def test_brachistochrone_timeseries_plots_solution_and_simulation(self):
dm.run_problem(self.p,
simulate=True,
make_plots=False,
simulation_record_file='simulation_record_file.db')
timeseries_plots('dymos_solution.db',
simulation_record_file='simulation_record_file.db')
def test_brachistochrone_timeseries_plots(self):
dm.run_problem(self.p, make_plots=False)
timeseries_plots('dymos_solution.db')
self.assertTrue(os.path.exists('plots/states_x.png'))
self.assertTrue(os.path.exists('plots/states_y.png'))
self.assertTrue(os.path.exists('plots/states_v.png'))
self.assertTrue(os.path.exists('plots/controls_theta.png'))
self.assertTrue(os.path.exists('plots/control_rates_theta_rate.png'))
self.assertTrue(os.path.exists('plots/control_rates_theta_rate2.png'))
def test_brachistochrone_timeseries_plots_solution_only_set_solution_record_file(self):
# records to the default file 'dymos_simulation.db'
dm.run_problem(self.p, make_plots=False, solution_record_file='solution_record_file.db')
timeseries_plots('solution_record_file.db')
self.assertTrue(os.path.exists('plots/states_x.png'))
self.assertTrue(os.path.exists('plots/states_y.png'))
self.assertTrue(os.path.exists('plots/states_v.png'))
self.assertTrue(os.path.exists('plots/controls_theta.png'))
self.assertTrue(os.path.exists('plots/control_rates_theta_rate.png'))
self.assertTrue(os.path.exists('plots/control_rates_theta_rate2.png'))
def test_brachistochrone_timeseries_plots_set_plot_dir(self):
dm.run_problem(self.p, make_plots=False)
plot_dir = "test_plot_dir"
timeseries_plots('dymos_solution.db', plot_dir=plot_dir)
self.assertTrue(os.path.exists('test_plot_dir/states_x.png'))
self.assertTrue(os.path.exists('test_plot_dir/states_y.png'))
self.assertTrue(os.path.exists('test_plot_dir/states_v.png'))
self.assertTrue(os.path.exists('test_plot_dir/controls_theta.png'))
self.assertTrue(os.path.exists('test_plot_dir/control_rates_theta_rate.png'))
self.assertTrue(os.path.exists('test_plot_dir/control_rates_theta_rate2.png'))
load_case(problem, case)
if run_driver:
problem.run_driver()
_refine_iter(problem, refine_iteration_limit, refine_method)
else:
problem.run_model()
if refine_iteration_limit > 0:
warnings.warn(
"Refinement not performed. Set run_driver to True to perform refinement."
)
problem.record('final') # save case for potential restart
problem.cleanup()
if simulate:
for subsys in problem.model.system_iter(include_self=True,
recurse=True):
if isinstance(subsys, Trajectory):
subsys.simulate(record_file=simulation_record_file)
if make_plots:
if simulate:
timeseries_plots(solution_record_file,
simulation_record_file=simulation_record_file,
plot_dir=plot_dir)
else:
timeseries_plots(solution_record_file,
simulation_record_file=None,
plot_dir=plot_dir)
def test_trajectory_linked_phases_make_plot_missing_data(self):
"""
Test that plots are still generated even if the phases don't share the exact same
variables in the timeseries.
