What am I doing wrong below? I have installed Anaconda on my Mac and Numba along with it. I am trying to run Numba on my Python code, following the instructions given in the section Python with Numba here: https://www.continuum.io/blog/developer/accelerating-python-libraries-numba-part-1
I need to run this code overnight by changing zzzz from 5 to 40. I am just using zzzz = 5 now as a test case. Here is my code:
import numpy as np
import matplotlib.pyplot as plt
from scipy.integrate import odeint
from numba import double
from numba.decorators import jit, autojit
#jit
def Kcrit():
# The data of the plot will be added in these lists
x_data_plot=[]
y_data_plot=[]
zzzz = 5
for N in range(2,zzzz,2):
#Constants and parameters
epsilon = 0.01
if N in range(2,11,2):
K00 = np.logspace(0,3,100,10)
elif N in range(12,21,2):
K00 = np.logspace(3,3.75,100,10)
elif N in range(22,31,2):
K00 = np.logspace(3.75,4.15,100,10)
else:
K00 = np.logspace(4.15,4.5,100,10)
len1 = len(K00)
y0 = [0]*(3*N/2+3)
Kplot = np.zeros((len1,1))
Pplot = np.zeros((len1,1))
S = [np.zeros((len1,1)) for kkkk in range(N/2+1)]
KS = [np.zeros((len1,1)) for kkkk in range(N/2)]
PS = [np.zeros((len1,1)) for kkkk in range(N/2)]
Splot = [np.zeros((len1,1)) for kkkk in range(N/2+1)]
KSplot = [np.zeros((len1,1)) for kkkk in range(N/2)]
PSplot = [np.zeros((len1,1)) for kkkk in range(N/2)]
for series in range(0,len1):
K0 = K00[series]
Q = 10
r1 = 0.0001
r2 = 0.001
a = 0.001
d = 0.001
k = 0.999
S10 = 1e5
P0 = 1
tf = 1e10
time = np.linspace(0,tf,len1)
#Defining dy/dt's
def f(y,t):
for alpha in range(0,(N/2+1)):
S[alpha] = y[alpha]
for beta in range((N/2)+1,N+1):
KS[beta-N/2-1] = y[beta]
for gamma in range(N+1,3*N/2+1):
PS[gamma-N-1] = y[gamma]
K = y[3*N/2+1]
P = y[3*N/2+2]
# The model equations
ydot = np.zeros((3*N/2+3,1))
B = range((N/2)+1,N+1)
G = range(N+1,3*N/2+1)
runsumPS = 0
runsum1 = 0
runsumKS = 0
runsum2 = 0
for m in range(0,N/2):
runsumPS = runsumPS + PS[m]
runsum1 = runsum1 + S[m+1]
runsumKS = runsumKS + KS[m]
runsum2 = runsum2 + S[m]
ydot[B[m]] = a*K*S[m]-(d+k+r1)*KS[m]
for i in range(0,N/2-1):
ydot[G[i]] = a*P*S[i+1]-(d+k+r1)*PS[i]
for p in range(1,N/2):
ydot[p] = -S[p]*(r1+a*K+a*P)+k*KS[p-1]+d*(PS[p-1]+KS[p])
ydot[0] = Q-(r1+a*K)*S[0]+d*KS[0]+k*runsumPS
ydot[N/2] = k*KS[N/2-1]-(r2+a*P)*S[N/2]+d*PS[N/2-1]
ydot[G[N/2-1]] = a*P*S[N/2]-(d+k+r2)*PS[N/2-1]
ydot[3*N/2+1] = (d+k+r1)*runsumKS-a*K*runsum2
ydot[3*N/2+2] = (d+k+r1)*(runsumPS-PS[N/2-1])- \
a*P*runsum1+(d+k+r2)*PS[N/2-1]
ydot_new = []
for j in range(0,3*N/2+3):
ydot_new.extend(ydot[j])
return ydot_new
# Initial conditions
y0[0] = S10
for i in range(1,3*N/2+1):
y0[i] = 0
y0[3*N/2+1] = K0
y0[3*N/2+2] = P0
# Solve the DEs
soln = odeint(f,y0,time, mxstep = 5000)
for alpha in range(0,(N/2+1)):
S[alpha] = soln[:,alpha]
for beta in range((N/2)+1,N+1):
KS[beta-N/2-1] = soln[:,beta]
for gamma in range(N+1,3*N/2+1):
PS[gamma-N-1] = soln[:,gamma]
for alpha in range(0,(N/2+1)):
Splot[alpha][series] = soln[len1-1,alpha]
for beta in range((N/2)+1,N+1):
KSplot[beta-N/2-1][series] = soln[len1-1,beta]
for gamma in range(N+1,3*N/2+1):
PSplot[gamma-N-1][series] = soln[len1-1,gamma]
u1 = 0
u2 = 0
u3 = 0
for alpha in range(0,(N/2+1)):
u1 = u1 + Splot[alpha]
for beta in range((N/2)+1,N+1):
u2 = u2 + KSplot[beta-N/2-1]
for gamma in range(N+1,3*N/2+1):
u3 = u3 + PSplot[gamma-N-1]
K = soln[:,3*N/2+1]
P = soln[:,3*N/2+2]
Kplot[series] = soln[len1-1,3*N/2+1]
Pplot[series] = soln[len1-1,3*N/2+2]
utot = u1+u2+u3
#Plot
Kcrit = abs((Q/r2)*(1+epsilon)-utot)
v,i = Kcrit.min(0),Kcrit.argmin(0)
# Save the new points for x and y
x_data_plot.append(N)
y_data_plot.append(K00[i])
# Make the plot of all the points together
plt.plot(x_data_plot,y_data_plot)
plt.xlabel('N', fontsize = 20)
plt.ylabel('$K_{crit}$', fontsize = 20)
plt.show()
This is what I typed in the terminal:
from numba import autojit
numba_k = autojit()(Kcrit)
This is my error message:
Traceback (most recent call last):
File "<stdin>", line 1, in <module>
NameError: name 'Kcrit' is not defined
Note that I am not asking whether Numba will actually speed up my code (that is an entirely different issue). I am just asking how to run it!
