Coverage for examples/OneRoom_SimpleMPC/mpc_and_sim/simple_model.py: 100%

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 

11 

12class BaselineMPCModelConfig(CasadiModelConfig): 

13 inputs: list[CasadiInput] = [ 

14 # controls 

15 CasadiInput( 

16 name="mDot", value=0.0225, unit="kg/s", description="Air mass flow into zone" 

17 ), 

18 # disturbances 

19 CasadiInput( 

20 name="load", value=150, unit="W", description="Heat " "load into zone" 

21 ), 

22 CasadiInput( 

23 name="T_in", value=280.15, unit="K", description="Inflow air temperature" 

24 ), 

25 # settings 

26 CasadiInput( 

27 name="T_upper", 

28 value=294.15, 

29 unit="K", 

30 description="Upper boundary (soft) for T.", 

31 ), 

32 CasadiInput( 

33 name="T_lower", 

34 value=292.15, 

35 unit="K", 

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

37 ), 

38 

39 ] 

40 

41 states: list[CasadiState] = [ 

42 # differential 

43 CasadiState( 

44 name="T", value=293.15, unit="K", description="Temperature of zone" 

45 ), 

46 # algebraic 

47 # slack variables 

48 CasadiState( 

49 name="T_slack", 

50 value=0, 

51 unit="K", 

52 description="Slack variable of temperature of zone", 

53 ), 

54 

55 ] 

56 

57 parameters: list[CasadiParameter] = [ 

58 CasadiParameter( 

59 name="cp", 

60 value=1000, 

61 unit="J/kg*K", 

62 description="thermal capacity of the air", 

63 ), 

64 CasadiParameter( 

65 name="C", value=100000, unit="J/K", description="thermal capacity of zone" 

66 ), 

67 CasadiParameter( 

68 name="s_T", 

69 value=1, 

70 unit="-", 

71 description="Weight for T in constraint function", 

72 ), 

73 CasadiParameter( 

74 name="r_mDot", 

75 value=1, 

76 unit="-", 

77 description="Weight for mDot in objective function", 

78 ), 

79 

80 ] 

81 outputs: list[CasadiOutput] = [ 

82 CasadiOutput(name="T_out", unit="K", description="Temperature of zone"), 

83 CasadiOutput(name="E_out", unit="kWh", description="Stored energy in the zone w.r.t. 0K"), 

84 CasadiOutput( 

85 name="P_el", 

86 unit="W", 

87 description="The power input to the system", 

88 ), 

89 ] 

90 

91 

92class BaselineMPCModel(CasadiModel): 

93 config: BaselineMPCModelConfig 

94 

95 def setup_system(self): 

96 # Define ode 

97 self.T.ode = ( 

98 self.cp * self.mDot / self.C * (self.T_in - self.T) + self.load / self.C 

99 ) 

100 

101 # Define ae 

102 self.P_el.alg = self.cp * self.mDot * (self.T - self.T_in) / 1000 

103 self.T_out.alg = self.T # math operation to get the symbolic variable 

104 self.E_out.alg = - self.T * self.C / (3600*1000) # stored electrical energy in kWh 

105 

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

107 self.constraints = [ 

108 # soft constraints 

109 (self.T_lower, self.T + self.T_slack, inf), 

110 (-inf, self.T - self.T_slack, self.T_upper), 

111 (0, self.T_slack, inf) 

112 ] 

113 

114 # Objective function 

115 objective = sum( 

116 [ 

117 self.r_mDot * self.mDot, 

118 self.s_T * self.T_slack**2, 

119 ] 

120 ) 

121 return objective 

122 

123