d2997c2861
Fill out the DRC mode set with ctrl_shutdown (u = -5*beta), ctrl_scram (u = -8*beta), and ctrl_heatup (feedback-linearizing P on ramped T_avg reference, saturated u, no integrator). Add ctrl_operation_lqr as a full-state-feedback counterpart to ctrl_operation — K cached, closed-loop essentially perfect under the 100%->80% Q_sg step where plain P has ~5F overshoot. Add pke_linearize for numerical (A, B, B_w) Jacobians at any operating point; test_linearize confirms ~4e-4 rel err vs nonlinear sim for a 5% Q_sg step. Extend pke_solver with an optional x0 argument so each mode can start from a plausible IC. main_mode_sweep.m exercises all five modes back-to-back and saves the 4-panel plots. CLAUDE.md updated with model-validity-range note (trust region is ~+/-50C around operating point; true cold shutdown is out of scope for the linear feedback coefficients). Hacker-Split: build out control layer end-to-end for reachability. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
58 lines
2.3 KiB
Matlab
58 lines
2.3 KiB
Matlab
function u = ctrl_heatup(t, x, plant, ref)
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% CTRL_HEATUP Ramp T_avg toward a target at a bounded rate.
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%
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% Structure:
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% u_ff = -alpha_f*(T_f - T_f0) - alpha_c*(T_c - T_c0) % cancel feedback
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% T_ref = min(ref.T_start + ref.ramp_rate * t, ref.T_target) % ramped reference
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% u_unsat = u_ff + Kp * (T_ref - T_avg) % P on error
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% u = sat(u_unsat, ref.u_min, ref.u_max) % bounded rod worth
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%
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% Why saturation:
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% Without it the P gain can push u toward prompt-supercritical as the
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% cold-hot feedback bias unwinds late in the ramp. Capping u at
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% +0.5*beta guarantees rho_total < beta (below prompt), which in
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% turn bounds the neutron-kinetics excursion rate for reachability.
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%
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% Why no integrator:
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% Ramp tracking has a structural lag proportional to ramp_rate / Kp_eff.
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% Acceptable because the DRC exits heatup on a predicate window
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% (t_avg_in_range & p_above_crit), not on zero steady-state error.
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% Adding PI would double-count the intrinsic plant integrator
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% (thermal mass) and make anti-windup a hybrid transition.
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%
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% Inputs:
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% t - time [s]
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% x - state vector (10 x 1)
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% plant - parameter struct (alpha_f, alpha_c, T_f0, T_c0 used)
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% ref - struct with fields:
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% .T_start starting T_avg [C]
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% .T_target final T_avg [C]
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% .ramp_rate desired dT_avg/dt [C/s]
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% .u_min (optional) lower saturation [dk/k]; default -5*beta
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% .u_max (optional) upper saturation [dk/k]; default +0.5*beta
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Kp = 1e-4; % [dk/k per K]
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T_f = x(8);
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T_c = x(9);
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T_avg = T_c;
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% Feedforward: cancel intrinsic temperature feedback so rho_total = Kp*e
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% (before saturation).
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u_ff = -plant.alpha_f * (T_f - plant.T_f0) ...
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-plant.alpha_c * (T_avg - plant.T_c0);
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% Ramped reference, clamped at target.
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T_ref = min(ref.T_start + ref.ramp_rate * t, ref.T_target);
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e = T_ref - T_avg;
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u_unsat = u_ff + Kp * e;
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% Saturation bounds (defaults keep rod worth subcritical-prompt).
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if isfield(ref, 'u_min'), u_min = ref.u_min; else, u_min = -5 * plant.beta; end
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if isfield(ref, 'u_max'), u_max = ref.u_max; else, u_max = 0.5 * plant.beta; end
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u = min(max(u_unsat, u_min), u_max);
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end
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