Help appreciated.
Related
I am trying to use GEKKO for fitting and function parameters estimation.
I need to use arrays of variables and arrays of intermediate-type variables because of changing number of parameters to fit.
And got an error I think in a model.
apm some_ip_here_gk_model14 <br><pre> ----------------------------------------------------------------
APMonitor, Version 1.0.1
APMonitor Optimization Suite
----------------------------------------------------------------
--------- APM Model Size ------------
Each time step contains
Objects : 0
Constants : 2
Variables : 15
Intermediates: 22
Connections : 0
Equations : 24
Residuals : 2
#error: Model Expression
*** Error in syntax of function string: Invalid element: none
Position: 1
none
?
how to check what is this error?
I am running this code in jupyter notebook and I tried to look apm file - didn't find it in the folder where this jupyter notebook is situated. Where should I search?
Here is the code.
import numpy as np
from gekko import GEKKO
import math
M = 10; m = 1; gj =1; n = 1
num_pulses_in_window = 4
сonstant = 1; ac = 1
el_init_guess = [1,2,3,4]
borders_left = [1,2,3,4]
borders_right = [1,2,3,4]
A1_c = (M/(M+m))*сonstant
gj_c = gj
# using GEKKO for preliminary estomation
xData = np.array([1,2,3,4])
yData = np.array([2.5,1.2,3.2,1.1])
model = GEKKO()
# parameters
x = model.Param(value = xData)
z = model.Param(value = yData)
# constants
A1 = model.Const(A1_c)
gj = model.Const(gj_c)
# variables
E = model.Array(model.Var, num_pulses_in_window)
G1 = model.Array(model.Var, num_pulses_in_window)
G2 = model.Array(model.Var, num_pulses_in_window)
Gg = model.Array(model.Var, num_pulses_in_window)
#Intermediates
k_alfa = model.Intermediate(A1*model.sqrt(x))
ro = model.Intermediate(k_alfa*ac)
phi = model.Intermediate(ro)
G = model.Array(model.Intermediate, num_pulses_in_window, equation=None)
d = model.Array(model.Intermediate, num_pulses_in_window, equation=None)
f = model.Array(model.Intermediate, num_pulses_in_window, equation=None)
for i in range(0, num_pulses_in_window):
E[i].value = el_init_guess[i]
E[i].lower = borders_left[i]
E[i].upper = borders_right[i]
#G1
G1[i].lower = 0.0000001
G1[i].upper = 1
#G2
G2[i].lower = 0
G2[i].upper = 0
#Gg
Gg[i].lower = 0.0000001
Gg[i].upper = 1
G[i] = model.Intermediate(G1[i]+G2[i]+Gg[i])
d[i] = model.Intermediate((E[i]-x)**2+(G[i]/2)**2)
f[i] = model.Intermediate((1-(1-(G[i]*G1[i]/(2*d[i])))*model.cos(2*phi)-((E[i]-x)*G[i]/d[i])*model.sin(2*phi)))
sigma_sum = model.Intermediate(2*math.pi*gj/k_alfa * (model.sum(f)))
y = model.Var()
model.Equation(y == model.exp(-n*sigma_sum))
model.Minimize(((y-z))**2)
model.options.IMODE = 2
model.options.SOLVER = 3
model.options.MAX_ITER = 1000
model.solve(disp=1)
Intermediates are not defined with m.Array() because they are defined with the m.Intermediate() method. Try using an empty list instead:
G = [None]*num_pulses_in_window
d = [None]*num_pulses_in_window
f = [None]*num_pulses_in_window
For troubleshooting, open the run folder with model.open_folder() and inspect gk_model0.apm with a text editor. This is a plain text version of the model. The 4th and onward intermediates are not defined correctly.