"""
self.traj = dm.Trajectory()
p = self.p = om.Problem(model=self.traj)
p.driver = om.pyOptSparseDriver()
p.driver.options['optimizer'] = 'IPOPT'
p.driver.declare_coloring()
# First Phase (burn)
burn1 = dm.Phase(ode_class=FiniteBurnODE, transcription=dm.GaussLobatto(num_segments=4,
order=3))
self.traj.add_phase('burn1', burn1)
burn1.set_time_options(fix_initial=True, duration_bounds=(.5, 10), units='TU')
burn1.add_state('r', fix_initial=True, fix_final=False,
rate_source='r_dot', targets=['r'], units='DU')
burn1.add_state('theta', fix_initial=True, fix_final=False,
rate_source='theta_dot', targets=['theta'], units='rad')
burn1.add_state('vr', fix_initial=True, fix_final=False,
rate_source='vr_dot', targets=['vr'], units='DU/TU')
burn1.add_state('vt', fix_initial=True, fix_final=False,
rate_source='vt_dot', targets=['vt'], units='DU/TU')
burn1.add_state('accel', fix_initial=True, fix_final=False,
rate_source='at_dot', targets=['accel'], units='DU/TU**2')
burn1.add_state('deltav', fix_initial=True, fix_final=False,
rate_source='deltav_dot', units='DU/TU')
burn1.add_control('u1', targets=['u1'], rate_continuity=True, rate2_continuity=True,
units='deg', scaler=0.01, lower=-30, upper=30)
burn1.add_parameter('c', opt=False, val=1.5, targets=['c'], units='DU/TU')
# Second Phase (Coast)
coast = dm.Phase(ode_class=FiniteBurnODE, transcription=dm.GaussLobatto(num_segments=10,
order=3))
self.traj.add_phase('coast', coast)
coast.set_time_options(initial_bounds=(0.5, 20), duration_bounds=(.5, 10), duration_ref=10,
units='TU')
coast.add_state('r', fix_initial=False, fix_final=False, defect_scaler=100.0,
rate_source='r_dot', targets=['r'], units='DU')
coast.add_state('theta', fix_initial=False, fix_final=False, defect_scaler=100.0,
rate_source='theta_dot', targets=['theta'], units='rad')
coast.add_state('vr', fix_initial=False, fix_final=False, defect_scaler=100.0,
rate_source='vr_dot', targets=['vr'], units='DU/TU')
coast.add_state('vt', fix_initial=False, fix_final=False, defect_scaler=100.0,
rate_source='vt_dot', targets=['vt'], units='DU/TU')
coast.add_state('accel', fix_initial=True, fix_final=True, ref=1.0E-12, defect_ref=1.0E-12,
rate_source='at_dot', targets=['accel'], units='DU/TU**2')
coast.add_state('deltav', fix_initial=False, fix_final=False,
rate_source='deltav_dot', units='DU/TU')
coast.add_parameter('u1', targets=['u1'], opt=False, val=0.0, units='deg')
coast.add_parameter('c', opt=False, val=1.5, targets=['c'], units='DU/TU')
# Third Phase (burn)
burn2 = dm.Phase(ode_class=FiniteBurnODE, transcription=dm.GaussLobatto(num_segments=3,
order=3))
self.traj.add_phase('burn2', burn2)
burn2.set_time_options(initial_bounds=(0.5, 20), duration_bounds=(.5, 10), initial_ref=10,
units='TU')
burn2.add_state('r', fix_initial=False, fix_final=True,
rate_source='r_dot', targets=['r'], units='DU')
burn2.add_state('theta', fix_initial=False, fix_final=False,
rate_source='theta_dot', targets=['theta'], units='rad')
burn2.add_state('vr', fix_initial=False, fix_final=True,
rate_source='vr_dot', targets=['vr'], units='DU/TU')
burn2.add_state('vt', fix_initial=False, fix_final=True,
rate_source='vt_dot', targets=['vt'], units='DU/TU')
burn2.add_state('accel', fix_initial=False, fix_final=False, defect_ref=1.0E-6,
rate_source='at_dot', targets=['accel'], units='DU/TU**2')
burn2.add_state('deltav', fix_initial=False, fix_final=False,
rate_source='deltav_dot', units='DU/TU')
burn2.add_control('u1', targets=['u1'], rate_continuity=True, rate2_continuity=True,
