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doc for sim function
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‎example/juMPC.jl‎

Lines changed: 2 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -156,12 +156,11 @@ test_mpc(linModel4 , mpc)
156156

157157

158158
res = sim(mpc, mpc.Hp+10, x0=zeros(mpc.estim.model.nx))
159-
ps = plot(res, plotD=false, plotŶ=true, plotŶminŶmax=false, plotUminUmax=false)
159+
ps = plot(res)
160160
display(ps)
161161

162162
res2 = sim(uscKalmanFilter1, mpc.Hp+10)
163-
ps2 = plot(res2,plotŶ=true
164-
, plotX=true, plotX̂=true)
163+
ps2 = plot(res2)
165164
display(ps2)
166165

167166
#=

‎src/plot_sim.jl‎

Lines changed: 122 additions & 86 deletions
Original file line numberDiff line numberDiff line change
@@ -59,19 +59,17 @@ end
5959

6060
@doc raw"""
6161
sim(
62-
estim::StateEstimator,
62+
mpc::PredictiveController,
6363
N::Int,
64-
u = mpc.estim.model.yop .+ 1,
65-
d = mpc.estim.model.dop;
64+
ry = mpc.estim.model.yop .+ 1,
65+
d = mpc.estim.model.dop;
6666
<keyword arguments>
6767
)
6868
6969
Closed-loop simulation of `mpc` controller for `N` time steps, default to setpoint bumps.
7070
71-
See Arguments for the option list. The noise arguments are in standard deviations σ. The
72-
sensor and process noises of the simulated plant are specified by `y_noise` and `x_noise`
73-
arguments, respectively.
74-
71+
`ry` is the output setpoint value applied at ``t = 0`` second. The keyword arguments are
72+
identical to [`sim(::StateEstimator)`](@ref).
7573
7674
"""
7775
function sim(
@@ -85,9 +83,7 @@ function sim(
8583
end
8684

8785

88-
89-
90-
86+
"Quick simulation function for `SimModel`, `StateEstimator` and `PredictiveController`."
9187
function sim_all(
9288
estim_mpc::Union{StateEstimator, PredictiveController},
9389
estim::StateEstimator,
@@ -159,142 +155,185 @@ sim_getu!(mpc::PredictiveController, ry, d, ym) = moveinput!(mpc, ry, d; ym)
159155
plotRy = true,
160156
plotŶminŶmax = true,
161157
plotŶ = false,
158+
plotU = true,
162159
plotRu = true,
163160
plotUminUmax = true,
164161
plotD = true,
165162
plotX = false,
166163
plotX̂ = false
167164
)
168-
169165
mpc = res.obj
170-
t = res.T_data
171-
Ns = length(t)
172166

167+
t = res.T_data
173168
ny = size(res.Y_data, 1)
174169
nu = size(res.U_data, 1)
175170
nd = size(res.D_data, 1)
171+
nx = size(res.X_data, 1)
172+
nx̂ = size(res.X̂_data, 1)
173+
layout_mat = [(ny, 1)]
174+
plotU && (layout_mat = [layout_mat (nu, 1)])
175+
(plotD && nd ≠ 0) && (layout_mat = [layout_mat (nd, 1)])
176+
plotX && (layout_mat = [layout_mat (nx, 1)])
177+
plotX̂ && (layout_mat = [layout_mat (nx̂, 1)])
178+
179+
layout := layout_mat
180+
xguide --> "Time (s)"
176181

