Skip to content

Commit

Permalink
- GainSchedidentifier now returns a GainSchedModel not a GainSchedPar…
Browse files Browse the repository at this point in the history 
…amter to harmonize with UnitIdentifier

- GainSchedModel now has a ToString() that writes parameter values to console
- PlotGain now differentiates between stead-state plots for UnitModel and GainSchedModel and Gain-sched plots
- PlotSimulator.SimulateSingle that accepts UnitDataSet implemented and used to reduce the usage of UnitSimulator(this has sped up unit tests?)
  • Loading branch information
Steinar Elgsæter committed Oct 30, 2024
1 parent a2b6809 commit 2e7496c
Show file tree
Hide file tree
Showing 13 changed files with 629 additions and 416 deletions.
31 changes: 19 additions & 12 deletions Dynamic/Identification/ClosedLoopUnitIdentifier.cs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -268,12 +268,16 @@ public class ClosedLoopUnitIdentifier
dataSet.GetTimeBase(), "doDebuggingPlot_disturbanceHLandLF");
dataSet.D = null;

var sim1 = new UnitSimulator(idUnitModelsList[0]);
var sim1results = sim1.Simulate(ref dataSet,false,true);
var sim2 = new UnitSimulator(idUnitModelsList[1]);
var sim2results = sim2.Simulate(ref dataSet, false, true);
var sim3 = new UnitSimulator(idUnitModelsList[2]);
var sim3results = sim3.Simulate(ref dataSet, false, true);
/* var sim1 = new UnitSimulator(idUnitModelsList[0]);
var sim1results = sim1.Simulate(ref dataSet,false,true);
var sim2 = new UnitSimulator(idUnitModelsList[1]);
var sim2results = sim2.Simulate(ref dataSet, false, true);
var sim3 = new UnitSimulator(idUnitModelsList[2]);
var sim3results = sim3.Simulate(ref dataSet, false, true);
*/
(var isOk1,var sim1results) = PlantSimulator.SimulateSingle(dataSet, idUnitModelsList[0], false, 0, false);
(var isOk2, var sim2results) = PlantSimulator.SimulateSingle(dataSet, idUnitModelsList[1], false, 0, false);
(var isOk3, var sim3results) = PlantSimulator.SimulateSingle(dataSet, idUnitModelsList[2], false, 0, false);

Plot.FromList(
new List<double[]> {
Expand Down Expand Up @@ -609,18 +613,21 @@ private Tuple<UnitModel, DisturbanceIdResult> EstimateSISOdisturbanceForProcGain
public bool ClosedLoopSim(UnitDataSet unitData, UnitParameters modelParams, PidParameters pidParams,
double[] disturbance,string name="")
{
// TODO: replace this with a "closed-loop" simulator that uses the PlantSimulator.

if (pidParams == null)
{
return false;
}
var sim = new UnitSimulator(new UnitModel(modelParams));
unitData.D = disturbance;

var pid = new PidModel(pidParams);
unitData.D = disturbance;
var pidModel = new PidModel(pidParams);
var unitModel = new UnitModel(modelParams);
// TODO: replace this with a "closed-loop" simulator that uses the PlantSimulator.
//var ps = new PlantSimulator(new List<ISimulatableModel> { unitModel,pidModel });
//var inputData = new TimeSeriesDataSet();// TODO: need to map signal names here.
//ps.Simulate(inputData, out var simData);

bool isOk = sim.CoSimulate(pid, ref unitData);
var sim = new UnitSimulator(unitModel);
bool isOk = sim.CoSimulate(pidModel, ref unitData);
if (doDebuggingPlot)
{
Plot.FromList(new List<double[]> { unitData.Y_sim,unitData.Y_meas,
Expand Down
152 changes: 4 additions & 148 deletions Dynamic/Identification/DisturbanceIdentifier.cs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -112,152 +112,6 @@ public class DisturbanceIdentifier
{
const double numberOfTiConstantsToWaitAfterSetpointChange = 5;

