ys=[10, 5], nodes='state_input')
p['phase0.states:v'] = phase.interpolate(ys=[0, 9.9], nodes='state_input')
p['phase0.controls:theta'] = phase.interpolate(ys=[5, 100],
nodes='control_input')
p['phase0.input_parameters:g'] = 9.80665
p.run_model()
if run_driver:
p.run_driver()
# Plot results
if SHOW_PLOTS:
exp_out = phase.simulate()
fig, ax = plt.subplots()
fig.suptitle('Brachistochrone Solution')
x_imp = p.get_val('phase0.timeseries.states:x')
y_imp = p.get_val('phase0.timeseries.states:y')
x_exp = exp_out.get_val('phase0.timeseries.states:x')
y_exp = exp_out.get_val('phase0.timeseries.states:y')
ax.plot(x_imp, y_imp, 'ro', label='implicit')
ax.plot(x_exp, y_exp, 'b-', label='explicit')
ax.set_xlabel('x (m)')
ax.set_ylabel('y (m)')
ax.grid(True)
ax.legend(loc='upper right')
fig, ax = plt.subplots()
fig.suptitle('Brachistochrone Solution')
x_imp = p.get_val('phase0.timeseries.time_phase')
y_imp = p.get_val('phase0.timeseries.controls:theta')
x_exp = exp_out.get_val('phase0.timeseries.time_phase')
y_exp = exp_out.get_val('phase0.timeseries.controls:theta')
ax.plot(x_imp, y_imp, 'ro', label='implicit')
ax.plot(x_exp, y_exp, 'b-', label='explicit')
ax.set_xlabel('time (s)')
ax.set_ylabel('theta (rad)')
ax.grid(True)
ax.legend(loc='lower right')
plt.show()
return p
def test_two_burn_orbit_raise_gl_rk_gl_constrained(self):
import numpy as np
import matplotlib.pyplot as plt
from openmdao.api import Problem, Group, pyOptSparseDriver, DirectSolver
from openmdao.utils.assert_utils import assert_rel_error
from openmdao.utils.general_utils import set_pyoptsparse_opt
from dymos import Phase, GaussLobatto, RungeKutta, Trajectory
from dymos.examples.finite_burn_orbit_raise.finite_burn_eom import FiniteBurnODE
traj = Trajectory()
p = Problem(model=Group())
p.model.add_subsystem('traj', traj)
p.driver = pyOptSparseDriver()
_, optimizer = set_pyoptsparse_opt('SNOPT', fallback=True)
p.driver.options['optimizer'] = optimizer
p.driver.options['dynamic_simul_derivs'] = True
traj.add_design_parameter('c', opt=False, val=1.5, units='DU/TU')
# First Phase (burn)
burn1 = Phase(ode_class=FiniteBurnODE,
transcription=GaussLobatto(num_segments=10, order=3, compressed=True))
burn1 = traj.add_phase('burn1', burn1)
burn1.set_time_options(fix_initial=True, duration_bounds=(.5, 10))
burn1.set_state_options('r', fix_initial=True, fix_final=False)
burn1.set_state_options('theta', fix_initial=True, fix_final=False)
burn1.set_state_options('vr', fix_initial=True, fix_final=False)
burn1.set_state_options('vt', fix_initial=True, fix_final=False)
burn1.set_state_options('accel', fix_initial=True, fix_final=False)
burn1.set_state_options('deltav', fix_initial=True, fix_final=False)
burn1.add_control('u1', rate_continuity=True, rate2_continuity=True, units='deg',
scaler=0.01, lower=-30, upper=30)
# Second Phase (Coast)
coast = Phase(ode_class=FiniteBurnODE,
transcription=RungeKutta(num_segments=20, compressed=True))
traj.add_phase('coast', coast)
coast.set_time_options(initial_bounds=(0.5, 20), duration_bounds=(.5, 10), duration_ref=10)
coast.set_state_options('r', fix_initial=False, fix_final=False)
coast.set_state_options('theta', fix_initial=False, fix_final=False)
coast.set_state_options('vr', fix_initial=False, fix_final=False)