units='deg', scaler=0.01, lower=-30, upper=30)
burn2.add_parameter('c', opt=False, val=1.5, targets=['c'], units='DU/TU')
burn2.add_objective('deltav', loc='final')
# Link Phases
self.traj.link_phases(phases=['burn1', 'coast', 'burn2'],
vars=['time', 'r', 'theta', 'vr', 'vt', 'deltav'])
self.traj.link_phases(phases=['burn1', 'burn2'], vars=['accel'])
# Finish Problem Setup
p.model.linear_solver = om.DirectSolver()
p.setup(check=True)
# Set Initial Guesses
p.set_val('burn1.t_initial', value=0.0)
p.set_val('burn1.t_duration', value=2.25)
p.set_val('burn1.states:r', value=burn1.interpolate(ys=[1, 1.5], nodes='state_input'))
p.set_val('burn1.states:theta', value=burn1.interpolate(ys=[0, 1.7], nodes='state_input'))
p.set_val('burn1.states:vr', value=burn1.interpolate(ys=[0, 0], nodes='state_input'))
p.set_val('burn1.states:vt', value=burn1.interpolate(ys=[1, 1], nodes='state_input'))
p.set_val('burn1.states:accel', value=burn1.interpolate(ys=[0.1, 0], nodes='state_input'))
p.set_val('burn1.states:deltav', value=burn1.interpolate(ys=[0, 0.1], nodes='state_input'))
p.set_val('burn1.controls:u1',
value=burn1.interpolate(ys=[-3.5, 13.0], nodes='control_input'))
p.set_val('burn1.parameters:c', value=1.5)
p.set_val('coast.t_initial', value=2.25)
p.set_val('coast.t_duration', value=3.0)
p.set_val('coast.states:r', value=coast.interpolate(ys=[1.3, 1.5], nodes='state_input'))
p.set_val('coast.states:theta',
value=coast.interpolate(ys=[2.1767, 1.7], nodes='state_input'))
p.set_val('coast.states:vr', value=coast.interpolate(ys=[0.3285, 0], nodes='state_input'))
p.set_val('coast.states:vt', value=coast.interpolate(ys=[0.97, 1], nodes='state_input'))
p.set_val('coast.states:accel', value=coast.interpolate(ys=[0, 0], nodes='state_input'))
p.set_val('coast.parameters:u1', value=0.0)
p.set_val('coast.parameters:c', value=1.5)
p.set_val('burn2.t_initial', value=5.25)
p.set_val('burn2.t_duration', value=1.75)
p.set_val('burn2.states:r', value=burn2.interpolate(ys=[1, 3], nodes='state_input'))
p.set_val('burn2.states:theta', value=burn2.interpolate(ys=[0, 4.0], nodes='state_input'))
p.set_val('burn2.states:vr', value=burn2.interpolate(ys=[0, 0], nodes='state_input'))
p.set_val('burn2.states:vt',
value=burn2.interpolate(ys=[1, np.sqrt(1 / 3)], nodes='state_input'))
p.set_val('burn2.states:accel', value=burn2.interpolate(ys=[0.1, 0], nodes='state_input'))
p.set_val('burn2.states:deltav',
value=burn2.interpolate(ys=[0.1, 0.2], nodes='state_input'))
p.set_val('burn2.controls:u1', value=burn2.interpolate(ys=[1, 1], nodes='control_input'))
p.set_val('burn2.parameters:c', value=1.5)
dm.run_problem(p, simulate=True, make_plots=False,
simulation_record_file='simulation_record_file.db')
timeseries_plots('dymos_solution.db', simulation_record_file='simulation_record_file.db')
for varname in ['time_phase', 'states:r', 'state_rates:r', 'states:theta',
'state_rates:theta', 'states:vr', 'state_rates:vr', 'states:vt',
'state_rates:vt', 'states:accel',
'state_rates:accel', 'states:deltav', 'state_rates:deltav',
'controls:u1', 'control_rates:u1_rate', 'control_rates:u1_rate2',
'parameters:c', 'parameters:u1']:
self.assertTrue(os.path.exists(f'plots/{varname.replace(":","_")}.png'))
def test_overlapping_phases_make_plot(self):
prob = om.Problem()
opt = prob.driver = om.ScipyOptimizeDriver()
opt.declare_coloring()
opt.options['optimizer'] = 'SLSQP'
num_seg = 5
seg_ends, _ = lgl(num_seg + 1)
traj = prob.model.add_subsystem('traj', dm.Trajectory())