/// <summary>
/// Only uses Y_meas and U in unitDataSet, i.e. does not consider feedback
/// </summary>
/// <param name="unitDataSet"></param>
/// <param name="unitModel"></param>
/// <param name="inputIdx"></param>
/// <returns></returns>
public static DisturbanceIdResult EstDisturbanceBasedOnProcessModel(UnitDataSet unitDataSet,
UnitModel unitModel, int inputIdx = 0)
{
unitModel.WarmStart();
var sim = new UnitSimulator(unitModel);
unitDataSet.D = null;
double[] y_sim = sim.Simulate(ref unitDataSet);

DisturbanceIdResult result = new DisturbanceIdResult(unitDataSet);
result.d_est = (new Vec()).Subtract(unitDataSet.Y_meas, y_sim);

return result;
}

/// <summary>
/// Removes the effect of setpoint and (if relevant any non-pid input) changes from the dataset using the model of pid and unit provided
/// This is the Multiple-input version of this method that is newer and more generl
/// </summary>
/// <param name="unitDataSet"></param>
/// <param name="unitModel"></param>
/// <param name="pidInputIdx"></param>
/// <param name="pidParams"></param>
/// <returns> a scrubbed copy of unitDataSet</returns>
private static UnitDataSet RemoveSetpointAndOtherInputChangeEffectsFromDataSet_MISO(UnitDataSet unitDataSet,
UnitModel unitModel, int pidInputIdx = 0, PidParameters pidParams = null)
{
if (Vec<double>.IsConstant(unitDataSet.Y_setpoint))
{
return unitDataSet;
}

var unitDataSet_setpointAndExternalEffectsRemoved = new UnitDataSet(unitDataSet);
if (unitModel != null && pidParams != null)
{
// co-simulate the unit model output
// with setpoint changes and changes in any external signals, to give a
// "what the output would have been without disturbances"
// that can then be subtracted from the real y_meas to fin and "e" that goes into d_HF
// in disturbance estimation.

var pidModel1 = new PidModel(pidParams, "PID1");
var processSim_noDist = new PlantSimulator(
new List<ISimulatableModel> { unitModel,pidModel1 });
processSim_noDist.ConnectModels(unitModel, pidModel1);
processSim_noDist.ConnectModels(pidModel1, unitModel, pidInputIdx);

var inputData_noDist = new TimeSeriesDataSet();
var N = unitModel.GetLengthOfInputVector();
if (unitDataSet.U.GetNColumns() > 1)
{
for (int curColIdx = 0; curColIdx < unitDataSet.U.GetNColumns(); curColIdx++)
{
if (curColIdx == pidInputIdx)
{
continue;// handled by simulating the pid-controller.
}
else
{
var newConstantInput = Vec<double>.Fill(unitDataSet.U.GetColumn(curColIdx)[0], N);
inputData_noDist.Add(processSim_noDist.AddExternalSignal(unitModel, SignalType.External_U, curColIdx),
unitDataSet.U.GetColumn(curColIdx));
}
}
}


inputData_noDist.Add(processSim_noDist.AddExternalSignal(pidModel1, SignalType.Setpoint_Yset),unitDataSet.Y_setpoint );
inputData_noDist.CreateTimestamps(unitDataSet.GetTimeBase());
inputData_noDist.SetIndicesToIgnore(unitDataSet.IndicesToIgnore);
var isOk = processSim_noDist.Simulate(inputData_noDist, out TimeSeriesDataSet simData_noDist);

if (isOk)
{
int idxFirstGoodValue = 0;
if (unitDataSet.IndicesToIgnore != null)
{
if (unitDataSet.GetNumDataPoints() > 0)
{
while (unitDataSet.IndicesToIgnore.Contains(idxFirstGoodValue) &&
idxFirstGoodValue < unitDataSet.GetNumDataPoints() - 1)
{
idxFirstGoodValue++;
}
}
}

var vec = new Vec();

// output Y: subtract from Y_meas the Y_meas that results from
var no_disturbance_OutputY = simData_noDist.GetValues(unitModel.GetID(), SignalType.Output_Y);
unitDataSet_setpointAndExternalEffectsRemoved.Y_meas = vec.Subtract(unitDataSet.Y_meas, no_disturbance_OutputY);

