Dyad

Appearance

LIBRARY
Examples.ACADOSMPCTrackingExample.md

Examples.ACADOSMPCTrackingExample ​

Tracking of an angle reference with ACADOSMPC whose prediction model is the plant component itself (dynamics = plant, inputs = ["tau"]), with the angular velocity softly bounded to ±1 (a named constraint) and a real-time iteration (SQP_RTI) per tick. The reference steps from 0 to 0.5 rad at t = 1. Verified in test/test_acados_mpc.jl.

Usage ​

MPCComponents.Examples.ACADOSMPCTrackingExample()

Parameters: ​

NameDescriptionUnitsDefault value
output_trajectoriesRecord the predicted trajectories and solver residuals of the controller (for mpc_gui)–false

Variables ​

NameDescriptionUnits
thetaAngle–
omegaAngular velocity–
u1Torque–
flagacados status–

Behavior ​

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

Source ​

dyad
"""
Tracking of an angle reference with `ACADOSMPC` whose prediction model is the plant component itself
(`dynamics = plant, inputs = ["tau"]`), with the angular velocity softly bounded to ±1 (a named
constraint) and a real-time iteration (`SQP_RTI`) per tick. The reference steps from 0 to 0.5 rad at t = 1. Verified in `test/test_acados_mpc.jl`.
"""
example component ACADOSMPCTrackingExample
  periodicclock = DiscreteComponents.PeriodicClock(dt = 0.05) {
    "Dyad": {"placement": {"diagram": {"x1": 300, "y1": 100, "x2": 400, "y2": 200}}}
  }
  plant = MPCComponents.Examples.ACADOSPendulumPlant() {
    "Dyad": {"placement": {"diagram": {"x1": 700, "y1": 300, "x2": 800, "y2": 400}}}
  }
  s1 = DiscreteComponents.Sampler() {
    "Dyad": {
      "placement": {"diagram": {"x1": 500, "y1": 500, "x2": 600, "y2": 600, "rot": 180}}
    }
  }
  s2 = DiscreteComponents.Sampler() {
    "Dyad": {
      "placement": {"diagram": {"x1": 500, "y1": 650, "x2": 600, "y2": 750, "rot": 180}}
    }
  }
  s3 = DiscreteComponents.Sampler() {
    "Dyad": {"placement": {"diagram": {"x1": 100, "y1": 250, "x2": 200, "y2": 350}}}
  }
  zoh = DiscreteComponents.ZeroOrderHold() {
    "Dyad": {"placement": {"diagram": {"x1": 500, "y1": 300, "x2": 600, "y2": 400}}}
  }
  ref = BlockComponents.Sources.Step(height = 0.5, start_time = 1.0) {
    "Dyad": {"placement": {"diagram": {"x1": -100, "y1": 250, "x2": 0, "y2": 350}}}
  }
  zero = BlockComponents.Sources.Constant(k = 0.0) {
    "Dyad": {"placement": {"diagram": {"x1": -100, "y1": 550, "x2": 0, "y2": 650}}}
  }
  mpc = MPCComponents.ACADOSMPC(dynamics = plant, inputs = ["tau"], state_variables = ["th", "om"], outputs = ["theta", "omega"], Ts = 0.05, Np = 20, Q1 = diagonal([10.0, 0.1]), Q2 = diagonal([0.01]), umin = [-8.0], umax = [8.0], constrained = ["omega"], constrained_min = [-1.0], constrained_max = [1.0], nlp_solver = ACADOSSolver.SQP_RTI(), final output_trajectories = output_trajectories) {
    "Dyad": {"placement": {"diagram": {"x1": 300, "y1": 300, "x2": 400, "y2": 400}}}
  }
  "Record the predicted trajectories and solver residuals of the controller (for mpc_gui)"
  structural parameter output_trajectories::Boolean = false
  "Angle"
  variable theta::Real
  "Angular velocity"
  variable omega::Real
  "Torque"
  variable u1::Real
  "acados status"
  variable flag::Real
relations
  theta = plant.theta
