Slightly increase the D value, add nomad3

Author: ufechner7

data/wc_settings.yaml

@@ -26,7 +26,7 @@ wc_settings:
     f_high: 3800     # upper force limit [N]
     pf_high: 0.0002304 # P constant of upper force controller
     if_high: 0.012     # I constant of upper force controller
-    df_high: 2.04e-5  # D constant of upper force controller
+    df_high: 2.4e-5  # D constant of upper force controller
     nf_high: 15.0    # filter constant n of upper force controller
     kbf_high: 1.0    # back calculation constant for the anti-windup loop of the upper force controller
     ktf_high: 10.0   # tracking constant of the upper force controller

scripts/autotune_nomad3.jl

@@ -0,0 +1,173 @@
+# this script tunes the controller parameters (well, seven of them)
+# TODO: add the RMS value of the derivative of acc to the damage
+using Pkg
+if ! ("ControlPlots" ∈ keys(Pkg.project().dependencies))
+    using TestEnv; TestEnv.activate()
+    using Test
+end
+using WinchControllers, KiteUtils, PRIMA, NOMAD, ControlPlots
+
+TUNED::Bool = false
+load_settings("system.yaml")
+
+function calc_force(v_wind, v_ro)
+    (v_wind - v_ro)^2 * 4000.0 / 16.0
+end
+
+function plot(lg::WCLogger)
+    p1=plotx(lg.time, lg.v_wind, [lg.v_ro, lg.v_set_in], lg.f_err*0.001, lg.v_err, lg.acc, lg.force*0.001, lg.state,
+        title="Winch controller test, all controllers active",
+        ylabels=["v_wind [m/s]", "v_reel_out [m/s]", "f_err [kN]", "v_error [m/s]", "acc [m/s²]", "force [kN]", "state"], 
+        ysize=10,
+        labels=["v_wind", ["v_reel_out", "v_set_in"]],
+        fig="test_winchcontroller",)
+    display(p1)
+end
+
+function simulate(wcs::WCSettings; return_lg::Bool = false)
+    if TUNED
+        set = load_settings("system_tuned.yaml")
+    else
+        set = load_settings("system.yaml")
+    end
+ 
+    # define the simulation parameters
+    DURATION   = 10.0
+    V_WIND_MAX = 9.0 # max wind speed of test wind
+    V_WIND_MIN = 0.0 # min wind speed of test wind
+    FREQ_WIND  = 0.25 # frequency of the triangle wind speed signal 
+
+    # create the logger
+    lg::WCLogger = WCLogger(DURATION, wcs.dt, set.max_force, wcs.max_acc, wcs.damage_factor)
+
+    STARTUP = get_startup(wcs, length(lg))    
+    V_WIND = STARTUP .* get_triangle_wind(wcs, V_WIND_MIN, V_WIND_MAX, FREQ_WIND, length(lg))
+
+    # create and initialize winch controller 
+    wc = WinchController(wcs)
+    winch = WinchControllers.Winch(wcs, set)
+    f_low = wcs.f_low
+
+    for i in 1:length(lg)
+        # model
+        v_wind = V_WIND[i]
+        v_act = get_speed(winch)
+        force = calc_force(v_wind, v_act)
+        set_force(winch, force)
+
+        # controller
+        v_set_out = calc_v_set(wc, v_act, force, f_low)
+        
+        # update model input
+        set_v_set(winch, v_set_out)
+        
+        # run integration step
+        on_timer(winch)
+        on_timer(wc)
+
+        # get values for logging and log them
+        status = get_status(wc)
+        log(lg; v_wind, v_ro=v_act, acc=get_acc(winch), state=get_state(wc), reset=status[1], active=status[2], force=status[3], 
+            f_set=status[4], f_err=get_f_err(wc), v_err=get_v_err(wc), v_set=get_v_set(wc), v_set_out, v_set_in=get_v_set_in(wc))
+    end
+    if return_lg
+        return wcs, lg
+    end
+    # calculate the performance metrics
+    -gamma(lg; rms=true)
+end
+
+function simulate_all(x::Vector; return_lg::Bool = false)
+    wcs = WCSettings(dt=0.02)
+    update(wcs)
+    wcs.test = true
