LIBRARY

Examples.ACADOSMPCNestedParameterExample

Regulation of the geared pendulum to its hanging position, with the parameters of the prediction model named hierarchically. The plant ACADOSGearedPendulum carries the pendulum as a subcomponent, so its mass is link.m; tunable_parameters = ["link.m", "n"] keeps that and the gear ratio of the assembly itself symbolic in the compiled solver, and mpc.p_values holds the two values in that order, by default the ones the plant carries. Building the problem with [ssys.mpc.p_values => [1.0, 2.0]] hands the controller a link three times too light without rebuilding it, and with [3.0, 1.0] one whose gearbox is believed to transmit half the torque it does. The state variables of the subcomponent are named the same way, state_variables = ["link.th", "link.om"]. Verified in test/test_acados_mpc.jl.

Usage

MPCComponents.Examples.ACADOSMPCNestedParameterExample()

Variables

Name	Description	Units
theta	Angle	–
u1	Motor torque	–
flag	acados status	–

Behavior

Behavior of this component cannot be rendered because it includes path variables.

Source

"""
Regulation of the geared pendulum to its hanging position, with the parameters of the prediction
model named hierarchically. The plant `ACADOSGearedPendulum` carries the pendulum as a subcomponent,
so its mass is `link.m`; `tunable_parameters = ["link.m", "n"]` keeps that and the gear ratio of the
assembly itself symbolic in the compiled solver, and `mpc.p_values` holds the two values in that
order, by default the ones the plant carries. Building the problem with
`[ssys.mpc.p_values => [1.0, 2.0]]` hands the controller a link three times too light without
rebuilding it, and with `[3.0, 1.0]` one whose gearbox is believed to transmit half the torque it
does. The state variables of the subcomponent are named the same way,
`state_variables = ["link.th", "link.om"]`. Verified in `test/test_acados_mpc.jl`.
"""
example component ACADOSMPCNestedParameterExample
  periodicclock = DiscreteComponents.PeriodicClock(dt = 0.05) {
    "Dyad": {"placement": {"diagram": {"x1": 150, "y1": 200, "x2": 50, "y2": 300}}}
  }
  plant = MPCComponents.Examples.ACADOSGearedPendulum(theta0 = 0.7853981633974483) {
    "Dyad": {"placement": {"diagram": {"x1": 700, "y1": 300, "x2": 800, "y2": 400}}}
  }
  s1 = DiscreteComponents.Sampler() {
    "Dyad": {
      "placement": {"diagram": {"x1": 500, "y1": 570, "x2": 600, "y2": 670, "rot": 180}}
    }
  }
  s2 = DiscreteComponents.Sampler() {
    "Dyad": {
      "placement": {"diagram": {"x1": 500, "y1": 450, "x2": 600, "y2": 550, "rot": 180}}
    }
  }
  zoh = DiscreteComponents.ZeroOrderHold() {
    "Dyad": {"placement": {"diagram": {"x1": 500, "y1": 300, "x2": 600, "y2": 400}}}
  }
  mpc = MPCComponents.ACADOSMPC(dynamics = plant, inputs = ["tau"], tunable_parameters = ["link.m", "n"], state_variables = ["link.th", "link.om"], outputs = ["theta", "omega"], Ts = 0.05, Np = 40, Q1 = diagonal([10.0, 1.0]), Q2 = diagonal([0.1]), umin = [-12.5], umax = [12.5], reference_tracking = false) {
    "Dyad": {"placement": {"diagram": {"x1": 300, "y1": 300, "x2": 400, "y2": 400}}}
  }
  "Angle"
  variable theta::Real
  "Motor torque"
  variable u1::Real
  "acados status"
  variable flag::Real
relations
  theta = plant.theta
  u1 = mpc.u[1]
  flag = mpc.exitflag
  connect(zoh.y, plant.tau)
  connect(plant.theta, s1.u) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 880, "y": 335}, {"x": 880, "y": 620}], "E": 2}],
      "path": {}
    }
  }
  connect(plant.omega, s2.u) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 830, "y": 365}, {"x": 830, "y": 500}], "E": 2}],
      "path": {}
    }
  }
  connect(s1.y, mpc.x[1], periodicclock.y) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [{"x": 260, "y": 620}, {"x": 260, "y": 350}], "E": 2},
        {"S": 2, "M": [{"x": 260, "y": 350}, {"x": 260, "y": 250}], "E": 3}
      ],
      "path": {}
    }
  }
  connect(s2.y, mpc.x[2]) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 280, "y": 500}, {"x": 280, "y": 350}], "E": 2}],
      "path": {}
    }
  }
  connect(mpc.u[1], zoh.u) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 450, "y": 373}, {"x": 450, "y": 350}], "E": 2}],
      "path": {}
    }
  }
metadata {"Dyad": {"doc": {"behavior": false}}}
end

