def test_sweep_serial():
# set-up trial options
options = awe.Options(True) # True refers to internal access switch
options['user_options']['system_model']['architecture'] = {1: 0}
options['user_options']['system_model']['kite_dof'] = 3
options['user_options']['kite_standard'] = awe.ampyx_data.data_dict()
options['user_options']['tether_drag_model'] = 'split'
options['user_options']['trajectory']['lift_mode']['windings'] = 1
options['user_options']['induction_model'] = 'not_in_use'
options['nlp']['n_k'] = 2
options['solver']['max_iter'] = 0
# set-up sweep options
sweep_opts = [(['nlp', 'discretization'],
['direct_collocation', 'multiple_shooting'])] # trial sweep
sweep_opts = [(['user_options', 'wind',
'u_ref'], [5., 5.5])] # parametric sweep
# build, run and save sweep
sweep = awe.Sweep(name='serial_test', options=options, seed=sweep_opts)
sweep.build()
sweep.run(final_homotopy_step='initial')
sweep.save('dict')
# load and test sweep
file_pi = open('serial_test.dict', 'rb')
dict_test = pickle.load(file_pi)
sweep_test = awe.Sweep(dict_test)
file_pi.close()
os.remove("serial_test.dict")
sweep_test.plot(['all', 'comp_all'])
def test_animation():
options = awe.Options(True)
# basic options
options['user_options']['system_model']['architecture'] = {1: 0}
options['user_options']['trajectory']['lift_mode']['windings'] = 1
options['user_options']['kite_standard'] = awe.ampyx_data.data_dict()
options['user_options']['trajectory']['type'] = 'lift_mode'
options['user_options']['system_model']['kite_dof'] = 3
options['user_options']['induction_model'] = 'not_in_use'
options['user_options']['tether_drag_model'] = 'trivial'
options['nlp']['n_k'] = 2
options['solver']['max_iter'] = 0
options['visualization']['cosmetics']['trajectory']['kite_bodies'] = True
options['visualization']['cosmetics']['interpolation']['N'] = 2
# build trial and optimize
trial = awe.Trial(options, 'trial1')
trial.build()
trial.optimize(final_homotopy_step='initial')
trial.plot('animation')
os.remove('trial1.mp4')
def test_visualization():
options = awe.Options(True)
# basic options
options['user_options']['system_model']['architecture'] = {1: 0}
options['user_options']['trajectory']['lift_mode']['windings'] = 1
options['user_options']['kite_standard'] = awe.ampyx_data.data_dict()
options['user_options']['trajectory']['type'] = 'lift_mode'
options['user_options']['system_model']['kite_dof'] = 3
options['user_options']['induction_model'] = 'not_in_use'
options['user_options']['tether_drag_model'] = 'trivial'
options['nlp']['n_k'] = 2
options['solver']['max_iter'] = 0
# build trial and optimize
trial = awe.Trial(options, 'trial1')
trial.build()
trial.optimize(final_homotopy_step='initial', debug_flags='all')
# set flags and plot
trial_flags = ['all']
trial.plot(trial_flags)
# build sweep and run
sweep_opts = [(['user_options', 'wind', 'u_ref'], [5., 5.5])]
sweep = awe.Sweep(name='sweep_viz_test', options=options, seed=sweep_opts)
sweep.run(final_homotopy_step='initial', debug_flags='all')
# set flags and plot
sweep_flags = [
'all', 'comp_all', 'outputs:tether_length',
'comp_outputs:tether_length'
]
sweep.plot(sweep_flags)
def test_initial_guess_generation():
# ===========================================
# SET-UP DUMMY PROBLEM
# ===========================================
# make default options object
options = awe.Options(True) # True refers to internal access switch
# choose simplest model
options['user_options']['system_model']['architecture'] = {
1: 0,
2: 1,
3: 1,
4: 1,
5: 4,
6: 4
}
options['user_options']['system_model']['kite_dof'] = 3
options['user_options']['tether_drag_model'] = 'split'
options['user_options']['trajectory']['lift_mode']['phase_fix'] = True
options['user_options']['induction_model'] = 'not_in_use'
options['user_options']['kite_standard'] = ampyx_data.data_dict()
options['solver']['initialization']['initialization_type'] = 'modular'
options['model']['tether']['control_var'] = 'dddl_t'
# make trial, build and run
trial = awe.Trial(name='test', seed=options)
trial.build()
trial.optimize(final_homotopy_step='initial_guess')
architecture = trial.model.architecture
number_of_nodes = architecture.number_of_nodes
parent_map = architecture.parent_map