coast.set_state_options('vt', fix_initial=False, fix_final=False)
coast.set_state_options('accel', fix_initial=True, fix_final=False)
coast.set_state_options('deltav', fix_initial=False, fix_final=False)
coast.add_design_parameter('u1', opt=False, val=0.0)
# Third Phase (burn)
burn2 = Phase(ode_class=FiniteBurnODE,
transcription=GaussLobatto(num_segments=10, order=3, compressed=True))
traj.add_phase('burn2', burn2)
burn2.set_time_options(initial_bounds=(0.5, 20), duration_bounds=(.5, 10), initial_ref=10)
burn2.set_state_options('r', fix_initial=False, fix_final=True)
burn2.set_state_options('theta', fix_initial=False, fix_final=False)
burn2.set_state_options('vr', fix_initial=False, fix_final=True)
burn2.set_state_options('vt', fix_initial=False, fix_final=True)
burn2.set_state_options('accel', fix_initial=False, fix_final=False, defect_scaler=1.0)
burn2.set_state_options('deltav', fix_initial=False, fix_final=False, defect_scaler=1.0)
burn2.add_control('u1', rate_continuity=True, rate2_continuity=True, units='deg',
scaler=0.01, lower=-30, upper=30)
burn2.add_objective('deltav', loc='final', scaler=1.0)
burn1.add_timeseries_output('pos_x', units='DU')
coast.add_timeseries_output('pos_x', units='DU')
burn2.add_timeseries_output('pos_x', units='DU')
burn1.add_timeseries_output('pos_y', units='DU')
coast.add_timeseries_output('pos_y', units='DU')
burn2.add_timeseries_output('pos_y', units='DU')
# Link Phases
traj.link_phases(phases=['burn1', 'coast', 'burn2'],
vars=['time', 'r', 'theta', 'vr', 'vt', 'deltav'])
traj.link_phases(phases=['burn1', 'burn2'], vars=['accel'])
# Finish Problem Setup
p.model.linear_solver = DirectSolver()
p.setup(check=True, force_alloc_complex=True)
# Set Initial Guesses
p.set_val('traj.design_parameters:c', value=1.5)
p.set_val('traj.burn1.t_initial', value=0.0)
p.set_val('traj.burn1.t_duration', value=2.25)
p.set_val('traj.burn1.states:r',
value=burn1.interpolate(ys=[1, 1.5], nodes='state_input'))
p.set_val('traj.burn1.states:theta',
value=burn1.interpolate(ys=[0, 1.7], nodes='state_input'))
p.set_val('traj.burn1.states:vr',
value=burn1.interpolate(ys=[0, 0], nodes='state_input'))
p.set_val('traj.burn1.states:vt',
value=burn1.interpolate(ys=[1, 1], nodes='state_input'))
p.set_val('traj.burn1.states:accel',
value=burn1.interpolate(ys=[0.1, 0], nodes='state_input'))
p.set_val('traj.burn1.states:deltav',
value=burn1.interpolate(ys=[0, 0.1], nodes='state_input'), )
p.set_val('traj.burn1.controls:u1',
value=burn1.interpolate(ys=[-3.5, 13.0], nodes='control_input'))
p.set_val('traj.coast.t_initial', value=2.25)
p.set_val('traj.coast.t_duration', value=3.0)
p.set_val('traj.coast.states:r',
value=coast.interpolate(ys=[1.3, 1.5], nodes='state_input'))
p.set_val('traj.coast.states:theta',
value=coast.interpolate(ys=[2.1767, 1.7], nodes='state_input'))
p.set_val('traj.coast.states:vr',
value=coast.interpolate(ys=[0.3285, 0], nodes='state_input'))
p.set_val('traj.coast.states:vt',
value=coast.interpolate(ys=[0.97, 1], nodes='state_input'))
p.set_val('traj.coast.states:accel',
value=coast.interpolate(ys=[0, 0], nodes='state_input'))
# p.set_val('traj.coast.controls:u1',
# value=coast.interpolate(ys=[0, 0], nodes='control_input'))
p.set_val('traj.burn2.t_initial', value=5.25)
p.set_val('traj.burn2.t_duration', value=1.75)