177-
layout := @layout (nd ≠ 0 && plotD) ? [(ny,1) (nu,1) (nd, 1)] : [(ny,1) (nu,1)]
178-
182+
# --- outputs y ---
179183
subplot_base = 0
180184
for i in 1:ny
181185
@series begin
182-
xguide --> "Time (s)"
183186
yguide --> "\$y_$i\$"
184187
color --> 1
185188
subplot --> subplot_base + i
186189
label --> "\$\\mathbf{y}\$"
190+
legend --> false
187191
t, res.Y_data[i, :]
188192
end
189-
if plotRy && !iszero(mpc.M_Hp)
193+
if plotŶ
190194
@series begin
191-
xguide --> "Time (s)"
192195
yguide --> "\$y_$i\$"
193196
color --> 2
194197
subplot --> subplot_base + i
198+
linestyle --> :dashdot
199+
linewidth --> 0.75
200+
label --> "\$\\mathbf{\\hat{y}}\$"
201+
legend --> true
202+
t, res.Ŷ_data[i, :]
203+
end
204+
end
205+
if plotRy && !iszero(mpc.M_Hp)
206+
@series begin
207+
yguide --> "\$y_$i\$"
208+
color --> 3
209+
subplot --> subplot_base + i
195210
linestyle --> :dash
211+
linewidth --> 0.75
196212
label --> "\$\\mathbf{r_y}\$"
213+
legend --> true
197214
t, res.Ry_data[i, :]
198215
end
199216
end
200217
if plotŶminŶmax && !isinf(mpc.con.Ŷmin[i])
201218
@series begin
202-
xguide --> "Time (s)"
203219
yguide --> "\$y_$i\$"
204-
color --> 3
220+
color --> 4
205221
subplot --> subplot_base + i
206222
linestyle --> :dot
207223
linewidth --> 2.0
208224
label --> "\$\\mathbf{\\hat{y}_{min}}\$"
209-
t, fill(mpc.con.Ŷmin[i], Ns)
225+
legend --> true
226+
t, fill(mpc.con.Ŷmin[i], length(t))
210227
end
211228
end
212229
if plotŶminŶmax && !isinf(mpc.con.Ŷmax[i])
213230
@series begin
214-
xguide --> "Time (s)"
215231
yguide --> "\$y_$i\$"
216-
color --> 4
232+
color --> 5
217233
subplot --> subplot_base + i
218234
linestyle --> :dot
219235
linewidth --> 2.0
220236
label --> "\$\\mathbf{\\hat{y}_{max}}\$"
221-
t, fill(mpc.con.Ŷmax[i], Ns)
222-
end
223-
end
224-
if plotŶ
225-
@series begin
226-
xguide --> "Time (s)"
227-
yguide --> "\$y_$i\$"
228-
color --> 5
229-
subplot --> subplot_base + i
230-
linestyle --> :dashdot
231-
label --> "\$\\mathbf{\\hat{y}}\$"
232-
t, res.Ŷ_data[i, :]
237+
legend --> true
238+
t, fill(mpc.con.Ŷmax[i], length(t))
233239
end
234240
end
235241
end
236242
subplot_base += ny
237-
for i in 1:nu
238-
@series begin
239-
xguide --> "Time (s)"
240-
yguide --> "\$u_$i\$"
241-
color --> 1
242-
subplot --> subplot_base + i
243-
seriestype --> :steppost
244-
label --> "\$\\mathbf{u}\$"
245-
t, res.U_data[i, :]
246-
end
247-
if plotRu && !iszero(mpc.L_Hp) # TODO:
248-
#=
243+
# --- manipulated inputs u ---
244+
if plotU
245+
for i in 1:nu
249246
@series begin
250-
xguide --> "Time (s)"
251-
yguide --> "\$u_$i\$"
252-
color --> 2
253-
subplot --> subplot_base + i
254-
linestyle --> :dash
255-
label --> "\$\\mathbf{r_{u}}\$"
256-
t, res.Ry_data[i, :]
247+
yguide --> "\$u_$i\$"
248+
color --> 1
249+
subplot --> subplot_base + i
250+
seriestype --> :steppost
251+
label --> "\$\\mathbf{u}\$"
252+
legend --> false
253+
t, res.U_data[i, :]
257254
end
258-
=#
259-
end
260-
if plotUminUmax && !isinf(mpc.con.Umin[i])
261-
@series begin
262-
xguide --> "Time (s)"
263-
yguide --> "\$u_$i\$"
264-
color --> 3
265-
subplot --> subplot_base + i
266-
linestyle --> :dot
267-
linewidth --> 2.0
268-
label --> "\$\\mathbf{u_{min}}\$"
269-
t, fill(mpc.con.Umin[i], Ns)
255+
if plotRu && !iszero(mpc.L_Hp)
256+
@series begin
257+
yguide --> "\$u_$i\$"
258+
color --> 3
259+
subplot --> subplot_base + i
260+
linestyle --> :dash
261+
label --> "\$\\mathbf{r_{u}}\$"
262+
legend --> true
263+
t, res.Ry_data[i, :]
264+
end
270265
end
271-
end
272-
if plotUminUmax && !isinf(mpc.con.Umax[i])
273-
@series begin
274-
xguide --> "Time (s)"
275-
yguide --> "\$u_$i\$"
276-
color --> 4
277-
subplot --> subplot_base + i
278-
linestyle --> :dot
279-
linewidth --> 2.0
280-
label --> "\$\\mathbf{u_{max}}\$"
281-
t, fill(mpc.con.Umax[i], Ns)
266+
if plotUminUmax && !isinf(mpc.con.Umin[i])
267+
@series begin
268+
yguide --> "\$u_$i\$"
269+
color --> 4
270+
subplot --> subplot_base + i
271+
linestyle --> :dot
272+
linewidth --> 2.0
273+
label --> "\$\\mathbf{u_{min}}\$"
274+
legend --> true
275+
t, fill(mpc.con.Umin[i], length(t))
276+
end
277+
end
278+
if plotUminUmax && !isinf(mpc.con.Umax[i])
279+
@series begin
280+
yguide --> "\$u_$i\$"
281+
color --> 5
282+
subplot --> subplot_base + i
283+
linestyle --> :dot
284+
linewidth --> 2.0
285+
label --> "\$\\mathbf{u_{max}}\$"
286+
legend --> true
287+
t, fill(mpc.con.Umax[i], length(t))
288+
end
282289
end
283290
end
291+
subplot_base += nu
284292
end
285-
subplot_base += nu
293+
# --- measured disturbances d ---
286294
if plotD
287295
for i in 1:nd
288296
@series begin
289297
xguide --> "Time (s)"
290298
yguide --> "\$d_$i\$"
291299
color --> 1
292300
subplot --> subplot_base + i
293-
label --> ""
301+
label --> "\$\\mathbf{d}\$"
302+
legend --> false
294303
t, res.D_data[i, :]
295304
end
296305
end
297306
end
307+
# --- plant states x ---
308+
if plotX
309+
for i in 1:nx
310+
@series begin
311+
yguide --> "\$x_$i\$"
312+
color --> 1
313+
subplot --> subplot_base + i
314+
label --> "\$\\mathbf{x}\$"
315+
legend --> false
316+
t, res.X_data[i, :]
317+
end
318+
end
319+
subplot_base += nx
320+
end
321+
# --- estimated states x̂ ---
322+
if plotX̂
323+
for i in 1:nx̂
324+
@series begin
325+
yguide --> "\$\\hat{x}_$i\$"
326+
color --> 2
327+
subplot --> subplot_base + i
328+
linestyle --> :dashdot
329+
linewidth --> 0.75
330+
label --> "\$\\mathbf{\\hat{x}}\$"
331+
legend --> false
332+
t, res.X̂_data[i, :]
333+
end
334+
end
335+
end
336+
298337
end
299338