for node in range(1, number_of_nodes):
parent = parent_map[node]
c_avg = np.average(
abs(
np.array(
trial.optimization.output_vals[0]['coll_outputs', :, :,
'tether_length',
'c' + str(node) +
str(parent)])))
dc_avg = np.average(
abs(
np.array(
trial.optimization.output_vals[0]['coll_outputs', :, :,
'tether_length',
'dc' + str(node) +
str(parent)])))
ddc_avg = np.average(
abs(
np.array(
trial.optimization.output_vals[0]['coll_outputs', :, :,
'tether_length',
'ddc' + str(node) +
str(parent)])))
assert (c_avg < 1e-8)
assert (dc_avg < 1e-8)
assert (ddc_avg < 1)
def test_trial_serial():
# set-up trial options
options = awe.Options(True) # True refers to internal access switch
options['user_options']['system_model']['architecture'] = {1: 0}
options['user_options']['system_model']['kite_dof'] = 3
options['user_options']['kite_standard'] = awe.ampyx_data.data_dict()
options['user_options']['tether_drag_model'] = 'split'
options['user_options']['trajectory']['lift_mode']['windings'] = 1
options['user_options']['induction_model'] = 'not_in_use'
options['nlp']['n_k'] = 2
options['solver']['max_iter'] = 0
# build collocation trial
trial = awe.Trial(name='serial_test', seed=options)
trial.build()
trial.optimize(final_homotopy_step='initial')
trial.save('dict')
# load and test collocation trial
file_pi = open('serial_test.dict', 'rb')
dict_test = pickle.load(file_pi)
trial_test = awe.Trial(dict_test)
file_pi.close()
os.remove("serial_test.dict")
trial_test.plot('all')
# set-up ms trial options
options['nlp']['discretization'] = 'multiple_shooting'
options['nlp']['n_k'] = 10
# build multiple shooting trial
trialMS = awe.Trial(name='serial_test_MS', seed=options)
trialMS.build()
trialMS.optimize(final_homotopy_step='initial')
trialMS.save('dict')
# load and test multiple shooting trial
file_pi_serial = open('serial_test_MS.dict', 'rb')
dict_testMS = pickle.load(file_pi_serial)
trial_testMS = awe.Trial(dict_testMS)
file_pi_serial.close()
os.remove("serial_test_MS.dict")
trial_testMS.plot('all')
def generate_kite_model_and_orbit(N):
import point_mass_model
# make default options object
options = awe.Options(True)
# single kite with point-mass model
options['user_options']['system_model']['architecture'] = {1: 0}
options['user_options']['system_model']['kite_dof'] = 3
options['user_options']['kite_standard'] = point_mass_model.data_dict()
# trajectory should be a single pumping cycle with initial number of five windings
options['user_options']['trajectory']['type'] = 'power_cycle'
options['user_options']['trajectory']['system_type'] = 'drag_mode'
options['user_options']['trajectory']['lift_mode']['windings'] = 1
# don't include induction effects, use simple tether drag
options['user_options']['induction_model'] = 'not_in_use'
options['user_options']['tether_drag_model'] = 'trivial'
options['nlp']['n_k'] = N
# get point mass model data
options = point_mass_model.set_options(options)
# initialize and optimize trial
trial = awe.Trial(options, 'single_kite_drag_mode')
trial.build()
trial.optimize(final_homotopy_step='final')
# trial.plot(['states','controls', 'constraints'])
# plt.show()
# extract model data
sol = {}
sol['model'] = trial.generate_optimal_model()
sol['l_t'] = trial.optimization.V_opt['xd', 0, 'l_t']
# initial guess
w_init = []
for k in range(N):
w_init.append(trial.optimization.V_opt['xd', k][:-3])
w_init.append(trial.optimization.V_opt['u', k][3:6])
sol['w0'] = ca.vertcat(*w_init)
return sol
wind_ref = [2,3,4,5,6,7]
n_k = 30
wd =1
tim = 3e4
for w in wind_ref:
name = 'veela_double_125_kw_gen_265_mm_gear_u_ref_' + str(w) + '_log_wind' + '_nk_' + str(n_k) + '_wd_' + str(wd) + 'invest'
# make default options object
options = awe.Options(True)
# single kite with point-mass model
options['user_options']['system_model']['architecture'] = {1:0,2:1,3:1}
options['user_options']['system_model']['kite_dof'] = 6
options['user_options']['kite_standard'] = awe.ampyx_data.data_dict()
options['user_options']['generator'] = awe.pmsm_125_kw_gen.data_dict()
options['user_options']['generator']['gear_train']['used'] = True
#options['user_options']['generator']['gear_train']['optimize'] = True
#options['user_options']['generator']['dv_sd'] = False
#options['user_options']['generator']['control_var'] = 'dddl_t'