Model
Constants
i0 = 0.9090909090909091
i1 = 1
End Constants
Parameters
p1
p2
End Parameters
Variables
v1 = 1, <= 1, >= 1
v2 = 2, <= 2, >= 2
v3 = 3, <= 3, >= 3
v4 = 4, <= 4, >= 4
...
v13 = 0, <= 1, >= 1e-07
v14 = 0, <= 1, >= 1e-07
v15 = 0, <= 1, >= 1e-07
v16 = 0, <= 1, >= 1e-07
v17 = 0
End Variables
Intermediates
i2=((i0)*(sqrt(p1)))
i3=((i2)*(1))
i4=i3
i5=None
i6=None
i7=None
i8=None
i9=None
...
Here is a script that runs successfully:
import numpy as np
from gekko import GEKKO
import math
M = 10; m = 1; gj =1; n = 1
num_pulses_in_window = 4
сonstant = 1; ac = 1
el_init_guess = [1,2,3,4]
borders_left = [1,2,3,4]
borders_right = [1,2,3,4]
A1_c = (M/(M+m))*сonstant
gj_c = gj
# using GEKKO for preliminary estomation
xData = np.array([1,2,3,4])
yData = np.array([2.5,1.2,3.2,1.1])
model = GEKKO()
# parameters
x = model.Param(value = xData)
z = model.Param(value = yData)
# constants
A1 = model.Const(A1_c)
gj = model.Const(gj_c)
# variables
E = model.Array(model.Var, num_pulses_in_window)
G1 = model.Array(model.Var, num_pulses_in_window)
G2 = model.Array(model.Var, num_pulses_in_window)
Gg = model.Array(model.Var, num_pulses_in_window)
#Intermediates
k_alfa = model.Intermediate(A1*model.sqrt(x))
ro = model.Intermediate(k_alfa*ac)
phi = model.Intermediate(ro)
G = [None]*num_pulses_in_window
d = [None]*num_pulses_in_window
f = [None]*num_pulses_in_window
for i in range(0, num_pulses_in_window):
E[i].value = el_init_guess[i]
E[i].lower = borders_left[i]
E[i].upper = borders_right[i]
#G1
G1[i].lower = 0.0000001
G1[i].upper = 1
#G2
G2[i].lower = 0
G2[i].upper = 0
#Gg
Gg[i].lower = 0.0000001
Gg[i].upper = 1
G[i] = model.Intermediate(G1[i]+G2[i]+Gg[i])
d[i] = model.Intermediate((E[i]-x)**2+(G[i]/2)**2)
f[i] = model.Intermediate((1-(1-(G[i]*G1[i]/(2*d[i])))*model.cos(2*phi)-((E[i]-x)*G[i]/d[i])*model.sin(2*phi)))
sigma_sum = model.Intermediate(2*math.pi*gj/k_alfa * (model.sum(f)))
y = model.Var()
model.Equation(y == model.exp(-n*sigma_sum))
model.Minimize(((y-z))**2)
model.options.IMODE = 2
model.options.SOLVER = 3
model.options.MAX_ITER = 1000
model.solve(disp=1)
Don't forget to include dummy values in your script so that it runs and produces the error. I edited the question to include sample values in your question:
M = 10; m = 1; gj =1; n = 1
num_pulses_in_window = 4
сonstant = 1; ac = 1
el_init_guess = [1,2,3,4]
borders_left = [1,2,3,4]
borders_right = [1,2,3,4]
A1_c = (M/(M+m))*сonstant
gj_c = gj
# using GEKKO for preliminary estomation
xData = np.array([1,2,3,4])
yData = np.array([2.5,1.2,3.2,1.1])
I am trying to implement a pso algorithm from Wikipedia https://en.wikipedia.org/wiki/Particle_swarm_optimization.
My problem is that when I am calling the cost function with a variable (Gbest), and then manually calling the cost function (with the Gbest data) I get a different output (cost) like the image bellow:
Code fault
I am new to python so thank you for any suggestions.
