FelixMueller at 17:48, 31 January 2016

2016-01-31T17:48:12Z

← Older revision		Revision as of 17:48, 31 January 2016
Line 1:		Line 1:
	This is the implementation of the ACADO ~~bioreactor~~ example with the matlab interface and the code generation of ACADO.		This is the implementation of the ACADO [[Bioreactor]] example with the matlab interface and the code generation of ACADO.

FelixMueller at 17:27, 31 January 2016

2016-01-31T17:27:50Z

← Older revision		Revision as of 17:27, 31 January 2016
Line 1:		Line 1:
	This is the implementation of the ACADO bioreactor example with the matlab interface and the code generation of ACADO.		This is the implementation of the ACADO bioreactor example with the matlab interface and the code generation of ACADO.


			<source lang="Matlab">
	% implements the bioreactor example of ACADO for the matlab interface and		% implements the bioreactor example of ACADO for the matlab interface and
	% the code generation		% the code generation
Line 148:		Line 150:
	ylabel('Sf')		ylabel('Sf')
	xlabel('Time')		xlabel('Time')

			</source>

			[[Category: ACADO]]

FelixMueller: Created page with "This is the implementation of the ACADO bioreactor example with the matlab interface and the code generation of ACADO. % implements the bioreactor example of ACADO for the m..."

2015-12-26T19:23:04Z

Created page with "This is the implementation of the ACADO bioreactor example with the matlab interface and the code generation of ACADO. % implements the bioreactor example of ACADO for the m..."

New page

This is the implementation of the ACADO bioreactor example with the matlab interface and the code generation of ACADO.

% implements the bioreactor example of ACADO for the matlab interface and
% the code generation

clc;
clear all;
close all;

Ts = 0.1;
EXPORT = 1;

%% Variables
DifferentialState X S P;
Control Sf;

n_XD = length(diffStates);
n_U = length(controls);

%% Constants
D = 0.15;
Ki = 22.0;
Km = 1.2 ;
Pm = 50.0;
Yxs = 0.4 ;
alpha = 2.2 ;
beta = 0.2 ;
mum = 0.48;
Sfmin = 28.7;
Sfmax = 40.0;
t_start = 0.0;
t_end = 48.0;
N = 20;

%% Differential Equation
mu = mum*(1-P/Pm)*S/(Km+S+S^2/Ki);

f = dot([X;S;P]) == [-D*X+mu*X;...
D*(Sf-S)-(mu/Yxs)*X;...
-D*P+(alpha*mu+beta)*X];

% output
h = P-Sf;
hN = P;

%% MPCexport
acadoSet('problemname', 'mpc');

ocp = acado.OCP( t_start, t_end, N );

W_mat = D;
WN_mat = D;
W = acado.BMatrix(W_mat);
WN = acado.BMatrix(WN_mat);

ocp.minimizeLSQ( W, h );
ocp.minimizeLSQEndTerm( WN, hN );

ocp.subjectTo( Sfmin <= Sf <= Sfmax );
ocp.setModel(f);

mpc = acado.OCPexport( ocp );
mpc.set( 'HESSIAN_APPROXIMATION', 'GAUSS_NEWTON' );
mpc.set( 'DISCRETIZATION_TYPE', 'MULTIPLE_SHOOTING' );
mpc.set( 'SPARSE_QP_SOLUTION', 'FULL_CONDENSING_N2');
mpc.set( 'INTEGRATOR_TYPE', 'INT_IRK_GL4' );
mpc.set( 'NUM_INTEGRATOR_STEPS', 10*N );
mpc.set( 'QP_SOLVER', 'QP_QPOASES' );
mpc.set( 'HOTSTART_QP', 'NO' );
mpc.set( 'LEVENBERG_MARQUARDT', 1e-10 );

if EXPORT
mpc.exportCode( 'export_MPC' );
copyfile('../../../../../../external_packages/qpoases', 'export_MPC/qpoases')

cd export_MPC
make_acado_solver('../acado_MPCstep')
cd ..
end

%% CONSTANTS FOR OPTIMIZATION
X0 = [6.5 12.0 22.0];
input.x0=X0';
Xref = [0 0 0];
input.x = repmat(Xref,N+1,1);
Xref = repmat(Xref,N,1);
input.od = [];

Uref = zeros(N,n_U);
input.u = Uref;

input.y = 0*ones(N,1);
input.yN = 0;

input.W = D;
input.WN = D;

%% SOLVER LOOP (SQP - Gauss newton)
display('------------------------------------------------------------------')
display(' SOLVER Loop' )
display('------------------------------------------------------------------')

for i=1:20
tic
% Solve NMPC OCP
output = acado_MPCstep(input);

input.x=output.x;
input.u=output.u;

disp([' (RTI step: ' num2str(output.info.cpuTime*1e6) ' µs)'])

end

%% PLOT RESULTS

% States
figure(1)
plot([t_start:t_end/N:t_end],output.x)
ylabel('States')
xlabel('Time')
legend('X','S','P')

% Control
figure(2)
plot([t_start:t_end/N:t_end-t_end/N],output.u)
ylabel('Control (Sf)')
xlabel('Time')

% one figure for all
figure(3)
subplot(2,2,1)
plot([t_start:t_end/N:t_end],output.x(:,1))
ylabel('X')
xlabel('Time')
subplot(2,2,2)
plot([t_start:t_end/N:t_end],output.x(:,2))
ylabel('S')
xlabel('Time')
subplot(2,2,3)
plot([t_start:t_end/N:t_end],output.x(:,3))
ylabel('P')
xlabel('Time')
subplot(2,2,4)
plot([t_start:t_end/N:t_end-t_end/N],output.u)
ylabel('Sf')
xlabel('Time')

Bioreactor (ACADO) - Revision history

FelixMueller at 17:48, 31 January 2016

FelixMueller at 17:27, 31 January 2016

FelixMueller: Created page with "This is the implementation of the ACADO bioreactor example with the matlab interface and the code generation of ACADO. % implements the bioreactor example of ACADO for the m..."