p.set_val('traj.burn2.states:r',
value=burn2.interpolate(ys=[1.8, 3], nodes='state_input'))
p.set_val('traj.burn2.states:theta',
value=burn2.interpolate(ys=[3.2, 4.0], nodes='state_input'))
p.set_val('traj.burn2.states:vr',
value=burn2.interpolate(ys=[.5, 0], nodes='state_input'))
p.set_val('traj.burn2.states:vt',
value=burn2.interpolate(ys=[1, np.sqrt(1 / 3)], nodes='state_input'))
p.set_val('traj.burn2.states:accel',
value=burn2.interpolate(ys=[0.1, 0], nodes='state_input'))
p.set_val('traj.burn2.states:deltav',
value=burn2.interpolate(ys=[0.1, 0.2], nodes='state_input'))
p.set_val('traj.burn2.controls:u1',
value=burn2.interpolate(ys=[1, 1], nodes='control_input'))
p.run_driver()
assert_rel_error(self,
p.get_val('traj.burn2.timeseries.states:deltav')[-1],
0.3995,
tolerance=2.0E-3)
# Plot results
exp_out = traj.simulate()
fig = plt.figure(figsize=(8, 4))
fig.suptitle('Two Burn Orbit Raise Solution')
ax_u1 = plt.subplot2grid((2, 2), (0, 0))
ax_deltav = plt.subplot2grid((2, 2), (1, 0))
ax_xy = plt.subplot2grid((2, 2), (0, 1), rowspan=2)
span = np.linspace(0, 2 * np.pi, 100)
ax_xy.plot(np.cos(span), np.sin(span), 'k--', lw=1)
ax_xy.plot(3 * np.cos(span), 3 * np.sin(span), 'k--', lw=1)
ax_xy.set_xlim(-4.5, 4.5)
ax_xy.set_ylim(-4.5, 4.5)
ax_xy.set_xlabel('x ($R_e$)')
ax_xy.set_ylabel('y ($R_e$)')
ax_u1.set_xlabel('time ($TU$)')
ax_u1.set_ylabel('$u_1$ ($deg$)')
ax_u1.grid(True)
ax_deltav.set_xlabel('time ($TU$)')
ax_deltav.set_ylabel('${\Delta}v$ ($DU/TU$)')
ax_deltav.grid(True)
t_sol = dict((phs, p.get_val('traj.{0}.timeseries.time'.format(phs)))
for phs in ['burn1', 'coast', 'burn2'])
x_sol = dict((phs, p.get_val('traj.{0}.timeseries.pos_x'.format(phs)))
for phs in ['burn1', 'coast', 'burn2'])
y_sol = dict((phs, p.get_val('traj.{0}.timeseries.pos_y'.format(phs)))
for phs in ['burn1', 'coast', 'burn2'])
dv_sol = dict((phs, p.get_val('traj.{0}.timeseries.states:deltav'.format(phs)))
for phs in ['burn1', 'coast', 'burn2'])
u1_sol = dict((phs, p.get_val('traj.{0}.timeseries.controls:u1'.format(phs), units='deg'))
for phs in ['burn1', 'burn2'])
t_exp = dict((phs, exp_out.get_val('traj.{0}.timeseries.time'.format(phs)))
for phs in ['burn1', 'coast', 'burn2'])
x_exp = dict((phs, exp_out.get_val('traj.{0}.timeseries.pos_x'.format(phs)))
for phs in ['burn1', 'coast', 'burn2'])
y_exp = dict((phs, exp_out.get_val('traj.{0}.timeseries.pos_y'.format(phs)))
for phs in ['burn1', 'coast', 'burn2'])
dv_exp = dict((phs, exp_out.get_val('traj.{0}.timeseries.states:deltav'.format(phs)))
for phs in ['burn1', 'coast', 'burn2'])
u1_exp = dict((phs, exp_out.get_val('traj.{0}.timeseries.controls:u1'.format(phs),
units='deg'))
for phs in ['burn1', 'burn2'])
for phs in ['burn1', 'coast', 'burn2']:
try:
ax_u1.plot(t_sol[phs], u1_sol[phs], 'ro', ms=3)
ax_u1.plot(t_exp[phs], u1_exp[phs], 'b-')
except KeyError:
pass
ax_deltav.plot(t_sol[phs], dv_sol[phs], 'ro', ms=3)
ax_deltav.plot(t_exp[phs], dv_exp[phs], 'b-')
ax_xy.plot(x_sol[phs], y_sol[phs], 'ro', ms=3, label='implicit')
ax_xy.plot(x_exp[phs], y_exp[phs], 'b-', label='explicit')
plt.show()
def brachistochrone_min_time(transcription='gauss-lobatto',
num_segments=8,
transcription_order=3,
compressed=True,
sim_record='brach_min_time_sim.db',
optimizer='SLSQP',
dynamic_simul_derivs=True,