Here is the complete code:
import matplotlib.pyplot as plt
import numpy as np
from control.matlab import *
A = np.array([[0,0,1],[0,1,0],[1,2,-2]])
B = np.array( [[0],[1],[0]])
C = np.array([[0, 1,0]])
D = np.zeros([C.shape[0],B.shape[1]])
sys = ss(A,B,C,D)
sys_tf = tf(sys)
s = tf('s')
def cost(kp,ki):
global sys_tf, G, y, t, r
G = kp + ki/s
C = feedback(sys_tf*G, 1)
y, t = step(C, linspace(0,100))
r = np.ones(len(t))
return np.sum(y-r)**2
part = 100
ite = 10000
dim = 2
w = 0.001
wdamp = 0.99
phip = 0.9
phig = 0.1
blo, bup = -10,10
x = np.zeros([dim, part])
v = np.zeros([dim, part])
pbest = np.zeros([dim, part])
gbest = np.array([1000000,1000000])
for i in range(part):
for k in range(dim):
x[k][i] = pbest[k][i] = np.random.uniform(blo, bup)
v[k][i] = np.random.uniform(-np.abs(bup - blo), np.abs(bup - blo))
if cost(pbest[0][i], pbest[1][i]) < cost(gbest[0], gbest[1]):
gbest = np.array([pbest[0][i], pbest[1][i]])
for it in range(ite):
for i in range(part):
for k in range(dim):
rp = np.random.uniform(0,1)
rg = np.random.uniform(0,1)
v[k,:] = w*v[k,:] + phip*rp*(pbest[k,:] - x[k,:]) + phig*rg*(gbest[k] - x[k,:])
x[k,:] = x[k,:] + v[k,:]
w = w*wdamp
if cost(x[0][i], x[1][i]) < cost(pbest[0][i], pbest[1][i]):
pbest[:,i] = x[:,i]
if cost(pbest[0][i], pbest[1][i]) < cost(gbest[0], gbest[1]):
gbest = np.array([pbest[0][i], pbest[1][i]])
plt.plot(t, y, 'ro')
plt.plot(t, r, 'x')
plt.pause(0.005)
plt.title(gbest)
print([gbest, cost(gbest[0], gbest[1])])
I'm trying solve a system of coupled ordinary differential equations, formed by 7 ODEs in python, using solve_ivp or either implement a fuction for RK4.
The general physical problem is as follows:
Cooling of photovoltaic modules with heat exchanger coupling to the module. In this way, the module generates electrical energy and thermal energy.
I have a polynomial function, G(t) = 9.8385e-13*t^4 - 1.82918e-8*t^3 + 5.991355e-05*t^2 + 2.312059e-1*t + 25, which works for an approximate range of 0 < t < 9000, which represents solar radiation as a function of time of day.
This function was obtained through a "polyfit" applied to real data (file upload here. Its a CSV - https://files.fm/u/9y4evkf6c).
This function is used as input for the ODEs, which represent an electrical and a thermal system as a function of time.
To solve the electrical model, I created some scripts that solve the diode equation for the photovoltaic module in question, and the output of this script is the photovoltaic power (called in the PPV thermal model) generated as a function of the module temperature and radiation. This script works great and solves part of my problem.
My difficulty lies in solving the equations of the thermal model, which receives as input parameters G(t) and PPV.
The equations result in this system:
System of EDOS
Labels:
Tvidro = Tglass = T1
Tcel = Tpv = T2
Ttedlar = T3
Tabs = Tabsorber = T4
Ttubo = Ttube = T5
Tfsai = Tfluid_out = T6
Tiso = Tinsulation = T7
Using method/function for RK4, the complete code is like this (you can go direct to part "#DEFINE MODEL EQUATIONS - ODES)" :