# First phase: normal operation.
transcription = dm.Radau(num_segments=num_seg, order=5, segment_ends=seg_ends,
compressed=False)
phase0 = dm.Phase(ode_class=BatteryODE, transcription=transcription)
traj_p0 = traj.add_phase('phase0', phase0)
traj_p0.set_time_options(fix_initial=True, fix_duration=True)
traj_p0.add_state('state_of_charge', fix_initial=True, fix_final=False,
targets=['SOC'], rate_source='dXdt:SOC')
# Second phase: normal operation.
phase1 = dm.Phase(ode_class=BatteryODE, transcription=transcription)
traj_p1 = traj.add_phase('phase1', phase1)
traj_p1.set_time_options(fix_initial=False, fix_duration=True)
traj_p1.add_state('state_of_charge', fix_initial=False, fix_final=False,
targets=['SOC'], rate_source='dXdt:SOC')
traj_p1.add_objective('time', loc='final')
# Second phase, but with battery failure.
phase1_bfail = dm.Phase(ode_class=BatteryODE, ode_init_kwargs={'num_battery': 2},
transcription=transcription)
traj_p1_bfail = traj.add_phase('phase1_bfail', phase1_bfail)
traj_p1_bfail.set_time_options(fix_initial=False, fix_duration=True)
traj_p1_bfail.add_state('state_of_charge', fix_initial=False, fix_final=False,
targets=['SOC'], rate_source='dXdt:SOC')
# Second phase, but with motor failure.
phase1_mfail = dm.Phase(ode_class=BatteryODE, ode_init_kwargs={'num_motor': 2},
transcription=transcription)
traj_p1_mfail = traj.add_phase('phase1_mfail', phase1_mfail)
traj_p1_mfail.set_time_options(fix_initial=False, fix_duration=True)
traj_p1_mfail.add_state('state_of_charge', fix_initial=False, fix_final=False,
targets=['SOC'], rate_source='dXdt:SOC')
traj.link_phases(phases=['phase0', 'phase1'], vars=['state_of_charge', 'time'])
traj.link_phases(phases=['phase0', 'phase1_bfail'], vars=['state_of_charge', 'time'])
traj.link_phases(phases=['phase0', 'phase1_mfail'], vars=['state_of_charge', 'time'])
prob.model.options['assembled_jac_type'] = 'csc'
prob.model.linear_solver = om.DirectSolver(assemble_jac=True)
prob.setup()
prob['traj.phase0.t_initial'] = 0
prob['traj.phase0.t_duration'] = 1.0*3600
prob['traj.phase1.t_initial'] = 1.0*3600
prob['traj.phase1.t_duration'] = 1.0*3600
prob['traj.phase1_bfail.t_initial'] = 1.0*3600
prob['traj.phase1_bfail.t_duration'] = 1.0*3600
prob['traj.phase1_mfail.t_initial'] = 1.0*3600
prob['traj.phase1_mfail.t_duration'] = 1.0*3600
prob.set_solver_print(level=0)
dm.run_problem(prob, simulate=True, make_plots=False,
simulation_record_file='simulation_record_file.db')
timeseries_plots('dymos_solution.db', simulation_record_file='simulation_record_file.db')
self.assertTrue(os.path.exists('plots/time_phase.png'))
self.assertTrue(os.path.exists('plots/states_state_of_charge.png'))
self.assertTrue(os.path.exists('plots/state_rates_state_of_charge.png'))