// inputs U
if (unitDataSet_setpointAndExternalEffectsRemoved.U.GetNColumns() > 1) // todo:not general
{
for (int inputIdx = 0; inputIdx < unitDataSet_setpointAndExternalEffectsRemoved.U.GetNColumns(); inputIdx++)
{
var pidOutputU = unitDataSet.U.GetColumn(inputIdx);
var pidDeltaU = vec.Subtract(pidOutputU, pidOutputU[idxFirstGoodValue]);
var newU = vec.Subtract(unitDataSet.U.GetColumn(inputIdx), pidDeltaU);
unitDataSet_setpointAndExternalEffectsRemoved.U = Matrix.ReplaceColumn(unitDataSet_setpointAndExternalEffectsRemoved.U, inputIdx, newU);
}
}
else
{
var pidOutputU = simData_noDist.GetValues(pidModel1.GetID(), SignalType.PID_U);
var pidDeltaU = vec.Subtract(pidOutputU, pidOutputU[idxFirstGoodValue]);
var newU = vec.Subtract(unitDataSet.U.GetColumn(pidInputIdx), pidDeltaU);
unitDataSet_setpointAndExternalEffectsRemoved.U = Matrix.ReplaceColumn(unitDataSet_setpointAndExternalEffectsRemoved.U, pidInputIdx, newU);
}

// Yset : setpoints(is not used by UnitSimulator anyhow)
unitDataSet_setpointAndExternalEffectsRemoved.Y_setpoint = Vec<double>.Fill(unitDataSet.Y_setpoint[idxFirstGoodValue], unitDataSet.Y_setpoint.Length);
unitDataSet_setpointAndExternalEffectsRemoved.IndicesToIgnore = unitDataSet.IndicesToIgnore;

/* bool doDebugPlot = false;
if (doDebugPlot)
{
Shared.EnablePlots();
Plot.FromList(
new List<double[]> {
unitDataSet_setpointAndExternalEffectsRemoved.Y_meas,
unitDataSet.Y_meas,
unitDataSet_setpointAndExternalEffectsRemoved.Y_setpoint,
unitDataSet.Y_setpoint,
unitDataSet_setpointAndExternalEffectsRemoved.U.GetColumn(pidInputIdx),
unitDataSet.U.GetColumn(pidInputIdx)
},
new List<string> { "y1=y_meas(new)", "y1=y_meas(old)", "y1=y_set(new)", "y1=y_set(old)", "y3=u_pid(new)", "y3=u_pid(old)" },
inputData_noDist.GetTimeBase(), "distIdent_setpointTest");
Shared.DisablePlots();
}*/
}
}
return unitDataSet_setpointAndExternalEffectsRemoved;
}


/// <summary>
/// Removes the effect of setpoint and (if relevant any non-pid input) changes from the dataset using the model of pid and unit provided
/// </summary>
Expand Down Expand Up @@ -567,9 +421,11 @@ public static DisturbanceIdResult EstimateDisturbance(UnitDataSet unitDataSet_ra
// non-disturbance related changes in the dataset producing "unitDataSet_adjusted"
var unitDataSet_adjusted = RemoveSetpointAndOtherInputChangeEffectsFromDataSet(unitDataSet_raw, unitModel, pidInputIdx, pidParams);
unitModel.WarmStart();
var sim = new UnitSimulator(unitModel);
// var sim = new UnitSimulator(unitModel);
unitDataSet_adjusted.D = null;
double[] y_sim = sim.Simulate(ref unitDataSet_adjusted);
// double[] y_sim = sim.Simulate(ref unitDataSet_adjusted);
(var isOk, var y_sim) = PlantSimulator.SimulateSingle(unitDataSet_adjusted, unitModel, false, 0, false);

if (y_sim == null)
{
result.zeroReason = DisturbanceSetToZeroReason.UnitSimulatorUnableToRun;
Expand Down
Loading

0 comments on commit 2e7496c

Please sign in to comment.