import numpy as np
import matplotlib.pyplot as plt
import csv
from numpy.polynomial.polynomial import polyval
############################################################
with open('directory of data called teste_dados_radiacao',"r") as i:
rawdata = list(csv.reader(i, delimiter = ";"))
exampledata = np.array(rawdata[1:], dtype=float)
xdata = exampledata[:,0]
ydata = exampledata[:,1]
curve = np.array(np.polyfit(xdata, ydata, 4))
rev_curve = np.array(list(reversed(curve)), dtype=float)
print(rev_curve)
#G_ajustado = polyval(xdata, rev_curve)
""" plt.plot(xdata, ydata, label = "dados experimentais")
plt.plot(xdata, model, label = "model")
plt.legend()
plt.show() """
#############################################################
#CONSTANTS
Tamb = 25 #°C #ambient temperatura
SIGMA = 5.67e-8 #W/m2K4
E_VIDRO = 0.90 #between 0.85 e 0.83 #nasrin2017 0.04
VENTO = 2 #m/s
T_GROUND = Tamb + 2 #°C
T_CEU = 0.00552*Tamb**1.5
Vf = 1 #m/s
Do = 10e-3 #m
Di = 8e-3 #m
NS = 6*10 #number of cells
T_F_ENT = 20 #°C
#INPUTS
Tcel = 25
Tv = 25
Tiso = 30
Av = 1.638*0.982
ALPHA_VIDRO = 0.9
L_VIDRO = 3e-3 #m
RHO_VIDRO = 2500 #kg/m3
M_VIDRO = Av*L_VIDRO*RHO_VIDRO #kg
CP_VIDRO = 500 #j/kgK
K_VIDRO = 2 #W/mK
TAU_VIDRO = 0.95
Pac = 0.85
H_CELL = 0.156 #m
A_CELL = NS*H_CELL**2
ALPHA_CELL = 0.9
L_CEL = 3e-3
RHO_CEL = 2330
M_CEL = A_CELL*L_CEL*RHO_CEL #kg - estimated
CP_CEL = 900 #J/kgK
K_CEL = 140 #W/mK
BETA_T = 0.43/100 # %/°C
N_ELE_REF = 0.1368 #13.68%
N_ELE = N_ELE_REF*(1 - BETA_T*(Tcel - 25)) #273 + 25 - tcel kelvin
A_tedlar = Av
L_TEDLAR = 0.33e-3
RHO_TEDLAR = 1500
M_TEDLAR = Av*L_TEDLAR*RHO_TEDLAR
CP_TEDLAR = 1090 #1090 OU 2090
K_TEDLAR = 0.35
ALPHA_TEDLAR = 0.34 #doc nasa ou zero
#parameters
RHO_ABS = 2700
A_ABS = Av
CP_ABS =900
L_ABS = 3e-3 #mm
M_ABS = A_ABS*RHO_ABS*L_ABS
K_ABS = 300
A_ABS_TUBO = 10*1.60*0.01+0.154*9*0.01
A_ABS_ISO = Av-A_ABS_TUBO
RHO_TUBO = 2700
CP_TUBO = 900
N_TUBOS = 10
L_TUBO = N_TUBOS*1.6
M_TUBO = RHO_TUBO*L_TUBO*(3.1415/4)*(Do**2 - Di**2)
K_TUBO = 300
A_TUBO_F = 0.387 #pi*Di*(L*10 VOLTAS + R(156MM)*9)
A_TUBO_ISO = 0.484 #pi*Do*(L*10 VOLTAS + R(156MM)*9)
A_ISO = Av
RHO_ISO = 50
L_ISO = 40e-3
M_ISO = A_ISO*RHO_ISO*L_ISO
CP_ISO = 670
K_ISO = 0.0375
E_ISO = 0.75 #ESTIMATED
RHO_FLUIDO = 997
M_FLUIDO = L_TUBO*(3.1415/4)*Di**2*RHO_FLUIDO
CP_FLUIDO = 4186 #j/kgK
MI_FLUIDO = 0.890e-3 #Pa*s ou N/m2 * s
K_FLUIDO = 0.607
M_PONTO = 0.05 #kg/s ou 0.5 kg/m3
#DIMENSIONLESS
Pr = CP_FLUIDO*MI_FLUIDO/K_FLUIDO #water 25°C
Re = RHO_FLUIDO*Vf*Di/MI_FLUIDO
if (Re<=2300):
Nuf = 4.364
else:
Nuf = 0.023*(Re**0.8)*(Pr*0.4)*Re
#COEFFICIENTS
h_rad_vidro_ceu = SIGMA*E_VIDRO*(Tv**2 - T_CEU)*(Tv + T_CEU)
h_conv_vidro_amb = 2.8 + 3*VENTO
h_conv_tubo_fluido = 0.5*30#Nuf
h_cond_vidro_cel = 1/((L_VIDRO/K_VIDRO) + (L_CEL/K_CEL))
h_cond_cel_tedlar = 1/((L_TEDLAR/K_TEDLAR) + (L_CEL/K_CEL))
h_cond_tedlar_abs = 1/((L_TEDLAR/K_TEDLAR) + (L_ABS/K_ABS))
h_cond_abs_tubo = 1/((L_TUBO/K_TUBO) + (L_ABS/K_ABS))
h_cond_abs_iso = 1/((L_ISO/K_ISO) + (L_ABS/K_ABS))
h_cond_tubo_iso = 1/((L_ISO/K_ISO) + (L_TUBO/K_TUBO))