300339

@@ -307,25 +346,20 @@ end
307346
plotX = false,
308347
plotX̂ = false
309348
)
310-
311349
t = res.T_data
312-
313350
ny = size(res.Y_data, 1)
314351
nu = size(res.U_data, 1)
315352
nd = size(res.D_data, 1)
316353
nx = size(res.X_data, 1)
317354
nx̂ = size(res.X̂_data, 1)
318-
319355
layout_mat = [(ny, 1)]
320356
plotU && (layout_mat = [layout_mat (nu, 1)])
321357
(plotD && nd ≠ 0) && (layout_mat = [layout_mat (nd, 1)])
322358
plotX && (layout_mat = [layout_mat (nx, 1)])
323359
plotX̂ && (layout_mat = [layout_mat (nx̂, 1)])
324360

325361
layout := layout_mat
326-
327362
xguide --> "Time (s)"
328-
329363
# --- outputs y ---
330364
subplot_base = 0
331365
for i in 1:ny
@@ -340,9 +374,10 @@ end
340374
if plotŶ
341375
@series begin
342376
yguide --> "\$y_$i\$"
343-
color --> 5
377+
color --> 2
344378
subplot --> subplot_base + i
345379
linestyle --> :dashdot
380+
linewidth --> 0.75
346381
label --> "\$\\mathbf{\\hat{y}}\$"
347382
legend --> true
348383
t, res.Ŷ_data[i, :]
@@ -398,9 +433,10 @@ end
398433
for i in 1:nx̂
399434
@series begin
400435
yguide --> "\$\\hat{x}_$i\$"
401-
color --> 5
436+
color --> 2
402437
subplot --> subplot_base + i
403438
linestyle --> :dashdot
439+
linewidth --> 0.75
404440
label --> "\$\\mathbf{\\hat{x}}\$"
405441
legend --> false
406442
t, res.X̂_data[i, :]

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