c5133401e0
Multi-session work bundle on a draft branch. Splits into a clean
sequence of commits later; pushed here so it isn't lost on a reboot.
Reach work
- code/scripts/reach/reach_scram_pj.jl: shutdown_margin halfspace
X_exit (replaces "n <= 1e-4 AND T_f bound" framing); per-step
envelope extraction added.
- code/scripts/reach/reach_scram_pj_fat.jl: per-step envelope
extraction added; shutdown_margin discharge logic mirrored from the
tight scram script. 3 probes (10/30/60s) all discharge from the
fat union polytope.
- code/scripts/reach/reach_scram_full_fat.jl (NEW): full nonlinear
PKE scram reach with fat entry. Hits the stiffness wall at
~1.5 s plant time as expected; saves NaN-tolerant per-step
envelopes. Demonstrates concretely why PJ is the right tool for
the longer-horizon proof.
- code/scripts/reach/reach_heatup_pj.jl: T_REF_START_C constant
(entry-conditioned ramp) replaces T_STANDBY-init that was making
the FL controller command cooling at t=0. Per-step extraction
already in place.
- code/configs/heatup/tight.toml: bumped maxsteps; probe horizon
parameterized.
Hot-standby SOS barrier
- code/scripts/barrier/barrier_sos_2d_shutdown.jl (NEW): mirrors the
operation SOS machinery on the hot-standby thermal projection.
Includes the eps-slack pattern (so feasibility doesn't silently
collapse to B == 0).
- code/scripts/barrier/barrier_sos_2d.jl: refactored to use the same
helper.
- code/src/sos_barrier.jl (NEW): solve_sos_barrier_2d helper module
factoring out the SOS construction; eps-slack with eps_cap=1.0 to
avoid unbounded primal.
Library
- code/src/pke_states.jl (NEW): single source of truth for canonical
initial-condition vectors per DRC mode (op, shutdown, heatup) keyed
off plant + predicates.
- code/scripts/sim/{main_mode_sweep,validate_pj}.jl, code/CLAUDE.md:
migrated to pke_states.
Predicates + invariants
- reachability/predicates.json: new shutdown_margin predicate (1%
dk/k tech-spec floor, expressed as alpha_f*T_f + alpha_c*T_c
halfspace). Used as scram X_exit.
Plot script
- code/scripts/plot/plot_reach_tubes.jl: plot_tubes_scram_pj() with
variant=:fat|:tight knob; plot_tubes_scram_full() for full-PKE
3-panel (T_c, T_f, rho); plot_tubes_heatup_pj() reads results/
not reachability/.
Journal + memory
- journal/entries/2026-04-27-shutdown-sos-and-scram-X_exit.tex (NEW):
long-form entry on the SOS hot-standby barrier and the scram X_exit
refactor.
- journal/journal.tex: input chain updated.
- claude_memory/ — three new session notes:
* 2026-04-27-scram-X_exit-shutdown-margin.md
* 2026-04-28-DICE-2026-conference-intel.md (people, sessions,
strategic notes for the May 12 talk)
* 2026-04-28-path1-sos-pj-sketch.md (sketch of nonlinear-SOS via
polynomial multiply-through; saved for an overnight session)
Docs
- docs/model_cheatsheet.md (NEW): one-page reference of state vector,
dynamics, constants, modes, predicates, sanity numbers — the talk
prep cheatsheet Dane asked for.
- docs/figures/reach_*_tubes.png: regenerated with the new mat data.
- presentations/prelim-presentation/outline.md: revised arc per the
April-28 review pass (cuts: Lyapunov-fails standalone slide,
operation-tube standalone slide, SOS standalone; adds: scopes-of-
control framing, scram on the headline result slide).
- app/predicate_explorer.jl: minor.
Hacker-Split: end-of-session scratch bundle
124 lines
5.1 KiB
Julia
124 lines
5.1 KiB
Julia
#!/usr/bin/env julia
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#
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# main_mode_sweep.jl — run every DRC-mode controller back-to-back.
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#
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# Julia equivalent of plant-model/main_mode_sweep.m. Produces the
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# same four-panel plots, saves to docs/figures/ with `mode_sweep_*.png`
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# names (overwrites MATLAB outputs — the Julia versions take over).
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using Pkg
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Pkg.activate(joinpath(@__DIR__, "..", ".."))