#options['model']['tether']['control_var'] = 'dddl_t'
#options['user_options']['generator']['type'] = None
#options['user_options']['generator']['ground_station']['in_lag_dyn'] = True
# options['model']['ground_station']['ddl_t_max'] = 3
for n, line in enumerate(f):
n_neu = n+1
line_lst += [line]
with open(filename, 'w') as f:
string = ''
for l in line_lst:
if l != '\n':
string += l + '\n'
string += '\n' + name + ' : ' + quality_print_results
f.write(string)
zus = 'lag: mein winch'
# make default options object
options = awe.Options(internal_access = True)
# single kite with point-mass model
options['user_options']['system_model']['architecture'] = {1:0}
options['user_options']['system_model']['kite_dof'] = 6
options['user_options']['kite_standard'] = awe.ampyx_data.data_dict()
options['user_options']['generator'] = awe.pmsm_125_kw_gen.data_dict()
#options['user_options']['generator']['gear_train']['used'] = True
#options['user_options']['generator']['gear_train']['optimize'] = True
options['user_options']['generator']['dv_sd'] = False
#options['user_options']['generator']['control_var'] = 'ddl_t'
#options['model']['tether']['control_var'] = 'ddl_t'
#options['user_options']['generator']['type'] = None
# trajectory should be a single pumping cycle with initial number of five windings
options['user_options']['trajectory']['system_type'] = 'lift_mode'
#!/usr/bin/python3
import awebox as awe
import matplotlib.pyplot as plt
import numpy as np
from awebox.logger.logger import Logger as awelogger
awelogger.logger.setLevel(10)
########################
# SET-UP TRIAL OPTIONS #
########################
# make default options object
options = awe.Options()
# single kite with point-mass model
options['user_options']['system_model']['architecture'] = {1:0, 2:1, 3:1}
options['user_options']['system_model']['kite_dof'] = 3
options['user_options']['kite_standard'] = awe.ampyx_data.data_dict()
# trajectory should be a single pumping cycle with initial number of three windings
options['user_options']['trajectory']['type'] = 'power_cycle'
options['user_options']['trajectory']['system_type'] = 'lift_mode'
options['user_options']['trajectory']['lift_mode']['windings'] = 2
# don't include induction effects, use simple tether drag
options['user_options']['wind']['u_ref'] = 5.0 # m/s
options['user_options']['induction_model'] = 'not_in_use'
options['user_options']['tether_drag_model'] = 'split'
trial = awe.Trial(seed = options, name = 'opt_design')
#!/usr/bin/python3
import awebox as awe
import matplotlib.pyplot as plt
import copy
##########################
# GENERATE TRIAL OPTIONS #
##########################
## PUMPING TRIAL
# make pumping options object
pumping_options = awe.Options(True)
# dual kite with point-mass model
pumping_options['user_options']['system_model']['architecture'] = {
1: 0,
2: 1,
3: 1
}
pumping_options['user_options']['system_model']['kite_dof'] = 3
pumping_options['user_options']['kite_standard'] = awe.ampyx_data.data_dict()
# trajectory should be a single pumping cycle with initial number of five windings
pumping_options['user_options']['trajectory']['type'] = 'power_cycle'
pumping_options['user_options']['trajectory']['system_type'] = 'lift_mode'
pumping_options['user_options']['trajectory']['lift_mode']['windings'] = 5
# don't include induction effects, use simple tether drag
pumping_options['user_options']['induction_model'] = 'not_in_use'
#!/usr/bin/python3
import awebox as awe
import copy
import matplotlib.pyplot as plt
# ================
# SET-UP AND SOLVE
# ================
# SET INTEGRATOR TO BE TESTED
integrator = 'rk4root'
final_step = 'final'
# make default options object
options = awe.Options(True) # True refers to internal access switch
options['user_options']['system_model']['architecture'] = {1: 0}
options['user_options']['system_model']['kite_dof'] = 3
options['user_options']['kite_standard'] = awe.ampyx_data.data_dict()
options['user_options']['tether_drag_model'] = 'split'
options['user_options']['trajectory']['lift_mode']['windings'] = 1
options['user_options']['induction_model'] = 'not_in_use'
# direct collocation options
options['nlp']['n_k'] = 40
options['nlp']['collocation']['d'] = 4