  omega = plant.omega
  u1 = mpc.u[1]
  flag = mpc.exitflag
  connect(zoh.y, plant.tau)
  connect(plant.theta, s1.u)
  connect(plant.omega, s2.u)
  connect(ref.y, s3.u)
  connect(s1.y, mpc.x[1], periodicclock.y)
  connect(s2.y, mpc.x[2])
  connect(s3.y, mpc.r[1])
  connect(zero.y, mpc.r[2])
  connect(mpc.u[1], zoh.u)
metadata {"Dyad": {"doc": {"behavior": false}}}
end
Flattened Source
dyad
"""
Tracking of an angle reference with `ACADOSMPC` whose prediction model is the plant component itself
(`dynamics = plant, inputs = ["tau"]`), with the angular velocity softly bounded to ±1 (a named
constraint) and a real-time iteration (`SQP_RTI`) per tick. The reference steps from 0 to 0.5 rad at t = 1. Verified in `test/test_acados_mpc.jl`.
"""
example component ACADOSMPCTrackingExample
  periodicclock = DiscreteComponents.PeriodicClock(dt = 0.05) {
    "Dyad": {"placement": {"diagram": {"x1": 300, "y1": 100, "x2": 400, "y2": 200}}}
  }
  plant = MPCComponents.Examples.ACADOSPendulumPlant() {
    "Dyad": {"placement": {"diagram": {"x1": 700, "y1": 300, "x2": 800, "y2": 400}}}
  }
  s1 = DiscreteComponents.Sampler() {
    "Dyad": {
      "placement": {"diagram": {"x1": 500, "y1": 500, "x2": 600, "y2": 600, "rot": 180}}
    }
  }
  s2 = DiscreteComponents.Sampler() {
    "Dyad": {
      "placement": {"diagram": {"x1": 500, "y1": 650, "x2": 600, "y2": 750, "rot": 180}}
    }
  }
  s3 = DiscreteComponents.Sampler() {
    "Dyad": {"placement": {"diagram": {"x1": 100, "y1": 250, "x2": 200, "y2": 350}}}
  }
  zoh = DiscreteComponents.ZeroOrderHold() {
    "Dyad": {"placement": {"diagram": {"x1": 500, "y1": 300, "x2": 600, "y2": 400}}}
  }
  ref = BlockComponents.Sources.Step(height = 0.5, start_time = 1.0) {
    "Dyad": {"placement": {"diagram": {"x1": -100, "y1": 250, "x2": 0, "y2": 350}}}
  }
  zero = BlockComponents.Sources.Constant(k = 0.0) {
    "Dyad": {"placement": {"diagram": {"x1": -100, "y1": 550, "x2": 0, "y2": 650}}}
  }
  mpc = MPCComponents.ACADOSMPC(dynamics = plant, inputs = ["tau"], state_variables = ["th", "om"], outputs = ["theta", "omega"], Ts = 0.05, Np = 20, Q1 = diagonal([10.0, 0.1]), Q2 = diagonal([0.01]), umin = [-8.0], umax = [8.0], constrained = ["omega"], constrained_min = [-1.0], constrained_max = [1.0], nlp_solver = ACADOSSolver.SQP_RTI(), final output_trajectories = output_trajectories) {
    "Dyad": {"placement": {"diagram": {"x1": 300, "y1": 300, "x2": 400, "y2": 400}}}
  }
  "Record the predicted trajectories and solver residuals of the controller (for mpc_gui)"
  structural parameter output_trajectories::Boolean = false
  "Angle"
  variable theta::Real
  "Angular velocity"
  variable omega::Real
  "Torque"
  variable u1::Real
  "acados status"
  variable flag::Real
relations
  theta = plant.theta
  omega = plant.omega
  u1 = mpc.u[1]
  flag = mpc.exitflag
  connect(zoh.y, plant.tau)
  connect(plant.theta, s1.u)
  connect(plant.omega, s2.u)
  connect(ref.y, s3.u)
  connect(s1.y, mpc.x[1], periodicclock.y)
  connect(s2.y, mpc.x[2])
  connect(s3.y, mpc.r[1])
  connect(zero.y, mpc.r[2])
  connect(mpc.u[1], zoh.u)
metadata {"Dyad": {"doc": {"behavior": false}}}
end


Test Cases ​

No test cases defined.

  • Examples

  • Experiments

  • Analyses