+    wcs.i_speed = x[1] # set the speed controller gain
+    wcs.p_speed = x[2] # set the speed controller proportional gain
+    wcs.t_blend = x[3] # set the blending time for switching between controllers
+    wcs.pf_low  = x[4] # set the speed controller gain
+    wcs.if_low  = x[5] # set the speed controller proportional gain
+    wcs.pf_high = x[6] # set the lower force controller gain
+    wcs.if_high = x[7] # set the lower force controller integral gain
+    wcs.df_high = x[8]
+    simulate(wcs; return_lg)
+end
+
+function eval_fct(x)
+  bb_outputs = [simulate_all(x)]
+  success = bb_outputs[1] < -0.7
+  count_eval = true
+  return (success, count_eval, bb_outputs)
+end
+
+function autotune()
+    global x, info, lg, TUNED, result
+    if TUNED
+        load_settings("system_tuned.yaml")
+    else
+        load_settings("system.yaml")
+    end
+    wcs = WCSettings(dt=0.02)
+    update(wcs)
+    wcs.test = true
+    println("Autotuning all controllers...")
+    x0 = [wcs.p_speed, wcs.i_speed, wcs.t_blend, wcs.pf_low, wcs.if_low, wcs.pf_high, wcs.if_high, maximum([1e-5, wcs.df_high])] # initial guess for the speed controller gain
+
+    pb = NomadProblem(8,         # number of inputs of the blackbox
+                      1,         # number of outputs of the blackbox
+                      ["OBJ"],   # type of outputs of the blackbox
+                      eval_fct;
+                      lower_bound = 0.75 .* x0,
+                      upper_bound = 1.5 .* x0)
+    result = solve(pb, x0)
+    x = result.x_best_feas
+    
+    println("Autotuning results: $x")
+
+    if true
+        println("Running simulation with tuned parameters...")
+        TUNED = true
+        wcs, lg = simulate_all(x; return_lg=true)
+
+        println("\nPerformance of force controllers: $(round(100*(1-f_err(lg)), digits=2)) %")
+        println("Performance of speed controller:  $(round(100*(1-v_err(lg)), digits=2)) %")
+        println("Damage:                           $(round(100*(damage(lg)), digits=2)) %")
+        println("Damage with rms:                  $(round(100*(damage(lg; rms=true)), digits=2)) %")
+        println("Combined performance γ: $(round(-100*result.bbo_best_feas[1], digits=2)) %")  
+        return wcs
+    else
+        println("Autotuning failed: $(PRIMA.reason(info.status))")
+        return nothing
+    end 
+end
+
+function copy_settings()
+    cp("data/wc_settings.yaml", "data/wc_settings_tuned.yaml"; force=true)
+end
+function change_value(lines, varname, value::Union{Integer, Float64})
+    KiteUtils.change_value(lines, varname, repr(round(value, digits=5)))
+end
+function update_settings(wcs::WCSettings)
+    lines = KiteUtils.readfile("data/wc_settings_tuned.yaml") 
+    lines = change_value(lines, "i_speed:", wcs.i_speed)
+    lines = change_value(lines, "p_speed:", wcs.p_speed)
+    lines = change_value(lines, "t_blend:", wcs.t_blend)
+    lines = change_value(lines, "pf_low:", wcs.pf_low)
+    lines = change_value(lines, "if_low:", wcs.if_low)
+    lines = change_value(lines, "pf_high:", wcs.pf_high)
+    lines = change_value(lines, "if_high:", wcs.if_high) 
+    lines = change_value(lines, "df_high:", wcs.df_high)    
+    KiteUtils.writefile(lines, "data/wc_settings_tuned.yaml")
+end
+
+function tune_all()
+    wcs = autotune()
+    if ! isnothing(wcs)
+        copy_settings()
+        update_settings(wcs)
+        println()
+        @info "Tuned settings saved to data/wc_settings_tuned.yaml"
+    end
+end
+
+tune_all()
+tune_all()