h_conv_iso_amb = h_conv_vidro_amb
h_rad_iso_ground = SIGMA*E_ISO*(Tiso**2 - T_GROUND**2)*(Tiso + T_GROUND)
#GROUPS
A1 = (1/(M_VIDRO*CP_VIDRO))*(ALPHA_VIDRO*Av)#*G(t)) G_ajustado = polyval(dt,rev_curve)
A2 = (1/(M_VIDRO*CP_VIDRO))*(Av*(h_rad_vidro_ceu + h_conv_vidro_amb + h_cond_vidro_cel))
A3 = (1/(M_VIDRO*CP_VIDRO))*Av*h_cond_vidro_cel
A4 = (1/(M_VIDRO*CP_VIDRO))*Av*(h_conv_vidro_amb + h_rad_vidro_ceu)
A5 = (1/(M_CEL*CP_CEL))*(Pac*A_CELL*TAU_VIDRO*ALPHA_CELL) #*G(t)
A6 = -1*A5*N_ELE #*G(t)
A7 = (1/(M_CEL*CP_CEL))*A_CELL*h_cond_vidro_cel
A8 = (1/(M_CEL*CP_CEL))*A_CELL*(h_cond_vidro_cel + h_cond_cel_tedlar)
A9 = (1/(M_CEL*CP_CEL))*A_CELL*h_cond_cel_tedlar
A10 = (1/(M_TEDLAR*CP_TEDLAR))*A_tedlar*(1 - Pac)*TAU_VIDRO*ALPHA_TEDLAR#G(t)
A11 = (1/(M_TEDLAR*CP_TEDLAR))*A_tedlar*(h_cond_cel_tedlar + h_cond_tedlar_abs)
A12 = (1/(M_TEDLAR*CP_TEDLAR))*A_tedlar*h_cond_cel_tedlar
A13 = (1/(M_TEDLAR*CP_TEDLAR))*A_tedlar*h_cond_tedlar_abs
A14 = (1/(M_ABS*CP_ABS))*A_ABS*h_cond_tedlar_abs
A15 = (1/(M_ABS*CP_ABS))*(A_ABS*h_cond_tedlar_abs + A_ABS_TUBO*h_cond_abs_tubo + A_ABS_ISO*h_cond_abs_iso)
A16 = (1/(M_ABS*CP_ABS))*A_ABS_TUBO*h_cond_abs_tubo
A17 = (1/(M_ABS*CP_ABS))*A_ABS_ISO*h_cond_abs_iso
A18 = (1/(M_TUBO*CP_TUBO))*A_ABS_TUBO*h_cond_abs_tubo
A19 = (1/(M_TUBO*CP_TUBO))*(A_ABS_TUBO*h_cond_abs_tubo + A_TUBO_F*h_conv_tubo_fluido + A_TUBO_ISO*h_cond_tubo_iso)
A20 = (1/(M_TUBO*CP_TUBO))*A_TUBO_F*h_conv_tubo_fluido*0.5
A21 = (1/(M_TUBO*CP_TUBO))*A_TUBO_ISO*h_cond_tubo_iso
A22 = (1/(M_FLUIDO*CP_FLUIDO))*A_TUBO_F*h_conv_tubo_fluido
A23 = (1/(M_FLUIDO*CP_FLUIDO))*(A_TUBO_F*h_conv_tubo_fluido*0.5 + M_PONTO*CP_FLUIDO)
A24 = (1/(M_FLUIDO*CP_FLUIDO))*(T_F_ENT*(M_PONTO*CP_FLUIDO - h_conv_tubo_fluido*A_TUBO_F*0.5))
A25 = (1/(M_ISO*CP_ISO))*A_ABS_ISO*h_cond_abs_iso
A26 = (1/(M_ISO*CP_ISO))*(A_ABS_ISO*h_cond_abs_iso + A_TUBO_ISO*h_cond_tubo_iso + A_ISO*h_conv_iso_amb + A_ISO*h_rad_iso_ground)
A27 = (1/(M_ISO*CP_ISO))*A_TUBO_ISO*h_cond_tubo_iso
A28 = (1/(M_ISO*CP_ISO))*A_ISO*(h_conv_iso_amb*Tamb + h_rad_iso_ground*T_GROUND)
#DEFINE MODEL EQUATIONS - ODES - (GLASS, PV CELL, TEDLAR, ABSORBER, TUBE, FLUID, INSULATION) # dT1dt = A1*G_ajustado - A2*x[0] + A3*x[1] + A4 # dT2dt = A5*G_ajustado - A6*G_ajustado + A7*x[0] - A8*x[1] + A9*x[2]# dT3dt = A10*G_ajustado - A11*x[2] + A12*x[1] +A13*x[3]
def SysEdo(x, k):#tv-x[0] tcel-x[1] ttedlar-x[2] tabs-x[3] ttubo-x[4] tiso-x[5] tfs-x[6]
dT1dt = A1*polyval(k,rev_curve) - A2*x[0] + A3*x[1] + A4
dT2dt = A5*polyval(k,rev_curve) - A6*polyval(k,rev_curve) + A7*x[0] - A8*x[1] + A9*x[2]
dT3dt = A10*polyval(k,rev_curve) - A11*x[2] + A12*x[1] +A13*x[3]
dT4dt = A14*x[2] - A15*x[3] + A16*x[4] + A17*x[5]
dT5dt = A18*x[3] - A19*x[4] + A20*x[6] + A20*T_F_ENT + A21*x[5]
dT6dt = A22*x[4] - A23*x[6] + A24
dT7dt = A25*x[3] - A26*x[5] + A27*x[4] + A28
Tdot = np.array([dT1dt, dT2dt, dT3dt, dT4dt, dT5dt, dT6dt, dT7dt])
return Tdot
#RungeKutta4
def RK4(f, x0, t0, tf, dt):
t = np.arange(t0, tf, dt) #time vector
nt = t.size #lenght of time vector
nx = x0.size #length of state variables?
