int main() {
USING_NAMESPACE_ACADO
//
// DEFINE THE VARIABLES:
//
DifferentialState xT; // the trolley position
DifferentialState vT; // the trolley velocity
IntermediateState aT; // the trolley acceleration
DifferentialState xL; // the cable length
DifferentialState vL; // the cable velocity
IntermediateState aL; // the cable acceleration
DifferentialState phi; // the excitation angle
DifferentialState omega; // the angular velocity
DifferentialState uT; // trolley velocity control
DifferentialState uL; // cable velocity control
Control duT;
Control duL;
//
// DEFINE THE PARAMETERS:
//
const double tau1 = 0.012790605943772;
const double a1 = 0.047418203070092;
const double tau2 = 0.024695192379264;
const double a2 = 0.034087337273386;
const double g = 9.81;
const double c = 0.0;
const double m = 1318.0;
//
// DEFINE THE MODEL EQUATIONS:
//
DifferentialEquation f;
aT = -1.0 / tau1 * vT + a1 / tau1 * uT;
aL = -1.0 / tau2 * vL + a2 / tau2 * uL;
f << 0 == dot( xT ) - vT;
f << 0 == dot( vT ) - aT;
f << 0 == dot( xL ) - vL;
f << 0 == dot( vL ) - aL;
f << 0 == dot( phi ) - omega;
f << 0 == dot( omega ) - 1.0/xL*(-g*sin(phi)-aT*cos(phi)
-2*vL*omega-c*omega/(m*xL));
f << 0 == dot( uT ) - duT;
f << 0 == dot( uL ) - duL;
//
// DEFINE THE OUTPUT MODEL:
//
OutputFcn h;
h << aT;
h << aL;
//
// SET UP THE SIMULATION EXPORT MODULE:
//
acadoPrintf( "-----------------------------------------\n Using an equidistant grid:\n-----------------------------------------\n" );
SIMexport sim( 1, 0.1 );
sim.setModel( f );
sim.addOutput( h, 5 );
sim.set( INTEGRATOR_TYPE, INT_IRK_RIIA5 );
sim.set( NUM_INTEGRATOR_STEPS, 5 );
sim.setTimingSteps( 10000 );
sim.exportAndRun( "crane_export", "init_crane.txt", "controls_crane.txt" );
acadoPrintf( "-----------------------------------------\n Using a provided grid:\n-----------------------------------------\n" );
Vector Meas(5);
Meas(0) = 0.0;
Meas(1) = 0.2;
Meas(2) = 0.4;
Meas(3) = 0.6;
Meas(4) = 0.8;
SIMexport sim2( 1, 0.1 );
sim2.setModel( f );
sim2.addOutput( h, Meas );
sim2.set( INTEGRATOR_TYPE, INT_IRK_RIIA5 );
sim2.set( NUM_INTEGRATOR_STEPS, 5 );
sim2.setTimingSteps( 10000 );
sim2.exportAndRun( "crane_export", "init_crane.txt", "controls_crane.txt" );
return 0;
}
int main() {
USING_NAMESPACE_ACADO
// ----------------------------------------------------------
DifferentialState x;
DifferentialState y;
DifferentialState alpha;
DifferentialState dx;
DifferentialState dy;
DifferentialState dalpha;
AlgebraicState ddx;
AlgebraicState ddy;
AlgebraicState ddalpha;
AlgebraicState Fx;
AlgebraicState Fy;
Control u;
DifferentialEquation f;
OutputFcn h;
h << Fx;
h << Fy;
const double m = 2;
const double M = 3.5;
const double I = 0.1;
const double g = 9.81;
f << 0 == dot( x ) - dx;
f << 0 == dot( y ) - dy;
f << 0 == dot( alpha ) - dalpha;
f << 0 == dot( dx ) - ddx ;
f << 0 == dot( dy ) - ddy;
f << 0 == dot( dalpha ) - ddalpha;
f << 0 == m*ddx - (Fx+u);
f << 0 == m*ddy + m*g - (Fy+u);
f << 0 == I*ddalpha - M - (Fx+u)*y + (Fy+u)*x;
f << 0 == ddx + dy*dalpha + y*ddalpha;
f << 0 == ddy - dx*dalpha - x*ddalpha;
// ----------------------------------------------------------
Vector Meas(1);
Meas(0) = 5;
SIMexport sim( 1, 0.1 );
sim.set( INTEGRATOR_TYPE, INT_IRK_RIIA3 );
sim.set( NUM_INTEGRATOR_STEPS, 4 );
sim.set( MEASUREMENT_GRID, EQUIDISTANT_GRID );
sim.setModel( f );
sim.addOutput( h );
sim.setMeasurements( Meas );
sim.setTimingSteps( 10000 );
acadoPrintf( "-----------------------------------------\n Using a Pendulum DAE model in ACADO syntax:\n-----------------------------------------\n" );
sim.exportAndRun( "externModel_export", "init_externModel.txt", "controls_externModel.txt" );
SIMexport sim2( 1, 0.1 );
sim2.set( INTEGRATOR_TYPE, INT_IRK_RIIA3 );
sim2.set( NUM_INTEGRATOR_STEPS, 4 );
sim2.set( MEASUREMENT_GRID, EQUIDISTANT_GRID );
sim2.setModel( "model", "rhs", "rhs_jac" );
sim2.setDimensions( 6, 6, 5, 1 );
sim2.addOutput( "out", "out_jac", 2 );
sim2.setMeasurements( Meas );
sim2.setTimingSteps( 10000 );
acadoPrintf( "-----------------------------------------\n Using an externally defined Pendulum DAE model:\n-----------------------------------------\n" );
sim2.exportAndRun( "externModel_export", "init_externModel.txt", "controls_externModel.txt" );
return 0;
}