force_alloc_complex=False,
solve_segments=False,
run_driver=True):
p = Problem(model=Group())
if optimizer == 'SNOPT':
p.driver = pyOptSparseDriver()
p.driver.options['optimizer'] = optimizer
p.driver.opt_settings['Major iterations limit'] = 100
p.driver.opt_settings['Major feasibility tolerance'] = 1.0E-6
p.driver.opt_settings['Major optimality tolerance'] = 1.0E-6
p.driver.opt_settings['iSumm'] = 6
else:
p.driver = ScipyOptimizeDriver()
p.driver.options['dynamic_simul_derivs'] = dynamic_simul_derivs
if transcription == 'runge-kutta':
transcription = RungeKutta(num_segments=num_segments,
compressed=compressed)
elif transcription == 'gauss-lobatto':
transcription = GaussLobatto(num_segments=num_segments,
order=transcription_order,
compressed=compressed)
elif transcription == 'radau-ps':
transcription = Radau(num_segments=num_segments,
order=transcription_order,
compressed=compressed)
phase = Phase(ode_class=BrachistochroneVectorStatesODE,
transcription=transcription)
p.model.add_subsystem('phase0', phase)
phase.set_time_options(fix_initial=True, duration_bounds=(.5, 10))
fix_final = not solve_segments # can't fix final position if you're solving the segments
phase.set_state_options('pos',
fix_initial=True,
fix_final=fix_final,
solve_segments=solve_segments)
phase.set_state_options('v',
fix_initial=True,
fix_final=False,
solve_segments=solve_segments)
phase.add_control('theta',
continuity=True,
rate_continuity=True,
units='deg',
lower=0.01,
upper=179.9)
phase.add_design_parameter('g', units='m/s**2', opt=False, val=9.80665)
# Minimize time at the end of the phase
phase.add_objective('time', loc='final', scaler=10)
p.model.linear_solver = DirectSolver()
p.setup(check=True, force_alloc_complex=force_alloc_complex)
p['phase0.t_initial'] = 0.0
p['phase0.t_duration'] = 2.0
pos0 = [0, 10]
posf = [10, 5]
p['phase0.states:pos'] = phase.interpolate(ys=[pos0, posf],
nodes='state_input')
p['phase0.states:v'] = phase.interpolate(ys=[0, 9.9], nodes='state_input')
p['phase0.controls:theta'] = phase.interpolate(ys=[5, 100],
nodes='control_input')
p['phase0.design_parameters:g'] = 9.80665
p.run_model()
if run_driver:
p.run_driver()
# Plot results
if SHOW_PLOTS:
p.run_driver()
exp_out = phase.simulate(record_file=sim_record)
fig, ax = plt.subplots()
fig.suptitle('Brachistochrone Solution')
x_imp = p.get_val('phase0.timeseries.states:pos')[:, 0]
y_imp = p.get_val('phase0.timeseries.states:pos')[:, 1]
x_exp = exp_out.get_val('phase0.timeseries.states:pos')[:, 0]
y_exp = exp_out.get_val('phase0.timeseries.states:pos')[:, 1]
ax.plot(x_imp, y_imp, 'ro', label='implicit')
ax.plot(x_exp, y_exp, 'b-', label='explicit')
ax.set_xlabel('x (m)')
ax.set_ylabel('y (m)')
ax.grid(True)
ax.legend(loc='upper right')
fig, ax = plt.subplots()
fig.suptitle('Brachistochrone Solution')
x_imp = p.get_val('phase0.timeseries.time')
y_imp = p.get_val('phase0.timeseries.control_rates:theta_rate2')
x_exp = exp_out.get_val('phase0.timeseries.time')
y_exp = exp_out.get_val('phase0.timeseries.control_rates:theta_rate2')
ax.plot(x_imp, y_imp, 'ro', label='implicit')
ax.plot(x_exp, y_exp, 'b-', label='explicit')
ax.set_xlabel('time (s)')
ax.set_ylabel('theta rate2 (rad/s**2)')
ax.grid(True)
ax.legend(loc='lower right')
plt.show()
return p
