Fig issues

Author: ufechner7

data/wc_settings.yaml

@@ -32,6 +32,7 @@ wc_settings:
     ktf_high: 10.0     # tracking constant of the upper force controller
     winch_iter: 10     # iterations of the winch model
     max_acc: 8.0       # maximal acceleration of the winch (derivative of the set value of the reel-out speed)
-    damage_factor: 0.1 # damage at max acceleration
+    damage_factor: 0.4 # damage at max acceleration for jerk_factor=0
+    jerk_factor: 0.9   # factor for the jerk (derivative of the acceleration), 0..1 
     kv: 0.06           # proportional factor of the square root law, see function calc_vro
 

examples/test_tuned_winchcontroller.jl

@@ -30,7 +30,7 @@ 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(DURATION, wcs.dt, set.max_force, wcs.max_acc, wcs.damage_factor)
+lg = WCLogger(DURATION, wcs.dt, set.max_force, wcs.max_acc, wcs.damage_factor, wcs.jerk_factor)
 
 STARTUP = get_startup(wcs, length(lg))    
 V_WIND = STARTUP .* get_triangle_wind(wcs, V_WIND_MIN, V_WIND_MAX, FREQ_WIND, length(lg))
@@ -63,7 +63,7 @@ for i in 1:length(lg)
 
     # log the values
     log(lg; 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))
+        jerk=winch.jerk, 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
 
 # plot the results  
@@ -80,5 +80,5 @@ toc()
 println("Max iterations needed: $(wcs.iter)")
 println("Performance 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; jerk=true)), digits=2)) %")
-println("Combined performance γ: $(round(100*gamma(lg; jerk=true), digits=2)) %")    
+println("Damage:                           $(round(100*(damage(lg)), digits=2)) %")
+println("Combined performance γ: $(round(100*gamma(lg), digits=2)) %")    

examples/test_winchcontroller.jl

@@ -30,7 +30,7 @@ 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(DURATION, wcs.dt, set.max_force, wcs.max_acc, wcs.damage_factor)
+lg = WCLogger(DURATION, wcs.dt, set.max_force, wcs.max_acc, wcs.damage_factor, wcs.jerk_factor)
 
 STARTUP = get_startup(wcs, length(lg))    
 V_WIND = STARTUP .* get_triangle_wind(wcs, V_WIND_MIN, V_WIND_MAX, FREQ_WIND, length(lg))
@@ -63,7 +63,7 @@ for i in 1:length(lg)
 
     # log the values
     log(lg; 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))
+       jerk=winch.jerk, 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
 
 # plot the results  
@@ -80,5 +80,5 @@ toc()
 println("Max iterations needed: $(wcs.iter)")
 println("Performance 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; jerk=true)), digits=2)) %")
-println("Combined performance γ: $(round(100*gamma(lg; jerk=true), digits=2)) %")    
+println("Damage:                           $(round(100*(damage(lg)), digits=2)) %")
+println("Combined performance γ: $(round(100*gamma(lg), digits=2)) %")    

scripts/autotune.jl

@@ -37,7 +37,7 @@ function simulate(wcs::WCSettings; return_lg::Bool = false)
     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)
+    lg::WCLogger = WCLogger(DURATION, wcs.dt, set.max_force, wcs.max_acc, wcs.damage_factor, wcs.jerk_factor)
 
     STARTUP = get_startup(wcs, length(lg))    
     V_WIND = STARTUP .* get_triangle_wind(wcs, V_WIND_MIN, V_WIND_MAX, FREQ_WIND, length(lg))
@@ -74,7 +74,7 @@ function simulate(wcs::WCSettings; return_lg::Bool = false)
         return wcs, lg
     end
     # calculate the performance metrics
-    -gamma(lg; jerk=true)
+    -gamma(lg)
 end
 
 function simulate_all(x::Vector; return_lg::Bool = false)
@@ -130,7 +130,7 @@ function autotune(max_iter=1000)
 
     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 with jerk:                 $(round(100*(damage(lg; jerk=true)), digits=2)) %")
+    println("Damage with jerk:                 $(round(100*(damage(lg)), digits=2)) %")
     println("Combined performance γ: $(round(-100*result.bbo_best_feas[1], digits=2)) %")  
     wcs
 end

src/logging.jl

@@ -21,6 +21,8 @@ $(TYPEDFIELDS)
     max_acc::Float64 = 0.0
     "damage at maximum acceleration"
     damage_factor::Float64 = 0.0
+    "jerk factor for damage calculation"
+    jerk_factor::Float64 = 0.0
     "set value of the reel-out speed, input of the speed controller [m/s]"    
     v_set_in::Vector{Float64} = zeros(Float64, Q)
     "reel-out speed [m/s]"
@@ -66,13 +68,14 @@ Create and initialize a logger for the winch controller system.
 # Returns
 A logger object configured to record data at the specified interval for the given duration.
 """
-function WCLogger(duration, dt, max_force=0.0, max_acc=0.0, damage_factor=0.0)
+function WCLogger(duration, dt, max_force=0.0, max_acc=0.0, damage_factor=0.0, jerk_factor=0.0)
     samples = Int(duration / dt + 1)
     lg = WCLogger(samples)
     lg.time = range(0.0, duration, samples)
     lg.max_force = max_force
     lg.max_acc = max_acc
     lg.damage_factor = damage_factor
+    lg.jerk_factor = jerk_factor
     lg
 end
 
@@ -161,23 +164,9 @@ function v_err(logger::WCLogger)
     1/v_mean * rms(filter(!isnan, logger.v_err))
 end
 
-function damage(logger::WCLogger; rms= false, jerk=false)
-    if jerk
-        return damage3(logger)
-    elseif rms
-        return damage2(logger)
-    end
-    logger.damage_factor * (maximum(norm.(logger.acc)) / logger.max_acc)^2
-end
-
-function damage2(logger::WCLogger)
-    rms_damage = rms(filter(!isnan, logger.acc))
-    logger.damage_factor * ((0.83*rms_damage + 0.55*(maximum(norm.(logger.acc)))) / logger.max_acc)^2
-end
-
-function damage3(logger::WCLogger)
-    jerk_factor=0.9
-    logger.damage_factor*4* ((jerk_factor*(rms(logger.jerk) / logger.max_acc^2)^2 + 
+function damage(logger::WCLogger)
+    jerk_factor= logger.jerk_factor
+    logger.damage_factor*((jerk_factor*(rms(logger.jerk) / logger.max_acc^2)^2 + 
                              (1-jerk_factor)*(maximum(norm.(logger.acc)))) / logger.max_acc)^2
 end
 
@@ -193,6 +182,6 @@ the provided logs, stored in the `logger`. See: [Combined performance](@ref).
 # Returns
 - The gamma value associated with the log of the used test case.
 """
-function gamma(logger::WCLogger; rms=false, jerk=false)
-    1 - 0.5 * (f_err(logger) + v_err(logger)) - damage(logger; rms, jerk)
+function gamma(logger::WCLogger)
+    1 - 0.5 * (f_err(logger) + v_err(logger)) - damage(logger)
 end

src/wc_settings.jl

@@ -74,6 +74,8 @@ $(TYPEDFIELDS)
     max_acc = 8.0
     "damage at max acceleration"
     damage_factor = 0.2 
+    "jerk factor for damage calculation"
+    jerk_factor = 0.9
     "proportional factor of the square root law, see function calc_vro"
     kv = 0.06
 end