u = prob.addControllerInputs(1, [0.0], [1.0]) rhs = Expression(SX.zeros(3)) rhs[0] = x[0] - x[0] * x[1] + w[0] rhs[1] = -x[1] + x[0] * x[1] + u * x[2] * x[1] + w[1] rhs[2] = -x[2] + 0.50 + w[2] m = SX.zeros(2, 2) m[0, 0] = 2 + 1.414 m[1, 0] = 1 + 1.414 m[0, 1] = 1 + 1.414 m[1, 1] = 1 + 1.414 prob.addControllerODEs(x, rhs) f = sum((1 - x[0]('coll')) * (1 - x[0]('coll')) + (1 - x[1]('coll')) * (1 - x[1]('coll')) + u('coll') * u('coll')) + (mul((mul( (x[0:2](-1).T, m)), x[0:2](-1)))) prob.addControlObjective(f) #prob.addConstraints(x(0),[1,1,0.50]) x1 = prob.addPlantStates(3) u1 = prob.addPlantInputs(1) rhs1 = SX.zeros(3) rhs1[0] = x1[0] - x1[0] * x1[1] rhs1[1] = -x1[1] + x1[0] * x1[1] + u1 * x1[2] * x1[1] rhs1[2] = -x1[2] + 0.50 prob.addPlantODEs(x1, rhs1) x0 = NP.array([1, 1, 0.50]) prob.setInitCondition(x0) solver = MPCsolve(prob, printlevel=0) solver.solve() solver.plotStates() # solver.plotControls() #
rhs1[6] = stream_5_flow * stream_5_conc_G + stream_8_flow * stream_8_conc_G - stream_6_flow * (mixing[6]/mixing_zone_N) rhs1[7] = stream_5_flow * stream_5_conc_H + stream_8_flow * stream_8_conc_H - stream_6_flow * (mixing[7]/mixing_zone_N) rhs1[8] = (u1[3] * stream_1_cp * (stream_1_T - mixing[8]) + u1[1] * stream_2_cp * (stream_2_T - mixing[8]) + u1[2] * stream_3_cp * (stream_3_T - mixing[8]) + stream_5_flow * stream_5_cp * (Tstr - mixing[8]) + stream_8_flow * stream_8_cp * (stream_8_T - mixing[8]))/mixing_zone_Ncp; rhs1[9] = stream_6_flow * (stream_6_conc[0]) - stream_7_flow * (stream_7_conc[0]) + reactor_conv_rate[0]; rhs1[10] = stream_6_flow * (stream_6_conc[1]) - stream_7_flow * (stream_7_conc[1]) + reactor_conv_rate[1]; rhs1[11] = stream_6_flow * (stream_6_conc[2]) - stream_7_flow * (stream_7_conc[2]) + reactor_conv_rate[2]; rhs1[12] = stream_6_flow * (stream_6_conc[3]) - stream_7_flow * (stream_7_conc[3]) + reactor_conv_rate[3]; rhs1[13] = stream_6_flow * (stream_6_conc[4]) - stream_7_flow * (stream_7_conc[4]) + reactor_conv_rate[4]; rhs1[14] = stream_6_flow * (stream_6_conc[5]) - stream_7_flow * (stream_7_conc[5]) + reactor_conv_rate[5]; rhs1[15] = stream_6_flow * (stream_6_conc[6]) - stream_7_flow * (stream_7_conc[6]) + reactor_conv_rate[6]; rhs1[16] = stream_6_flow * (stream_6_conc[7]) - stream_7_flow * (stream_7_conc[7]) + reactor_conv_rate[7]; rhs1[17] = ((1/1000.0) * stream_6_flow * stream_6_cp * (mixing[8] - reactor[8]) - Qr - reactor_exoth_heat)/reactor_Ncp; MPC.addPlantODEs(x1,rhs1) x0 = NP.array([4.883796012e+01,1.3581698782601494e01,4.003019454e01,9.7240317507928289e00,2.7443144213409383e01,2.5287892794899194e00,5.4376801699256117e00,2.5340908634231365e00,3.626444078091077e02,5.031608878009897e00,2.1296567956657944e00,3.7868352943264569e00,1.5154871302534503e-01,9.6154000218439766e00,1.3071231152493332e00,6.328731837338335e01,6.9378697766081004e01,393.55]) MPC.setInitCondition(x0) solver = MPCsolve(MPC,printlevel=0) solver.solve() solver.plotStates()# solver.plotControls()# ### x = NP.loadtxt('xTE') mixing = x[0:9,:] #mixing(8) is temperature reactor = x[9:18,:] #reactor(8) is temperature mixing_zone_N = (mixing[0,:] + mixing[1,:] + mixing[2,:] + mixing[3,:] + mixing[4,:] + mixing[5,:] + mixing[6,:] + mixing[7,:]) pm_MPa = mixing_zone_N * (RkJ * mixing[8] / Vm) / 1000.0 t = NP.linspace(0,108000,301) plt.plot(t,pm_MPa) plt.show()
stream_7_conc[6]) + reactor_conv_rate[6] rhs1[16] = stream_6_flow * (stream_6_conc[7]) - stream_7_flow * ( stream_7_conc[7]) + reactor_conv_rate[7] rhs1[17] = ((1 / 1000.0) * stream_6_flow * stream_6_cp * (mixing[8] - reactor[8]) - Qr - reactor_exoth_heat) / reactor_Ncp MPC.addPlantODEs(x1, rhs1) x0 = NP.array([ 4.883796012e+01, 1.3581698782601494e01, 4.003019454e01, 9.7240317507928289e00, 2.7443144213409383e01, 2.5287892794899194e00, 5.4376801699256117e00, 2.5340908634231365e00, 3.626444078091077e02, 5.031608878009897e00, 2.1296567956657944e00, 3.7868352943264569e00, 1.5154871302534503e-01, 9.6154000218439766e00, 1.3071231152493332e00, 6.328731837338335e01, 6.9378697766081004e01, 393.55 ]) MPC.setInitCondition(x0) solver = MPCsolve(MPC, printlevel=0) solver.solve() solver.plotStates() # solver.plotControls() # ### x = NP.loadtxt('xTE') mixing = x[0:9, :] #mixing(8) is temperature reactor = x[9:18, :] #reactor(8) is temperature mixing_zone_N = (mixing[0, :] + mixing[1, :] + mixing[2, :] + mixing[3, :] + mixing[4, :] + mixing[5, :] + mixing[6, :] + mixing[7, :]) pm_MPa = mixing_zone_N * (RkJ * mixing[8] / Vm) / 1000.0 t = NP.linspace(0, 108000, 301) plt.plot(t, pm_MPa) plt.show()
#w.fix() w.plot() u = prob.addControllerInputs(1,[0.0],[1.0]) rhs = Expression(SX.zeros(3)) rhs[0] = x[0] - x[0]*x[1] + w[0] rhs[1] = -x[1] + x[0]*x[1] + u*x[2]*x[1] + w[1] rhs[2] = -x[2] + 0.50 + w[2] m = SX.zeros(2,2) m[0,0] = 2 + 1.414 m[1,0] = 1 + 1.414 m[0,1] = 1 + 1.414 m[1,1] = 1 + 1.414 prob.addControllerODEs(x,rhs) f = sum((1 - x[0]('coll'))*(1 - x[0]('coll')) + (1 - x[1]('coll'))*(1-x[1]('coll')) + u('coll')*u('coll')) + (mul((mul((x[0:2](-1).T,m)),x[0:2](-1)))) prob.addControlObjective(f) #prob.addConstraints(x(0),[1,1,0.50]) x1 = prob.addPlantStates(3) u1 = prob.addPlantInputs(1) rhs1 = SX.zeros(3) rhs1[0] = x1[0] - x1[0]*x1[1] rhs1[1] = -x1[1] + x1[0]*x1[1] + u1*x1[2]*x1[1] rhs1[2] = -x1[2] + 0.50 prob.addPlantODEs(x1,rhs1) x0 = NP.array([1,1,0.50]) prob.setInitCondition(x0) solver = MPCsolve(prob,printlevel=0) solver.solve() solver.plotStates()# solver.plotControls()#