x = np.zeros((nx,nt)) #initialize 2D vector
x[:,0] = x0 #initial conditions
#RK4 constants
for k in range(nt-1):
k1 = dt*f(t[k], x[:,k],k)
k2 = dt*f(t[k] + dt/2, x[:,k] + k1/2, k)
k3 = dt*f(t[k] + dt/2, x[:,k] + k2/2, k)
k4 = dt*f(t[k] + dt, x[:,k] + k3, k)
dx = (k1 + 2*k2 + 2*k2 + k4)/6
x[:,k+1] = x[:,k] + dx
return x,t
#Define problems
f = lambda t, x, k : SysEdo(x, k)
#initial state - t0 is initial time - tf is final time - dt is time step
x0 = np.array([30, 30, 30, 30, 30, 30, 30])
t0 = 0
tf = 1000
dt = 1
#EDO SOLVE
x, t = RK4(f, x0, t0, tf, dt)
plt.figure()
plt.plot(t, x[0], '-', label='Tvidro')
"""
plt.plot(t, x[1], '-', label='Tpv')
plt.plot(t, x[2], '-', label='Ttedlar')
plt.plot(t, x[3], '-', label='Tabs')
plt.plot(t, x[4], '-', label='Tiso')
plt.plot(t, x[5], '-', label='Ttubo')
plt.plot(t, x[6], '-', label='Tfsai')"""
plt.title('Gráfico')
plt.legend(['Tvidro', 'Tpv', 'Ttedlar', 'Tabs', 'Tiso', 'Ttubo', 'Tfsai'], shadow=False)
plt.xlabel('t (s)')
plt.ylabel('Temperatura (°C)')
plt.xlim(0,20)
plt.ylim(0,150)
plt.grid('on')
plt.show()
Thank you in advance, I am also open to completely start the implementation from scratch if there is a better way to do this with python or matlab.
You can just replace
x, t = RK4(f, x0, t0, tf, dt)
with
t = arange(t0,tf+0.5*dt,dt)
res = solve_ivp(f,(t0,tf),x0,t_eval=t,args=(k,), method="DOP853", atol=1e-6,rtol=1e-8)
x = res.y[0]
Adapt the last 3 parameters to your liking.
I am testing some equations of motion with odeint. I am trying to integrate and test these while saying my control (us) is 0 the whole time. However, I get the above-mentioned error, and I do not understand why. Any advice is much appreciated!
import matplotlib.pyplot as plt
import numpy as np
from scipy.integrate import odeint
from scipy.interpolate import interp1d
import pickle
Ro = 6371000 #m
hs = -7254.24 #m scale height
rhosl = 1.225 #kg^3
Aref = 250 #m^2
m = 92079 #kg mass of vehicle
#cl and cd spline
dat = pickle.load(open('clp.pkl','rb'))
AOA =dat[0]
cl = dat[1]
cd = dat[2]
AOAnew = AOA.tolist()
cl1 = cl.tolist()
cd1 = cd.tolist()
clnew = interp1d(AOAnew,cl1,kind='linear')
cdnew = interp1d(AOAnew,cd1,kind='linear')
def rhos(h):
rho = rhosl*np.exp((hs)/h)
return rho
def f(t,xs):
r,theta,phi,V,gamma,psi = xs
L = Ro*(rhos(r))*V**2*Aref*(clnew(gamma))/(2*m)
D = Ro*(rhos(r))*V**2*Aref*(cdnew(gamma))/(2*m)
us = 0
drdot = V*np.sin(gamma)
dthetadot = (V*np.cos(gamma)*np.sin(gamma))/(r*np.cos(phi))
dphidot = (V*np.cos(gamma)*np.cos(psi))/r
dVdot = -D - np.sin(gamma/r**2)
dgammadot = (L*np.cos(us)/V) + (V**2 - (1/r))*np.cos(gamma/(V*r))
dpsidot = L*np.sin(us)/(V*np.cos(gamma)) + V*np.cos(gamma)*np.sin(psi)*np.tan(phi/r)
return [drdot,dthetadot,dphidot,dVdot,dgammadot,dpsidot]
#initial/terminal conditiions
h0 = 79248
theta0 = 0
phi0 = 0
V0 = 7802.88
gamma0 = -1/np.pi
psi0 = 90/np.pi
y0 = [h0,theta0,phi0,V0,gamma0,psi0]
t = np.linspace(0,20)
y = odeint(f,y0,t)
plt.plot(t,y)
plt.show()
You need to pass tfirst=True to odeint, as it expects f(y, t) by default.
I wrote a MPC with Python and it worked before. After a long time I want to use it again but I got this Error
f0 passed has more than 1 dimension.
But I didn't change anything on my code. It is some kind of strange.
