Allows to run closed-loop simulations of dynamic systems. More...

#include <simulation_environment.hpp>

Inheritance diagram for SimulationEnvironment:

Public Member Functions
returnValue	getFeedbackControl (Curve &_feedbackControl) const
returnValue	getFeedbackControl (VariablesGrid &_sampledFeedbackControl)
returnValue	getFeedbackParameter (Curve &_feedbackParameter) const
returnValue	getFeedbackParameter (VariablesGrid &_sampledFeedbackParameter)
uint	getNP () const
uint	getNU () const
uint	getNumSteps () const
uint	getNY () const
returnValue	getProcessAlgebraicStates (VariablesGrid &_algStates)
returnValue	getProcessDifferentialStates (VariablesGrid &_diffStates)
returnValue	getProcessIntermediateStates (VariablesGrid &_interStates)
returnValue	getProcessOutput (Curve &_processOutput) const
returnValue	getSampledProcessOutput (VariablesGrid &_sampledProcessOutput)
returnValue	init (const DVector &x0_, const DVector &p_=emptyConstVector)
returnValue	initializeAlgebraicStates (const VariablesGrid &_xa_init)
returnValue	initializeAlgebraicStates (const char *fileName)
SimulationEnvironment &	operator= (const SimulationEnvironment &rhs)
returnValue	run ()
returnValue	setController (Controller &_controller)
returnValue	setProcess (Process &_process)
	SimulationEnvironment ()
	SimulationEnvironment (double _startTime, double _endTime, Process &_process, Controller &_controller)
	SimulationEnvironment (const SimulationEnvironment &rhs)
returnValue	step ()
returnValue	step (double intermediateTime)
virtual	~SimulationEnvironment ()
Protected Member Functions
double	determineComputationalDelay (double controllerRuntime) const
virtual returnValue	setupLogging ()
virtual returnValue	setupOptions ()
Protected Attributes
Controller *	controller
double	endTime
Curve	feedbackControl
Curve	feedbackParameter
uint	nSteps
Process *	process
Curve	processOutput
SimulationClock	simulationClock
double	startTime

Detailed Description

Allows to run closed-loop simulations of dynamic systems.

The class Simulation Environment is designed to run closed-loop simulations of dynamic systems.

In a standard setup the Simulation Environment consists of a Process and a Controller that are connected by signals. These two main members can be specified within the constructor or set afterwards by using the methods "setController" and "setProcess" , respectively.

A simulation has to be initialized by providing the initial value of the differential states of the dynamic system to be simulated. Afterwards, the simulation can be run at once or stepped until a given intermediate time.

Author:: Hans Joachim Ferreau, Boris Houska

Definition at line 72 of file simulation_environment.hpp.

Constructor & Destructor Documentation

BEGIN_NAMESPACE_ACADO SimulationEnvironment::SimulationEnvironment ( )

Default constructor.

Definition at line 49 of file simulation_environment.cpp.

SimulationEnvironment::SimulationEnvironment	(	double	_startTime,
		double	_endTime,
		Process &	_process,
		Controller &	_controller
	)

Constructor which takes the name of the block and the sampling time.

Parameters:

[in]	_startTime	Start time of the simulation.
[in]	_endTime	End time of the simulation.
[in]	_process	Process used for simulating the dynamic system.
[in]	_controller	Controller used for controlling the dynamic system.

Note:: Only pointers to Process and Controller are stored!

Definition at line 66 of file simulation_environment.cpp.

SimulationEnvironment::SimulationEnvironment ( const SimulationEnvironment & rhs )

Copy constructor (deep copy).

Parameters:

[in] rhs Right-hand side object.

Definition at line 95 of file simulation_environment.cpp.

SimulationEnvironment::~SimulationEnvironment ( ) [virtual]

Destructor.

Definition at line 120 of file simulation_environment.cpp.

Member Function Documentation

double SimulationEnvironment::determineComputationalDelay ( double controllerRuntime ) const [protected]

Returns computational delay used for simulation based on the actual real controller runtime and the options set by the user.

Parameters:

[in] controllerRuntime Real controller runtime.

