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 typing import List 

10from math import inf 

11 

12 

13class BaselineMPCModelConfig(CasadiModelConfig): 

14 inputs: List[CasadiInput] = [ 

15 # controls 

16 CasadiInput( 

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

18 ), 

19 # disturbances 

20 CasadiInput( 

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

22 ), 

23 CasadiInput( 

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

25 ), 

26 # settings 

27 CasadiInput( 

28 name="T_upper", 

29 value=294.15, 

30 unit="K", 

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

32 ), 

33 CasadiInput( 

34 name="T_lower", 

35 value=292.15, 

36 unit="K", 

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

38 ), 

39 

40 ] 

41 

42 states: List[CasadiState] = [ 

43 # differential 

44 CasadiState( 

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

46 ), 

47 # algebraic 

48 # slack variables 

49 CasadiState( 

50 name="T_slack", 

51 value=0, 

52 unit="K", 

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

54 ), 

55 

56 ] 

57 

58 parameters: List[CasadiParameter] = [ 

59 CasadiParameter( 

60 name="cp", 

61 value=1000, 

62 unit="J/kg*K", 

63 description="thermal capacity of the air", 

64 ), 

65 CasadiParameter( 

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

67 ), 

68 CasadiParameter( 

69 name="s_T", 

70 value=1, 

71 unit="-", 

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

73 ), 

74 CasadiParameter( 

75 name="r_mDot", 

76 value=1, 

77 unit="-", 

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

79 ), 

80 

81 ] 

82 outputs: List[CasadiOutput] = [ 

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

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

85 CasadiOutput( 

86 name="P_el", 

87 unit="W", 

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

89 ), 

90 ] 

91 

92 

93class BaselineMPCModel(CasadiModel): 

94 config: BaselineMPCModelConfig 

95 

96 def setup_system(self): 

97 # Define ode 

98 self.T.ode = ( 

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

100 ) 

101 

102 # Define ae 

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

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

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

106 

107 # Constraints: List[(lower bound, function, upper bound)] 

108 self.constraints = [ 

109 # soft constraints 

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

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

112 (0, self.T_slack, inf) 

113 ] 

114 

115 # Objective function 

116 objective = sum( 

117 [ 

118 self.r_mDot * self.mDot, 

119 self.s_T * self.T_slack**2, 

120 ] 

121 ) 

122 return objective 

123 

124