Coverage for examples/SimpleBuilding/mpc_and_sim/simple_building.py: 67%

1from agentlib_mpc.models.casadi_model import ( 

2 CasadiModel, 

3 CasadiInput, 

4 CasadiState, 

5 CasadiParameter, 

6 CasadiOutput, 

7 CasadiModelConfig, 

8) 

9from math import inf 

10 

11class BaselineMPCModelConfig(CasadiModelConfig): 

12 

13 inputs: list[CasadiInput] = [ 

14 # controls 

15 # Power var needs to be declared as an output. Here power var is also a model-input  

16 # So two separate var names are used for power var: P_in as input, P_el as output 

17 # P_el set to P_in below 

18 CasadiInput( 

19 name="P_in", 

20 value=100, 

21 unit="W", 

22 description="Electrical power of heating rod (equivalent to P_el)", 

23 ), 

24 # disturbances 

25 CasadiInput( 

26 name="T_amb", 

27 value=290.15, 

28 unit="K", 

29 description="Ambient air temperature", 

30 ), 

31 # settings 

32 CasadiInput( 

33 name="T_upper", 

34 value=294.15, 

35 unit="K", 

36 description="Upper boundary (soft) for T", 

37 ), 

38 CasadiInput( 

39 name="T_lower", 

40 value=290.15, 

41 unit="K", 

42 description="Lower boundary (soft) for T", 

43 ), 

44 ] 

45 

46 states: list[CasadiState] = [ 

47 # differential 

48 CasadiState( 

49 name="T_zone", 

50 value=293.15, 

51 unit="K", 

52 description="Temperature of zone", 

53 ), 

54 # algebraic 

55 # slack variables 

56 CasadiState( 

57 name="T_slack", 

58 value=0, 

59 unit="K", 

60 description="Slack variable for zone temperature", 

61 ), 

62 ] 

63 

64 parameters: list[CasadiParameter] = [ 

65 CasadiParameter( 

66 name="C", 

67 value=10000, 

68 unit="J/K", 

69 description="Thermal capacity of zone", 

70 ), 

71 CasadiParameter( 

72 name="U", 

73 value=5, 

74 unit="W/K", 

75 description="Thermal conductivity of zone", 

76 ), 

77 CasadiParameter( 

78 name="s_T", 

79 value=1, 

80 unit="-", 

81 description="Weight for zone temperature slack var in constraint function", 

82 ), 

83 CasadiParameter( 

84 name="r_pel", 

85 value=1, 

86 unit="-", 

87 description="Weight for P_el in objective function", 

88 ) 

89 ] 

90 

91 outputs: list[CasadiOutput] = [ 

92 CasadiOutput( 

93 name="P_el", 

94 unit="W", 

95 description="Electrical power of heating rod (system input)", 

96 ) 

97 ] 

98 

99class BaselineMPCModel(CasadiModel): 

100 

101 config: BaselineMPCModelConfig 

102 

103 def setup_system(self): 

104 # Define ode 

105 self.T_zone.ode = (self.P_in - self.U * (self.T_zone - self.T_amb)) / self.C 

106 

107 #Define ae for outputs 

108 self.P_el.alg = self.P_in 

109 

110 # Constraints: list[(lower bound, function, upper bound)] 

111 self.constraints = [ 

112 # soft constraints 

113 (-inf, self.T_zone - self.T_slack, self.T_upper), 

114 (self.T_lower, self.T_zone + self.T_slack, inf), 

115 (0, self.T_slack, inf), 

116 # hard constraints 

117 (0, self.P_in, 200), 

118 ] 

119 

120 # Objective function 

121 objective = sum( 

122 [ 

123 self.s_T * self.T_slack**2, 

124 self.r_pel * self.P_in, 

125 ] 

126 ) 

127 

128 return objective