Returns:: Computational delay used for simulation

Definition at line 509 of file simulation_environment.cpp.

returnValue SimulationEnvironment::getFeedbackControl ( Curve & _feedbackControl ) const [inline]

Returns feedback control signals of the controller over the whole simulation.

Parameters:

[out] _feedbackControl Feedback control signals of the controller.

Returns:: SUCCESSFUL_RETURN

returnValue SimulationEnvironment::getFeedbackControl ( VariablesGrid & _sampledFeedbackControl ) [inline]

Returns feedback control signals of the controller over the whole simulation.

Parameters:

[out] _sampledFeedbackControl Feedback control signals of the controller.

Returns:: SUCCESSFUL_RETURN

returnValue SimulationEnvironment::getFeedbackParameter ( Curve & _feedbackParameter ) const [inline]

Returns feedback parameter signals of the controller over the whole simulation.

Parameters:

[out] _feedbackParameter Feedback parameter signals of the controller.

Returns:: SUCCESSFUL_RETURN

returnValue SimulationEnvironment::getFeedbackParameter ( VariablesGrid & _sampledFeedbackParameter ) [inline]

Returns feedback parameter signals of the controller over the whole simulation.

Parameters:

[out] _sampledFeedbackParameter Feedback parameter signals of the controller.

Returns:: SUCCESSFUL_RETURN

uint SimulationEnvironment::getNP ( ) const [inline]

Returns number of feedback parameters.

Returns:: Number of feedback parameters

uint SimulationEnvironment::getNU ( ) const [inline]

Returns number of feedback controls.

Returns:: Number of feedback controls

uint SimulationEnvironment::getNumSteps ( ) const [inline]

Returns current number of simulation steps.

Returns:: Current number of simulation steps

uint SimulationEnvironment::getNY ( ) const [inline]

Returns number of process outputs.

Returns:: Number of process outputs

returnValue SimulationEnvironment::getProcessAlgebraicStates ( VariablesGrid & _algStates ) [inline]

Returns algebraic states of the process over the whole simulation.

Parameters:

[out] _algStates Algebraic states of the process.

Returns:: SUCCESSFUL_RETURN

returnValue SimulationEnvironment::getProcessDifferentialStates ( VariablesGrid & _diffStates ) [inline]

Returns differential states of the process over the whole simulation.

Parameters:

[out] _diffStates Differential states of the process.

Returns:: SUCCESSFUL_RETURN

returnValue SimulationEnvironment::getProcessIntermediateStates ( VariablesGrid & _interStates ) [inline]

Returns intermediate states of the process over the whole simulation.

Parameters:

[out] _interStates Intermediate states of the process.

Returns:: SUCCESSFUL_RETURN

returnValue SimulationEnvironment::getProcessOutput ( Curve & _processOutput ) const [inline]

Returns continuous output of the process.

Parameters:

[out] _processOutput Continuous output of the process.

Returns:: SUCCESSFUL_RETURN

returnValue SimulationEnvironment::getSampledProcessOutput ( VariablesGrid & _sampledProcessOutput ) [inline]

Returns output of the process at sampling instants.

Parameters:

[out] _sampledProcessOutput Sampled output of the process.

Returns:: SUCCESSFUL_RETURN

returnValue SimulationEnvironment::init	(	const DVector &	x0_,
		const DVector &	p_ = `emptyConstVector`
	)

Initializes the simulation with given start values and performs a number of consistency checks.

Parameters:

[in]	x0_	Initial value for differential states.
[in]	p_	Initial value for parameters.

Returns:: SUCCESSFUL_RETURN,
RET_ENVIRONMENT_INIT_FAILED,
RET_NO_CONTROLLER_SPECIFIED,
RET_NO_PROCESS_SPECIFIED,
RET_BLOCK_DIMENSION_MISMATCH

Definition at line 220 of file simulation_environment.cpp.

returnValue SimulationEnvironment::initializeAlgebraicStates ( const VariablesGrid & _xa_init )

Initializes algebraic states of the process.

Parameters:

[in] _xa_init Initial value for algebraic states.

Returns:: SUCCESSFUL_RETURN

Definition at line 195 of file simulation_environment.cpp.

returnValue SimulationEnvironment::initializeAlgebraicStates ( const char * fileName )

Initializes algebraic states of the process from data file.

