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fixed extends dynamic optimization formulation
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 - initial guess with file
 - handling der(x)



git-svn-id: https://openmodelica.org/svn/OpenModelica/trunk@25224 f25d12d1-65f4-0310-ae8a-bbce733d8d8e
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Vitalij Ruge committed Mar 23, 2015
1 parent 56bd4dc commit 0e77d95
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Showing 10 changed files with 54 additions and 16 deletions.
3 changes: 3 additions & 0 deletions Compiler/BackEnd/BackendDAE.mo
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Expand Up @@ -227,6 +227,9 @@ uniontype VarKind "variable kind"
record OPT_INPUT_WITH_DER end OPT_INPUT_WITH_DER;
record OPT_INPUT_DER end OPT_INPUT_DER;
record OPT_TGRID end OPT_TGRID;
record OPT_LOOP_INPUT
.DAE.ComponentRef replaceExp;
end OPT_LOOP_INPUT;
end VarKind;

public uniontype TearingSelect
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1 change: 1 addition & 0 deletions Compiler/BackEnd/BackendDump.mo
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Expand Up @@ -2302,6 +2302,7 @@ algorithm
case BackendDAE.OPT_INPUT_WITH_DER() then "OPT_INPUT_WITH_DER";
case BackendDAE.OPT_INPUT_DER() then "OPT_INPUT_DER";
case BackendDAE.OPT_TGRID() then "OPT_TGRID";
case BackendDAE.OPT_LOOP_INPUT() then "OPT_LOOP_INPUT";
end match;
end kindString;

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13 changes: 12 additions & 1 deletion Compiler/BackEnd/BackendVariable.mo
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Expand Up @@ -862,6 +862,7 @@ algorithm
case (BackendDAE.VAR(varKind=BackendDAE.OPT_INPUT_WITH_DER())) then ();
case (BackendDAE.VAR(varKind=BackendDAE.OPT_INPUT_DER())) then ();
case (BackendDAE.VAR(varKind=BackendDAE.OPT_TGRID())) then ();
case (BackendDAE.VAR(varKind=BackendDAE.OPT_LOOP_INPUT())) then ();
end match;
end failIfNonState;

Expand Down Expand Up @@ -973,6 +974,7 @@ algorithm
case ((BackendDAE.VAR(varKind=BackendDAE.OPT_INPUT_WITH_DER()) :: _)) then true;
case ((BackendDAE.VAR(varKind=BackendDAE.OPT_INPUT_DER()) :: _)) then true;
case ((BackendDAE.VAR(varKind=BackendDAE.OPT_TGRID()) :: _)) then true;
case ((BackendDAE.VAR(varKind=BackendDAE.OPT_LOOP_INPUT()) :: _)) then true;
case ((_ :: vs)) then hasContinousVar(vs);
case ({}) then false;
end match;
Expand All @@ -991,12 +993,21 @@ algorithm
/* Real non discrete variable */
case (BackendDAE.VAR(varKind = kind, varType = DAE.T_REAL(_,_))) equation
kind_lst = {BackendDAE.VARIABLE(), BackendDAE.DUMMY_DER(), BackendDAE.DUMMY_STATE(), BackendDAE.OPT_INPUT_WITH_DER(), BackendDAE.OPT_INPUT_DER()};
then listMember(kind, kind_lst);
then listMember(kind, kind_lst) or isOptLoopInput(kind);

else false;
end match;
end isVarNonDiscreteAlg;

protected function isOptLoopInput
input BackendDAE.VarKind kind;
output Boolean b;
algorithm
b := match(kind) case(BackendDAE.OPT_LOOP_INPUT()) then true;
else false;
end match;
end isOptLoopInput;

public function isVarDiscreteAlg
input BackendDAE.Var var;
output Boolean result;
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10 changes: 7 additions & 3 deletions Compiler/BackEnd/DynamicOptimization.mo
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Expand Up @@ -201,7 +201,7 @@ protected function makeVar "author: Vitalij Ruge"

algorithm
cr := ComponentReference.makeCrefIdent(name, DAE.T_REAL_DEFAULT, {});
v := BackendDAE.VAR(cr, BackendDAE.VARIABLE(), DAE.OUTPUT(), DAE.NON_PARALLEL(), DAE.T_REAL_DEFAULT, NONE(), NONE(), {}, DAE.emptyElementSource, NONE(), NONE(), NONE(), DAE.NON_CONNECTOR(), DAE.NOT_INNER_OUTER());
v := BackendDAE.VAR(cr, BackendDAE.VARIABLE(), DAE.OUTPUT(), DAE.NON_PARALLEL(), DAE.T_REAL_DEFAULT, NONE(), NONE(), {}, DAE.emptyElementSource, NONE(), SOME(BackendDAE.AVOID()), NONE(), DAE.NON_CONNECTOR(), DAE.NOT_INNER_OUTER());
end makeVar;

protected function addOptimizationVarsEqns1
Expand Down Expand Up @@ -652,13 +652,17 @@ algorithm
// new input(resvar)
(cr,var) := makeVar("OMC$Input" + intString(ind_v));
var := BackendVariable.setVarDirection(var, DAE.INPUT());
var := BackendVariable.mergeAliasVars(var, var_, false, knvars);
oshared := BackendVariable.addKnVarDAE(var, oshared);
// resvar = new input(resvar)
e := Expression.crefExp(cr_var);
if BackendVariable.isStateVar(var_) then
e := Expression.expDer(e);
var := BackendVariable.setVarKind(var, BackendDAE.OPT_LOOP_INPUT(ComponentReference.crefPrefixDer(cr_var)));
else
// don't merge der(x) with x
var := BackendVariable.mergeAliasVars(var, var_, false, knvars);
var := BackendVariable.setVarKind(var, BackendDAE.OPT_LOOP_INPUT(cr_var));
end if;
oshared := BackendVariable.addKnVarDAE(var, oshared);
oeqns := BackendEquation.addEquation(BackendDAE.EQUATION(e, Expression.crefExp(cr), DAE.emptyElementSource, BackendDAE.EQ_ATTR_DEFAULT_UNKNOWN), oeqns);

end for;
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4 changes: 4 additions & 0 deletions Compiler/SimCode/SerializeModelInfo.mo
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Expand Up @@ -766,6 +766,10 @@ algorithm
equation
File.write(file,"time grid for optimization");
then ();
case BackendDAE.OPT_LOOP_INPUT()
equation
File.write(file,"variable for transform loop in constraint");
then ();
else
equation
Error.addMessage(Error.INTERNAL_ERROR, {"serializeVarKind failed"});
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5 changes: 5 additions & 0 deletions Compiler/SimCode/SimCodeUtil.mo
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Expand Up @@ -10004,6 +10004,11 @@ algorithm
case (BackendDAE.VAR(varKind = BackendDAE.EXTOBJ(_), bindExp = SOME(e)))
then SOME(e);

case (BackendDAE.VAR(values = dae_var_attr))
guard(BackendVariable.isVarNonDiscreteAlg(daelowVar))
then SOME(DAEUtil.getStartAttrFail(dae_var_attr));


else NONE();
end matchcontinue;
end getStartValue;
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14 changes: 10 additions & 4 deletions Compiler/Template/CodegenC.tpl
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Expand Up @@ -518,7 +518,7 @@ template simulationFile_opt_header(SimCode simCode, String guid)
int <%symbolName(modelNamePrefixStr,"mayer")%>(DATA* data, modelica_real** res, short*);
int <%symbolName(modelNamePrefixStr,"lagrange")%>(DATA* data, modelica_real** res, short *, short *);
int <%symbolName(modelNamePrefixStr,"pickUpBoundsForInputsInOptimization")%>(DATA* data, modelica_real* min, modelica_real* max, modelica_real*nominal, modelica_boolean *useNominal, char ** name, modelica_real * start, modelica_real * startTimeOpt);
int <%symbolName(modelNamePrefixStr,"setInputData")%>(DATA *data);
int <%symbolName(modelNamePrefixStr,"setInputData")%>(DATA *data, const modelica_boolean file);
int <%symbolName(modelNamePrefixStr,"getTimeGrid")%>(DATA *data, modelica_integer * nsi, modelica_real**t);
#if defined(__cplusplus)
}
Expand Down Expand Up @@ -644,7 +644,7 @@ template simulationFile(SimCode simCode, String guid)
extern int <%symbolName(modelNamePrefixStr,"mayer")%>(DATA* data, modelica_real** res, short *);
extern int <%symbolName(modelNamePrefixStr,"lagrange")%>(DATA* data, modelica_real** res, short *, short *);
extern int <%symbolName(modelNamePrefixStr,"pickUpBoundsForInputsInOptimization")%>(DATA* data, modelica_real* min, modelica_real* max, modelica_real*nominal, modelica_boolean *useNominal, char ** name, modelica_real * start, modelica_real * startTimeOpt);
extern int <%symbolName(modelNamePrefixStr,"setInputData")%>(DATA *data);
extern int <%symbolName(modelNamePrefixStr,"setInputData")%>(DATA *data, const modelica_boolean file);
extern int <%symbolName(modelNamePrefixStr,"getTimeGrid")%>(DATA *data, modelica_integer * nsi, modelica_real**t);
struct OpenModelicaGeneratedFunctionCallbacks <%symbolName(modelNamePrefixStr,"callback")%> = {
Expand Down Expand Up @@ -10846,7 +10846,7 @@ template optimizationComponents( list<DAE.ClassAttributes> classAttributes ,SimC
int <%symbolName(modelNamePrefixStr,"mayer")%>(DATA* data, modelica_real** res,short *i){return -1;}
int <%symbolName(modelNamePrefixStr,"lagrange")%>(DATA* data, modelica_real** res, short * i1, short*i2){return -1;}
int <%symbolName(modelNamePrefixStr,"pickUpBoundsForInputsInOptimization")%>(DATA* data, modelica_real* min, modelica_real* max, modelica_real*nominal, modelica_boolean *useNominal, char ** name, modelica_real * start, modelica_real * startTimeOpt){return -1;}
int <%symbolName(modelNamePrefixStr,"setInputData")%>(DATA *data){return -1;}
int <%symbolName(modelNamePrefixStr,"setInputData")%>(DATA *data, const modelica_boolean file){return -1;}
int <%symbolName(modelNamePrefixStr,"getTimeGrid")%>(DATA *data, modelica_integer * nsi, modelica_real**t){return -1;}
>>
else
Expand Down Expand Up @@ -10897,6 +10897,12 @@ template optimizationComponents1(ClassAttributes classAttribute, SimCode simCode
match modelInfo
case MODELINFO(vars=SIMVARS(__)) then
<<
if(file){
<%vars.inputVars |> SIMVAR(varKind = OPT_LOOP_INPUT(replaceExp=cr)) hasindex i0 =>
'<%cref(name)%> = <%cref(cr)%> ;'
;separator="\n"
%>
}
<%vars.inputVars |> SIMVAR(__) hasindex i0 =>
'data->simulationInfo.inputVars[<%i0%>] = <%cref(name)%>;'
;separator="\n"
Expand Down Expand Up @@ -10954,7 +10960,7 @@ template optimizationComponents1(ClassAttributes classAttribute, SimCode simCode
return 0;
}

int <%symbolName(modelNamePrefixStr,"setInputData")%>(DATA *data)
int <%symbolName(modelNamePrefixStr,"setInputData")%>(DATA *data, const modelica_boolean file)
{
TRACE_PUSH
<%setInput%>
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3 changes: 3 additions & 0 deletions Compiler/Template/SimCodeTV.mo
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Expand Up @@ -945,6 +945,9 @@ package BackendDAE
record OPT_INPUT_WITH_DER end OPT_INPUT_WITH_DER;
record OPT_INPUT_DER end OPT_INPUT_DER;
record OPT_TGRID end OPT_TGRID;
record OPT_LOOP_INPUT
DAE.ComponentRef replaceExp;
end OPT_LOOP_INPUT;
end VarKind;

uniontype ZeroCrossing
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2 changes: 1 addition & 1 deletion SimulationRuntime/c/openmodelica_func.h
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Expand Up @@ -276,7 +276,7 @@ int (*pickUpBoundsForInputsInOptimization)(DATA* data, modelica_real* min, model
* and set simulationInfo.inputVars. In case it's not present
* a dummy function is added which return -1.
*/
int (*setInputData)(DATA* data);
int (*setInputData)(DATA* data, const modelica_boolean file);


/*
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15 changes: 8 additions & 7 deletions SimulationRuntime/c/optimization/DataManagement/InitialGuess.c
View file
Expand Up @@ -44,8 +44,8 @@

static int initial_guess_ipopt_cflag(OptData *optData, char* cflags);
static inline void smallIntSolverStep(DATA* data, SOLVER_INFO* solverInfo, const double tstop);
static inline void initial_guess_ipopt_sim(OptData *optData, SOLVER_INFO* solverInfo, const short o);
static inline void init_ipopt_data(OptData *optData);
static short initial_guess_ipopt_sim(OptData *optData, SOLVER_INFO* solverInfo, const short o);
static inline void init_ipopt_data(OptData *optData, const short o);

/*!
* create initial guess
Expand Down Expand Up @@ -74,17 +74,17 @@ inline void initial_guess_optimizer(OptData *optData, SOLVER_INFO* solverInfo){
}

if(opt > 0)
initial_guess_ipopt_sim(optData, solverInfo, opt);
opt = initial_guess_ipopt_sim(optData, solverInfo, opt);

init_ipopt_data(optData);
init_ipopt_data(optData, opt);
}


/*!
* create initial guess dasslColorSymJac
* author: Vitalij Ruge
**/
static inline void initial_guess_ipopt_sim(OptData *optData, SOLVER_INFO* solverInfo, const short o)
static short initial_guess_ipopt_sim(OptData *optData, SOLVER_INFO* solverInfo, const short o)
{
double *u0;
int i,j,k,l;
Expand Down Expand Up @@ -227,6 +227,7 @@ static inline void initial_guess_ipopt_sim(OptData *optData, SOLVER_INFO* solver
data->simulationInfo.tolerance = tol;

externalInputFree(data);
return op;
}


Expand Down Expand Up @@ -272,7 +273,7 @@ static int initial_guess_ipopt_cflag(OptData *optData, char* cflags)
* init ipopt data struct
* author: Vitalij Ruge
**/
static inline void init_ipopt_data(OptData *optData){
static inline void init_ipopt_data(OptData *optData, const short op){
OptDataIpopt* ipop = &optData->ipop;
DATA * data = optData->data;
const int NV = optData->dim.NV;
Expand Down Expand Up @@ -301,7 +302,7 @@ static inline void init_ipopt_data(OptData *optData){
for(i = 0, shift = 0; i < nsi; ++i){
for(j = 0; j < np; ++j, shift+=nv){
memcpy(data->localData[0]->realVars, optData->v[i][j], nReal*sizeof(double));
optData->data->callback->setInputData(optData->data);
optData->data->callback->setInputData(optData->data, op == 2);
for(l = 0; l<nx; ++l){
ipop->vopt[l + shift] = optData->v[i][j][l]*optData->bounds.scalF[l];
}
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