Flattened Source

"""
Regulation of the geared pendulum to its hanging position, with the parameters of the prediction
model named hierarchically. The plant `ACADOSGearedPendulum` carries the pendulum as a subcomponent,
so its mass is `link.m`; `tunable_parameters = ["link.m", "n"]` keeps that and the gear ratio of the
assembly itself symbolic in the compiled solver, and `mpc.p_values` holds the two values in that
order, by default the ones the plant carries. Building the problem with
`[ssys.mpc.p_values => [1.0, 2.0]]` hands the controller a link three times too light without
rebuilding it, and with `[3.0, 1.0]` one whose gearbox is believed to transmit half the torque it
does. The state variables of the subcomponent are named the same way,
`state_variables = ["link.th", "link.om"]`. Verified in `test/test_acados_mpc.jl`.
"""
example component ACADOSMPCNestedParameterExample
  periodicclock = DiscreteComponents.PeriodicClock(dt = 0.05) {
    "Dyad": {"placement": {"diagram": {"x1": 150, "y1": 200, "x2": 50, "y2": 300}}}
  }
  plant = MPCComponents.Examples.ACADOSGearedPendulum(theta0 = 0.7853981633974483) {
    "Dyad": {"placement": {"diagram": {"x1": 700, "y1": 300, "x2": 800, "y2": 400}}}
  }
  s1 = DiscreteComponents.Sampler() {
    "Dyad": {
      "placement": {"diagram": {"x1": 500, "y1": 570, "x2": 600, "y2": 670, "rot": 180}}
    }
  }
  s2 = DiscreteComponents.Sampler() {
    "Dyad": {
      "placement": {"diagram": {"x1": 500, "y1": 450, "x2": 600, "y2": 550, "rot": 180}}
    }
  }
  zoh = DiscreteComponents.ZeroOrderHold() {
    "Dyad": {"placement": {"diagram": {"x1": 500, "y1": 300, "x2": 600, "y2": 400}}}
  }
  mpc = MPCComponents.ACADOSMPC(dynamics = plant, inputs = ["tau"], tunable_parameters = ["link.m", "n"], state_variables = ["link.th", "link.om"], outputs = ["theta", "omega"], Ts = 0.05, Np = 40, Q1 = diagonal([10.0, 1.0]), Q2 = diagonal([0.1]), umin = [-12.5], umax = [12.5], reference_tracking = false) {
    "Dyad": {"placement": {"diagram": {"x1": 300, "y1": 300, "x2": 400, "y2": 400}}}
  }
  "Angle"
  variable theta::Real
  "Motor torque"
  variable u1::Real
  "acados status"
  variable flag::Real
relations
  theta = plant.theta
  u1 = mpc.u[1]
  flag = mpc.exitflag
  connect(zoh.y, plant.tau)
  connect(plant.theta, s1.u) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 880, "y": 335}, {"x": 880, "y": 620}], "E": 2}],
      "path": {}
    }
  }
  connect(plant.omega, s2.u) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 830, "y": 365}, {"x": 830, "y": 500}], "E": 2}],
      "path": {}
    }
  }
  connect(s1.y, mpc.x[1], periodicclock.y) {
    "Dyad": {
      "edges": [
        {"S": 1, "M": [{"x": 260, "y": 620}, {"x": 260, "y": 350}], "E": 2},
        {"S": 2, "M": [{"x": 260, "y": 350}, {"x": 260, "y": 250}], "E": 3}
      ],
      "path": {}
    }
  }
  connect(s2.y, mpc.x[2]) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 280, "y": 500}, {"x": 280, "y": 350}], "E": 2}],
      "path": {}
    }
  }
  connect(mpc.u[1], zoh.u) {
    "Dyad": {
      "edges": [{"S": 1, "M": [{"x": 450, "y": 373}, {"x": 450, "y": 350}], "E": 2}],
      "path": {}
    }
  }
metadata {"Dyad": {"doc": {"behavior": false}}}
end

Test Cases

No test cases defined.

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