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using Printf
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using LinearAlgebra
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using OrdinaryDiffEq
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using Plots
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using MatrixEquations
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using JSON
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include(joinpath(@__DIR__, "..", "..", "src", "pke_params.jl"))
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include(joinpath(@__DIR__, "..", "..", "src", "pke_states.jl"))
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include(joinpath(@__DIR__, "..", "..", "src", "pke_th_rhs.jl"))
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include(joinpath(@__DIR__, "..", "..", "src", "pke_linearize.jl"))
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include(joinpath(@__DIR__, "..", "..", "src", "pke_solver.jl"))
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include(joinpath(@__DIR__, "..", "..", "src", "plot_pke_results.jl"))
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include(joinpath(@__DIR__, "..", "..", "controllers", "controllers.jl"))
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# --- Plant + predicates + canonical ICs ---
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plant = pke_params()
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pred_path = joinpath(@__DIR__, "..", "..", "..", "reachability", "predicates.json")
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predicates = JSON.parsefile(pred_path)
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states = pke_states(plant; predicates=predicates)
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T_standby = states.T_standby
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x_op = states.op
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x_shut = states.shutdown
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x_heat = states.heatup
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# --- LQR gain (needed by ctrl_operation_lqr_factory) ---
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A, B, B_w, _, _, _ = pke_linearize(plant)
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Q_lqr = Diagonal([1.0, 1e-3, 1e-3, 1e-3, 1e-3, 1e-3, 1e-3, 1e-2, 1e2, 1.0])
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R_lqr = 1e6 * ones(1, 1)
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ctrl_op_lqr, K_lqr, _ = ctrl_operation_lqr_factory(
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plant, A, B; Q_lqr=Matrix(Q_lqr), R_lqr=R_lqr)
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# --- Figure output directory ---
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figdir = joinpath(@__DIR__, "..", "..", "..", "docs", "figures")
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isdir(figdir) || mkpath(figdir)
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# --- Run each mode ---
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println("\n===== Mode 1: ctrl_shutdown =====")
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Q_shut = t -> 0.0
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t1, X1, U1 = pke_solver(plant, Q_shut, ctrl_shutdown, nothing, (0.0, 600.0); x0=x_shut)
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println("\n===== Mode 2: ctrl_heatup =====")
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ref_heat = (; T_start=T_standby, T_target=plant.T_c0, ramp_rate=28/3600)
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Q_heat = t -> 0.0
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t2, X2, U2 = pke_solver(plant, Q_heat, ctrl_heatup, ref_heat, (0.0, 5400.0); x0=x_heat)
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println("\n===== Mode 3a: ctrl_operation (P) =====")
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Q_op = t -> plant.P0 * (1.0 - 0.2 * (t >= 30))
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ref_op = (; T_avg=plant.T_c0)
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t3, X3, U3 = pke_solver(plant, Q_op, ctrl_operation, ref_op, (0.0, 600.0))
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println("\n===== Mode 3b: ctrl_operation_lqr =====")
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# LQR closure ignores ref; pass nothing.
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t3b, X3b, U3b = pke_solver(plant, Q_op, ctrl_op_lqr, nothing, (0.0, 600.0))
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println("\n===== Mode 4: ctrl_scram =====")
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Q_scr = t -> plant.P0 * max(0.03, 1 - max(0, t - 10) / 10)
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t4, X4, U4 = pke_solver(plant, Q_scr, ctrl_scram, nothing, (0.0, 600.0))
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# --- Per-mode 4-panel plots ---
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plot_pke_results(t1, X1, U1, plant, Q_shut;
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title="ctrl_shutdown (cold IC)",
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savepath=joinpath(figdir, "mode_sweep_1_shutdown.png"))
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plot_pke_results(t2, X2, U2, plant, Q_heat;
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title="ctrl_heatup (ramp T_avg)",
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savepath=joinpath(figdir, "mode_sweep_2_heatup.png"))
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plot_pke_results(t3, X3, U3, plant, Q_op;
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title="ctrl_operation (P on T_avg)",
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savepath=joinpath(figdir, "mode_sweep_3_operation.png"))
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plot_pke_results(t3b, X3b, U3b, plant, Q_op;
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title="ctrl_operation_lqr",
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savepath=joinpath(figdir, "mode_sweep_3b_operation_lqr.png"))
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plot_pke_results(t4, X4, U4, plant, Q_scr;
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title="ctrl_scram",
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savepath=joinpath(figdir, "mode_sweep_4_scram.png"))
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# --- Heatup ramp-tracking figure ---
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CtoF(T) = T*9/5 + 32
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T_ref_trace = [min(T_standby + (28/3600)*ti, plant.T_c0) for ti in t2]
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fig_heat = plot(t2 ./ 60, CtoF.(T_ref_trace), lw=1.3, ls=:dash, color=:black,
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label="T_ref (28 C/hr ramp)",
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xlabel="Time [min]", ylabel="T_avg [F]",
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title="ctrl_heatup: reference tracking", size=(1000, 400))
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plot!(fig_heat, t2 ./ 60, CtoF.(X2[:, 9]), lw=2, color=:red,
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label="T_avg (plant)")
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savefig(fig_heat, joinpath(figdir, "mode_sweep_heatup_tracking.png"))
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# --- P vs LQR head-to-head ---
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fig_ctrl = plot(t3, CtoF.(X3[:, 9]), lw=2, color=:blue, label="ctrl_operation (P)",
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xlabel="Time [s]", ylabel="T_avg [F]",
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title="Operation mode: P vs LQR under 100% -> 80% Q_sg step",
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size=(1000, 400))
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plot!(fig_ctrl, t3b, CtoF.(X3b[:, 9]), lw=2, color=:red, label="ctrl_operation_lqr")
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hline!(fig_ctrl, [CtoF(plant.T_c0)], ls=:dash, color=:black, label="setpoint")
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savefig(fig_ctrl, joinpath(figdir, "mode_sweep_op_P_vs_LQR.png"))
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# --- Power overview ---
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p_shut = plot(t1, max.(X1[:,1], 1e-20), yaxis=:log, title="Shutdown",
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xlabel="t [s]", ylabel="n (log)", legend=false, lw=1.5)
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p_heat = plot(t2 ./ 60, X2[:,1], title="Heatup", xlabel="t [min]", ylabel="n",
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legend=false, lw=1.5)
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p_op = plot(t3, X3[:,1], title="Operation", xlabel="t [s]", ylabel="n",
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legend=false, lw=1.5)
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p_scr = plot(t4, max.(X4[:,1], 1e-20), yaxis=:log, title="Scram",
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xlabel="t [s]", ylabel="n (log)", legend=false, lw=1.5)
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fig_ov = plot(p_shut, p_heat, p_op, p_scr, layout=(2,2), size=(1100, 650),
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plot_title="Normalized reactor power n(t) across DRC modes")
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savefig(fig_ov, joinpath(figdir, "mode_sweep_power_overview.png"))
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println("\n=== Figures written to $figdir ===")
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