Parameters:

[in] fileName Name of file containing initial value for algebraic states.

Returns:: SUCCESSFUL_RETURN,
RET_FILE_CAN_NOT_BE_OPENED

Definition at line 207 of file simulation_environment.cpp.

SimulationEnvironment & SimulationEnvironment::operator= ( const SimulationEnvironment & rhs )

Assignment Operator (deep copy).

Parameters:

[in] rhs Right-hand side object.

Definition at line 125 of file simulation_environment.cpp.

returnValue SimulationEnvironment::run ( )

Runs the complete simulation.

Returns:: SUCCESSFUL_RETURN,
RET_BLOCK_NOT_READY,
RET_ENVIRONMENT_STEP_FAILED,
RET_COMPUTATIONAL_DELAY_TOO_BIG

Definition at line 477 of file simulation_environment.cpp.

returnValue SimulationEnvironment::setController ( Controller & _controller )

Assigns new controller block to be used for simulation.

Parameters:

[in] _controller New controller block.

Note:: Only a pointer is stored!

Returns:: SUCCESSFUL_RETURN

Definition at line 176 of file simulation_environment.cpp.

returnValue SimulationEnvironment::setProcess ( Process & _process )

Assigns new process block to be used for simulation.

Parameters:

[in] _process New process block.

Note:: Only a pointer is stored!

Returns:: SUCCESSFUL_RETURN

Definition at line 158 of file simulation_environment.cpp.

returnValue SimulationEnvironment::setupLogging ( ) [protected, virtual]

Sets-up default logging information.

Returns:: SUCCESSFUL_RETURN

Reimplemented from Logging.

Definition at line 497 of file simulation_environment.cpp.

returnValue SimulationEnvironment::setupOptions ( ) [protected, virtual]

Sets-up default options.

Returns:: SUCCESSFUL_RETURN

Reimplemented from Options.

Definition at line 487 of file simulation_environment.cpp.

returnValue SimulationEnvironment::step ( )

Performs next step of the simulation.

Returns:: SUCCESSFUL_RETURN,
RET_BLOCK_NOT_READY,
RET_ENVIRONMENT_STEP_FAILED,
RET_COMPUTATIONAL_DELAY_TOO_BIG

Definition at line 304 of file simulation_environment.cpp.

returnValue SimulationEnvironment::step ( double intermediateTime )

Performs next steps of the simulation until given intermediate time.

Parameters:

[in] intermediateTime Intermediate time.

Returns:: SUCCESSFUL_RETURN,
RET_BLOCK_NOT_READY,
RET_ENVIRONMENT_STEP_FAILED,
RET_COMPUTATIONAL_DELAY_TOO_BIG,
RET_INVALID_ARGUMENTS

Definition at line 455 of file simulation_environment.cpp.

Member Data Documentation

Controller* SimulationEnvironment::controller [protected]

Pointer to Controller used for controlling the dynamic system.

Definition at line 359 of file simulation_environment.hpp.

double SimulationEnvironment::endTime [protected]

End time of the simulation.

Definition at line 356 of file simulation_environment.hpp.

Curve SimulationEnvironment::feedbackControl [protected]

Curve storing control signals from the Controller during the whole simulation.

Definition at line 364 of file simulation_environment.hpp.

Curve SimulationEnvironment::feedbackParameter [protected]

Curve storing parameter signals from the Controller during the whole simulation.

Definition at line 365 of file simulation_environment.hpp.

uint SimulationEnvironment::nSteps [protected]

Number of simulation steps (loops) that have been performed.

Definition at line 367 of file simulation_environment.hpp.

Process* SimulationEnvironment::process [protected]

Pointer to Process used for simulating the dynamic system.

Definition at line 358 of file simulation_environment.hpp.

Curve SimulationEnvironment::processOutput [protected]

Curve storing output of the Process during the whole simulation.

Definition at line 363 of file simulation_environment.hpp.

SimulationClock SimulationEnvironment::simulationClock [protected]

Clock for managing the simulation time.

Definition at line 361 of file simulation_environment.hpp.

double SimulationEnvironment::startTime [protected]

Start time of the simulation.

Definition at line 355 of file simulation_environment.hpp.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation