Two more test scripts

Author: ufechner7

examples/menu.jl

@@ -3,6 +3,8 @@ using REPL.TerminalMenus
 options = ["test_mixer2 = include(\"../test/test_mixer2.jl\")",
            "test_mixer3 = include(\"../test/test_mixer3.jl\")",
            "test_solver = include(\"../test/test_solver.jl\")",
+           "test_speedcontroller1 = include(\"../test/test_speedcontroller1.jl\")",
+           "test_speedcontroller2 = include(\"../test/test_speedcontroller2.jl\")",
            "test_lower_force1 = include(\"../test/test_lower_force1.jl\")",
            "test_forcespeedcontroller1 = include(\"../test/test_forcespeedcontroller1.jl\")",
            "test_forcespeedcontroller2 = include(\"../test/test_forcespeedcontroller2.jl\")",

test/test_speedcontroller1.jl

@@ -0,0 +1,58 @@
+# activate the test environment if needed
+using Pkg
+if ! ("ControlPlots" ∈ keys(Pkg.project().dependencies))
+    using TestEnv; TestEnv.activate()
+end
+using Timers; tic()
+
+# Test the speed controller. 
+# Input: A varying wind speed. Implements the simulink block diagram, shown in
+# docs/speed_controller_test1.png
+using WinchControllers, ControlPlots, KiteUtils
+
+set = deepcopy(load_settings("system.yaml"))
+wcs = WCSettings(dt=0.02)
+
+DURATION = 10.0
+SAMPLES = Int(DURATION / wcs.dt + 1)
+TIME = range(0.0, DURATION, SAMPLES)
+V_WIND_MAX = 8.0 # max wind speed of test wind
+V_WIND_MIN = 4.0 # min wind speed of test wind
+FREQ_WIND  = 0.25 # frequency of the triangle wind speed signal 
+BENCHMARK = false
+
+include("test_utilities.jl")
+
+STARTUP = get_startup(wcs)    
+V_WIND = STARTUP .* get_triangle_wind(wcs)
+V_RO = zeros(SAMPLES)
+V_SET_OUT = zeros(SAMPLES)
+FORCE = zeros(SAMPLES)
+ACC = zeros(SAMPLES)
+ACC_SET = zeros(SAMPLES)
+winch = Winch(wcs, set)
+pid1 = SpeedController(wcs)
+set_v_set(pid1, -0.5)
+set_tracking(pid1, -0.5)
+set_inactive(pid1, false)
+set_v_set_in(pid1, 4.0)
+last_v_set_out = 0.0
+if BENCHMARK
+    # b = @benchmark for i in 1:SAMPLES
+    #     speed_controller_step!(pid1, winch, i, last_v_set_out, V_WIND, STARTUP, ACC, FORCE, ACC_SET, V_SET_OUT)
+    # end
+else
+    for i in 1:SAMPLES
+        speed_controller_step!(pid1, winch, i, last_v_set_out, V_WIND, STARTUP, ACC, FORCE, ACC_SET, V_SET_OUT)
+    end
+end
+
+p=plotx(TIME, V_WIND, V_RO, V_SET_OUT, ACC, FORCE*0.001;
+      ylabels=["v_wind [m/s]", "v_reel_out [m/s]", "v_set_out [m/s]", "acc [m/s²]", "force [kN]"],
+      fig="test_speedcontroller1")
+display(p)
+
+println("Max iterations needed: $(wcs.iter)")
+if BENCHMARK println("Average time per control step: $(mean(b.times)/SAMPLES/1e9) s") end
+toc()
+nothing

test/test_speedcontroller2.jl

@@ -0,0 +1,61 @@
+# activate the test environment if needed
+using Pkg
+if ! ("ControlPlots" ∈ keys(Pkg.project().dependencies))
+    using TestEnv; TestEnv.activate()
+end
+using Timers; tic()
+
+# Test the speed controller. , using a reel- out speed, proportional to the sqare-root
+# of the force.
+# Input: A varying wind speed. Implements the simulink block diagram, shown in
+# docs/speed_controller_test2.png
+using WinchControllers, ControlPlots, KiteUtils
+
+set = deepcopy(load_settings("system.yaml"))
+wcs = WCSettings(dt=0.02)
+
+DURATION = 10.0
+SAMPLES = Int(DURATION / wcs.dt + 1)
+TIME = range(0.0, DURATION, SAMPLES)
+V_WIND_MAX = 8.0 # max wind speed of test wind
+V_WIND_MIN = 4.0 # min wind speed of test wind
+FREQ_WIND  = 0.25 # frequency of the triangle wind speed signal 
+BENCHMARK = false
+
+include("test_utilities.jl")
+
+STARTUP = get_startup(wcs)    
+V_WIND = STARTUP .* get_triangle_wind(wcs)
+V_RO = zeros(SAMPLES)
+V_SET_OUT = zeros(SAMPLES)
+FORCE = zeros(SAMPLES)
+ACC = zeros(SAMPLES)
+ACC_SET = zeros(SAMPLES)
+winch = Winch(wcs, set)
+calc = CalcVSetIn(wcs)
+pid1 = SpeedController(wcs)
+set_tracking(pid1, 0)
+set_inactive(pid1, true)
+set_inactive(pid1, false)
+set_v_set_in(pid1, 4.0)
+last_v_set_out = 0.0
+last_force = Ref(0.0)
+if BENCHMARK
+    # b = @benchmark for i in 1:SAMPLES
+    #     speed_controller_step2!(pid1, winch, calc, i, last_force, last_v_set_out, V_WIND, STARTUP, ACC, FORCE, ACC_SET, V_SET_OUT)
+    # end
+else
+    for i in 1:SAMPLES
+        speed_controller_step2!(pid1, winch, calc, i, last_force, last_v_set_out, V_WIND, STARTUP, ACC, FORCE, ACC_SET, V_SET_OUT)
+    end
+end
+
+p=plotx(TIME, V_WIND, V_RO, V_SET_OUT, ACC, FORCE*0.001;
+      ylabels=["v_wind [m/s]", "v_reel_out [m/s]", "v_set_out [m/s]", "acc [m/s²]", "force [kN]"],
+      fig="test_speedcontroller2")
+display(p)
+
+println("Max iterations needed: $(wcs.iter)")
+if BENCHMARK println("Average time per control step: $(mean(b.times)/SAMPLES/1e9) s") end
+toc()
+nothing