def test_reentry_mixed_controls(self):
p = om.Problem(model=om.Group())
p.driver = om.pyOptSparseDriver()
p.driver.declare_coloring()
OPT, OPTIMIZER = set_pyoptsparse_opt('IPOPT', fallback=False)
p.driver.options['optimizer'] = OPTIMIZER
traj = p.model.add_subsystem('traj', Trajectory())
phase0 = traj.add_phase(
'phase0',
Phase(ode_class=ShuttleODE,
transcription=GaussLobatto(num_segments=20, order=3)))
phase0.set_time_options(fix_initial=True, units='s', duration_ref=200)
phase0.add_state('h',
fix_initial=True,
fix_final=True,
units='ft',
rate_source='hdot',
targets=['h'],
lower=0,
ref0=75000,
ref=300000,
defect_ref=1000)
phase0.add_state('gamma',
fix_initial=True,
fix_final=True,
units='rad',
rate_source='gammadot',
targets=['gamma'],
lower=-89. * np.pi / 180,
upper=89. * np.pi / 180)
phase0.add_state('phi',
fix_initial=True,
fix_final=False,
units='rad',
rate_source='phidot',
lower=0,
upper=89. * np.pi / 180)
phase0.add_state('psi',
fix_initial=True,
fix_final=False,
units='rad',
rate_source='psidot',
targets=['psi'],
lower=0,
upper=90. * np.pi / 180)
phase0.add_state('theta',
fix_initial=True,
fix_final=False,
units='rad',
rate_source='thetadot',
targets=['theta'],
lower=-89. * np.pi / 180,
upper=89. * np.pi / 180)
phase0.add_state('v',
fix_initial=True,
fix_final=True,
units='ft/s',
rate_source='vdot',
targets=['v'],
lower=500,
ref0=2500,
ref=25000)
phase0.add_control('alpha',
units='rad',
opt=True,
lower=-np.pi / 2,
upper=np.pi / 2)
phase0.add_polynomial_control('beta',
order=5,
units='rad',
opt=True,
lower=-89 * np.pi / 180,
upper=1 * np.pi / 180)
phase0.add_objective('theta', loc='final', ref=-0.01)
p.setup(check=True, force_alloc_complex=True)
p.set_val('traj.phase0.states:h',
phase0.interpolate(ys=[260000, 80000], nodes='state_input'),
units='ft')
p.set_val('traj.phase0.states:gamma',
phase0.interpolate(ys=[-1 * np.pi / 180, -5 * np.pi / 180],
nodes='state_input'),
units='rad')
p.set_val('traj.phase0.states:phi',
phase0.interpolate(ys=[0, 75 * np.pi / 180],
nodes='state_input'),
units='rad')
p.set_val('traj.phase0.states:psi',
phase0.interpolate(ys=[90 * np.pi / 180, 10 * np.pi / 180],
nodes='state_input'),
units='rad')
p.set_val('traj.phase0.states:theta',
phase0.interpolate(ys=[0, 25 * np.pi / 180],
nodes='state_input'),
units='rad')
p.set_val('traj.phase0.states:v',
phase0.interpolate(ys=[25600, 2500], nodes='state_input'),
units='ft/s')
p.set_val('traj.phase0.t_initial', 0, units='s')
p.set_val('traj.phase0.t_duration', 2000, units='s')
p.set_val('traj.phase0.controls:alpha',
phase0.interpolate(
ys=[17.4 * np.pi / 180, 17.4 * np.pi / 180],
nodes='control_input'),
units='rad')
p.set_val('traj.phase0.polynomial_controls:beta', np.radians(-75))
p.run_driver()
exp_out = traj.simulate()
from scipy.interpolate import interp1d
t_sol = p.get_val('traj.phase0.timeseries.time')
beta_sol = p.get_val('traj.phase0.timeseries.polynomial_controls:beta')
t_sim = exp_out.get_val('traj.phase0.timeseries.time')
beta_sim = exp_out.get_val(
'traj.phase0.timeseries.polynomial_controls:beta')
sol_interp = interp1d(t_sol.ravel(), beta_sol.ravel())
sim_interp = interp1d(t_sim.ravel(), beta_sim.ravel())
t = np.linspace(0, t_sol.ravel()[-1], 100)
assert_near_equal(sim_interp(t), sol_interp(t), tolerance=1.0E-3)