options['nlp']['discretization'] = 'direct_collocation'
options['nlp']['parallelization']['overwrite'] = True
options['nlp']['cost']['output_quadrature'] = False
def test_integrators():
# ===========================================
# SET-UP DIRECT COLLOCATION PROBLEM AND SOLVE
# ===========================================
# make default options object
base_options = awe.Options(True) # True refers to internal access switch
# choose simplest model
base_options['user_options']['system_model']['architecture'] = {1:0}
base_options['user_options']['system_model']['kite_dof'] = 3
base_options['user_options']['kite_standard'] = awe.ampyx_data.data_dict()
base_options['user_options']['tether_drag_model'] = 'split'
base_options['user_options']['induction_model'] = 'not_in_use'
# specify direct collocation options
base_options['nlp']['n_k'] = 40
base_options['nlp']['discretization'] = 'direct_collocation'
base_options['nlp']['collocation']['u_param'] = 'zoh'
base_options['nlp']['collocation']['scheme'] = 'radau'
base_options['nlp']['collocation']['d'] = 4
base_options['model']['tether']['control_var'] = 'dddl_t'
# homotopy tuning
base_options['solver']['mu_hippo'] = 1e-4
base_options['solver']['tol_hippo'] = 1e-4
# make trial, build and run
trial = awe.Trial(name = 'test', seed = base_options)
trial.build()
trial.optimize()
# extract solution data
V_final = trial.optimization.V_opt
P = trial.optimization.p_fix_num
Int_outputs = trial.optimization.integral_output_vals[1]
model = trial.model
dae = model.get_dae()
# build dae variables for t = 0 within first shooting interval
variables0 = struct_op.get_variables_at_time(base_options['nlp'], V_final, None, model.variables, 0)
parameters = model.parameters(vertcat(P['theta0'], V_final['phi']))
x0, z0, p = dae.fill_in_dae_variables(variables0, parameters)
# ===================================
# TEST COLLOCATION INTEGRATOR
# ===================================
# set discretization to multiple shooting
base_options['nlp']['discretization'] = 'multiple_shooting'
base_options['nlp']['integrator']['type'] = 'collocation'
base_options['nlp']['integrator']['collocation_scheme'] = base_options['nlp']['collocation']['scheme']
base_options['nlp']['integrator']['interpolation_order'] = base_options['nlp']['collocation']['d']
base_options['nlp']['integrator']['num_steps'] = 1
# switch off expand to allow for use of integrator in NLP
base_options['solver']['expand_overwrite'] = False
# build MS trial
trialColl = awe.Trial(name = 'testColl', seed = base_options)
trialColl.build()
# multiple shooting dae integrator
F = trialColl.nlp.Multiple_shooting.F
# integrate over one interval
Ff = F(x0 = x0, z0 = z0, p = p)
xf = Ff['xf']
zf = Ff['zf']
qf = Ff['qf']
# evaluate integration error
err_coll_x = np.max(np.abs(np.divide((xf - V_final['xd',1]), V_final['xd',1]).full()))
xa = dae.z(zf)['xa']
err_coll_z = np.max(np.abs(np.divide(dae.z(zf)['xa'] - V_final['coll_var',0, -1, 'xa'], V_final['coll_var',0, -1, 'xa']).full()))
err_coll_q = np.max(np.abs(np.divide((qf - Int_outputs['int_out',1]), Int_outputs['int_out',1]).full()))
tolerance = 1e-8
# values should match up to nlp solver accuracy
assert(err_coll_x < tolerance)
assert(err_coll_z < tolerance)
assert(err_coll_q < tolerance)
# ===================================
# TEST RK4-ROOT INTEGRATOR
# ===================================
# set discretization to multiple shooting
base_options['nlp']['integrator']['type'] = 'rk4root'
base_options['nlp']['integrator']['num_steps'] = 20
# build MS trial
trialRK = awe.Trial(name = 'testRK', seed = base_options)
trialRK.build()
# multiple shooting dae integrator
F = trialRK.nlp.Multiple_shooting.F
# integrate over one interval
Ff = F(x0 = x0, z0 = z0, p = p)
xf = Ff['xf']
zf = Ff['zf']
qf = Ff['qf']
# evaluate
err_rk_x = np.max(np.abs(np.divide((xf - V_final['xd',1]), V_final['xd',1]).full()))
xa = dae.z(zf)['xa']
err_rk_z = np.max(np.abs(np.divide(dae.z(zf)['xa'] - V_final['coll_var',0, -1, 'xa'], V_final['coll_var',0, -1, 'xa']).full()))
err_rk_q = np.max(np.abs(np.divide((qf - Int_outputs['int_out',1]), Int_outputs['int_out',1]).full()))
# error should be below 1%
assert(err_rk_x < 1e-2)
assert(err_rk_z < 1e-2)
assert(err_rk_q < 2e-2)