Here is my code:
import numpy as np
import numpy.linalg as npl
import matplotlib.pyplot as plt
from scipy.optimize import minimize
def mpcAugment(Am, Bm, Cm ):
"Function for Augmented Model"
nx, nu = Bm.shape
ny = Cm.shape[0]
A = np.zeros((nx+ny,nx+ny))
A[0:nx,0:nx] = Am
A[nx:nx+ny,0:nx] = Cm#Am
A[nx:nx+ny,nx:nx+ny] = np.eye(ny)
B = np.zeros((nx+ny,nu))
B[0:nx,:nu] = Bm
B[nx:nx+ny,:nu] = Cm#Bm
C = np.zeros((ny,nx+ny))
C[:ny,nx:nx+ny] = np.eye(ny)
return A, B, C
'Define Parameters'
k = 0.4
AICB = 153.8
mcp = 8.8e4
vamb1 = 30
vamb2 = 45
a = -k*AICB/mcp
b = -1/mcp
Ts = 20
VICBref = -5.0
Am = np.array([[1+Ts*a]])
Bm = np.array([[Ts*b]])
Gm = np.array([[-Ts*a]])
Cm = np.array([[1]])
A, B, C = mpcAugment(Am,Bm,Cm)
A, G, C = mpcAugment(Am,Gm,Cm)
nx, nu = B.shape
ny = C.shape[0]
nd = G.shape[1]
Np = 20
Nu = 5
F = np.zeros((Np*ny,nx))
PHI = np.zeros((Np*ny,Nu*nu))
PHIw = np.zeros((Np*ny,Np*nd))
for i in range(0,Np):
Ai = npl.matrix_power(A, i+1)
F[i*ny:(i+1)*ny,:] = C#Ai
for j in range(0, Nu):
if j <= i:
Aij = np.linalg.matrix_power(A, i-j)
PHI[i*ny:(i+1)*ny, j*nu:(j+1)*nu] = C#Aij#B
for j in range(0, Np):
if j <= i:
Aij = np.linalg.matrix_power(A, i-j)
PHIw[i*ny:(i+1)*ny, j*nd:(j+1)*nd] = C#Aij#G
umax = 3100
umin = 0
Q = np.eye(Np*ny)
R = 1e-2*np.eye(Nu*nu)
Rs = VICBref*np.ones((Np*ny,1))
Ainq = np.zeros((2*Nu*nu,Nu*nu))
binq = np.zeros((2*Nu*nu,1))
cinq = np.zeros((2*Nu*nu,1))
for i in range(0,Nu):
binq[i*nu:(i+1)*nu] = umax
binq[(i+Nu)*nu:(Nu+i+1)*nu] = 1
cinq[i*nu:(i+1)*nu] = 1
cinq[(i+Nu)*nu:(Nu+i+1)*nu] = -1
for j in range(0,i+1):
Ainq[i*nu:(i+1)*nu,j*nu:(j+1)*nu] = np.eye(nu)
Ainq[(i+Nu)*nu:(Nu+i+1)*nu,j*nu:(j+1)*nu] = np.eye(nu)
u0 = 0
def objective(du):
dU = np.array(du).reshape((len(du),1))
Y = F#x + PHI#dU + PHIw#w
return np.transpose((Rs-Y))#(Rs-Y)+np.transpose(dU)#R#(dU)
def constraint1(du):
dU = np.array(du).reshape((len(du),1))
return (binq - Ainq#dU - cinq*u0)[0]
#print(objective([1,1,1]))
ulim = (umin, umax)
bnds = np.kron(np.ones((Nu,1)),ulim)
#print(bnds)
Um = np.ones((nu*Nu,1))
Tsim = 5e4
time = np.arange(0,Tsim,Ts)
Nt = len(time)
xm = np.zeros((Nt,1))
um = np.zeros((Nt,nu))
ym = np.zeros((Nt,ny))
xm[0] = 0
ym[0] = Cm.dot(xm[0])
w = np.zeros((Np*nd,1))
print('Am = ',Am)
print('Bm = ',Bm)
print('Cm = ',Cm)
x = np.zeros((nx,1))
x[1] = xm[0]
vamb = vamb1
Vamb = np.zeros((Nt,1))
Ns = int(np.floor(Nt/2))
Vamb[0:Ns] = vamb1*np.ones((Ns,1))
Vamb[Ns:Nt] = vamb2*np.ones((Nt-Ns,1))
Vref = VICBref*np.ones((Nt,1))
con = {'type':'ineq','fun':constraint1}
for i in range(0,Nt-1):
sol = minimize(objective, Um, method = 'SLSQP',constraints = con)
if sol.success == False:
print('Error Cant solve problem')
exit()
Um = sol.x
um[i+1] = um[i] + Um[0]
u0 = um[i+1]
xm[i+1] = Am.dot(xm[i])+Bm.dot(um[i+1])+Gm.dot(Vamb[i])
ym[i+1] = Cm.dot(xm[i+1])
for j in range(0,Np):
if i+j < Nt:
Rs[j] = Vref[i+j]
w[j] = Vamb[i+j]-Vamb[i+j-1]
else:
Rs[j] = Vref[Nt-1]
w[j] = 0
x[0] = xm[i+1] - xm[i]
x[1] = xm[i+1]
print('Q = ',um[i+1],' , VICB = ',xm[i+1], ' vamb = ', Vamb[i])
hour = 60*60
plt.figure()
plt.subplot(2,1,1)
plt.plot(time/hour,ym)
plt.plot(time/hour,Vref,'--')
plt.xlabel('time(hours)')
plt.xlim([0, Tsim/hour])
plt.subplot(2,1,2)
plt.plot(time/hour,um)
plt.xlim([0, Tsim/hour])
plt.show()
It about a controller, which control the temperature of a cool box.
Is that possible that anything changed in main simply code?
I think the problem is now in minimizations part.
I reinstalled all of my libraries and it worked