def test_brachistochrone_vector_ode_path_constraints_gl_no_indices(self):
p = Problem(model=Group())
p.driver = ScipyOptimizeDriver()
p.driver.options['dynamic_simul_derivs'] = True
phase = Phase(ode_class=BrachistochroneVectorStatesODE,
transcription=GaussLobatto(num_segments=20, order=3))
p.model.add_subsystem('phase0', phase)
phase.set_time_options(fix_initial=True, duration_bounds=(.5, 10))
phase.set_state_options('pos', fix_initial=True, fix_final=True)
phase.set_state_options('v', fix_initial=True, fix_final=False)
phase.add_control('theta',
continuity=True,
rate_continuity=True,
units='deg',
lower=0.01,
upper=179.9)
phase.add_design_parameter('g', units='m/s**2', opt=False, val=9.80665)
phase.add_path_constraint('pos_dot',
shape=(2, ),
units='m/s',
lower=-4,
upper=12)
phase.add_timeseries_output('pos_dot', shape=(2, ), units='m/s')
# Minimize time at the end of the phase
phase.add_objective('time', loc='final', scaler=10)
p.model.linear_solver = DirectSolver()
p.setup(check=True, force_alloc_complex=True)
p['phase0.t_initial'] = 0.0
p['phase0.t_duration'] = 2.0
pos0 = [0, 10]
posf = [10, 5]
p['phase0.states:pos'] = phase.interpolate(ys=[pos0, posf],
nodes='state_input')
p['phase0.states:v'] = phase.interpolate(ys=[0, 9.9],
nodes='state_input')
p['phase0.controls:theta'] = phase.interpolate(ys=[5, 100],
nodes='control_input')
p['phase0.design_parameters:g'] = 9.80665
p.run_driver()
assert_rel_error(self,
np.min(p.get_val('phase0.timeseries.pos_dot')[:, -1]),
-4,
tolerance=1.0E-2)
# Plot results
if SHOW_PLOTS:
exp_out = phase.simulate(times_per_seg=20)
fig, ax = plt.subplots()
fig.suptitle('Brachistochrone Solution')
x_imp = p.get_val('phase0.timeseries.states:pos')[:, 0]
y_imp = p.get_val('phase0.timeseries.states:pos')[:, 1]
x_exp = exp_out.get_val('phase0.timeseries.states:pos')[:, 0]
y_exp = exp_out.get_val('phase0.timeseries.states:pos')[:, 1]
ax.plot(x_imp, y_imp, 'ro', label='implicit')
ax.plot(x_exp, y_exp, 'b-', label='explicit')
ax.set_xlabel('x (m)')
ax.set_ylabel('y (m)')
ax.grid(True)
ax.legend(loc='upper right')
fig, ax = plt.subplots()
fig.suptitle('Brachistochrone Solution\nVelocity')
t_imp = p.get_val('phase0.timeseries.time')
t_exp = exp_out.get_val('phase0.timeseries.time')
xdot_imp = p.get_val('phase0.timeseries.pos_dot')[:, 0]
ydot_imp = p.get_val('phase0.timeseries.pos_dot')[:, 1]
xdot_exp = exp_out.get_val('phase0.timeseries.pos_dot')[:, 0]
ydot_exp = exp_out.get_val('phase0.timeseries.pos_dot')[:, 1]
ax.plot(t_imp, xdot_imp, 'bo', label='implicit')
ax.plot(t_exp, xdot_exp, 'b-', label='explicit')
ax.plot(t_imp, ydot_imp, 'ro', label='implicit')
ax.plot(t_exp, ydot_exp, 'r-', label='explicit')
ax.set_xlabel('t (s)')
ax.set_ylabel('v (m/s)')
ax.grid(True)
ax.legend(loc='upper right')
fig, ax = plt.subplots()
fig.suptitle('Brachistochrone Solution')
x_imp = p.get_val('phase0.timeseries.time')
y_imp = p.get_val('phase0.timeseries.control_rates:theta_rate2')
x_exp = exp_out.get_val('phase0.timeseries.time')
y_exp = exp_out.get_val(
'phase0.timeseries.control_rates:theta_rate2')
ax.plot(x_imp, y_imp, 'ro', label='implicit')
ax.plot(x_exp, y_exp, 'b-', label='explicit')
ax.set_xlabel('time (s)')
ax.set_ylabel('theta rate2 (rad/s**2)')
ax.grid(True)
ax.legend(loc='lower right')
plt.show()
return p
