wave_energy.cpp
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00001 /*
00002  *    This file is part of ACADO Toolkit.
00003  *
00004  *    ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
00005  *    Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
00006  *    Milan Vukov, Rien Quirynen, KU Leuven.
00007  *    Developed within the Optimization in Engineering Center (OPTEC)
00008  *    under supervision of Moritz Diehl. All rights reserved.
00009  *
00010  *    ACADO Toolkit is free software; you can redistribute it and/or
00011  *    modify it under the terms of the GNU Lesser General Public
00012  *    License as published by the Free Software Foundation; either
00013  *    version 3 of the License, or (at your option) any later version.
00014  *
00015  *    ACADO Toolkit is distributed in the hope that it will be useful,
00016  *    but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
00018  *    Lesser General Public License for more details.
00019  *
00020  *    You should have received a copy of the GNU Lesser General Public
00021  *    License along with ACADO Toolkit; if not, write to the Free Software
00022  *    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
00023  *
00024  */
00025 
00026 
00034 #include <acado_integrators.hpp>
00035 #include <acado_gnuplot.hpp>
00036 
00037 
00038 int main( ){
00039 
00040   USING_NAMESPACE_ACADO;
00041 
00042   // Parameters
00043   double h_hw = 10;    // water level
00044   double A_hw = 1.0;   // amplitude of the waves
00045   double T_hw = 5.0;   // duration of a wave
00046   double rho  = 1000;  // density of water
00047   double A    = 1.0;   // bottom area of the buoy
00048   double m    = 100;   // mass of the buoy
00049   double g    = 9.81;  // gravitational constant
00050 
00051   // Free varameter
00052   double a = 1.0;      // take to be constant here
00053 
00054   // Variables
00055   DifferentialState h; // Position of the buoy
00056   DifferentialState v; // Velocity of the buoy
00057   DifferentialState w; // Produced wave energy
00058   TIME t;
00059 
00060   // Differential equation
00061   DifferentialEquation f;
00062 
00063   // Height of the wave
00064   IntermediateState hw;
00065   hw = h_hw + A_hw*sin(2*M_PI*t/T_hw);
00066   f << dot(h) ==  v;
00067   f << dot(v) ==  rho*A*(hw-h)/m - g - a*v;
00068   f << dot(w) ==  a*v*v;
00069 
00070   // Define an integrator:
00071   // ---------------------
00072   IntegratorRK45 integrator( f );
00073 
00074   // Define an initial value:
00075   // ------------------------
00076   double x_start[3];
00077   x_start[0] = h_hw - 2*A_hw;
00078   x_start[1] = 0;
00079   x_start[2] = 0;
00080 
00081   Grid timeInterval( 0.0, 25.0, 200 );
00082 
00083   integrator.set( INTEGRATOR_PRINTLEVEL, MEDIUM );
00084   integrator.integrate( timeInterval, x_start );
00085 
00086   VariablesGrid differentialStates;
00087   VariablesGrid intermediateStates;
00088 
00089   integrator.getX ( differentialStates );
00090   integrator.getI ( intermediateStates );
00091 
00092   GnuplotWindow window;
00093       window.addSubplot( differentialStates(0) );
00094       window.addSubplot( differentialStates(1) );
00095       window.addSubplot( differentialStates(2) );
00096 
00097   window.plot();
00098 
00099   return 0;
00100 }
00101 
00102 
00103 


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:40:19