9fc4afb611
Port pke_params, pke_th_rhs, pke_linearize, and all five controllers to Julia. sim_sanity.jl reproduces the MATLAB main.m operation-mode scenario (100%->80% Q_sg step) and matches final state to 3 decimals across n, T_f, T_avg, T_cold, u. reach_operation.jl is a stub: ReachabilityAnalysis.jl (LGG09, GLGM06, BFFPSV18) numerically explodes on the raw stiff system — envelopes of 1e14 K to 1e37 K instead of the known-tight 0.03 K. Almost certainly a state-scaling issue: precursors C_i ~ 1e5, temperatures ~ 300, eigvals span 5000x. Diagonal scaling + retry is planned; left for the next pass since the hand-rolled MATLAB reach already discharges the operation-mode obligation. Project.toml pins OrdinaryDiffEq >= 6.111 (the one that precompiled cleanly on first instantiate). Manifest gitignored. Hacker-Split: Julia path open, reach side needs a scaling pass. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
50 lines
1.5 KiB
Julia
50 lines
1.5 KiB
Julia
"""
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Mode controllers — signatures match the MATLAB side:
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u = ctrl_<mode>(t, x, plant, ref)
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Pure functions. `ref` can be any NamedTuple of setpoints; unused fields
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are ignored. For heatup, `ref` must provide `T_start`, `T_target`, `ramp_rate`.
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"""
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ctrl_null(t, x, plant, ref) = 0.0
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ctrl_shutdown(t, x, plant, ref) = -5.0 * plant.beta
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ctrl_scram(t, x, plant, ref) = -8.0 * plant.beta
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function ctrl_operation(t, x, plant, ref)
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Kp = 1e-4
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T_avg = x[9]
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return Kp * (ref.T_avg - T_avg)
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end
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function ctrl_heatup(t, x, plant, ref)
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Kp = 1e-4
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T_f = x[8]
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T_avg = x[9]
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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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T_ref = min(ref.T_start + ref.ramp_rate * t, ref.T_target)
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u_unsat = u_ff + Kp * (T_ref - T_avg)
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u_min = get(ref, :u_min, -5 * plant.beta)
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u_max = get(ref, :u_max, 0.5 * plant.beta)
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return clamp(u_unsat, u_min, u_max)
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end
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"""
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ctrl_operation_lqr_factory(plant; Q_lqr, R_lqr)
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Returns a closure `ctrl(t, x, plant_ignored, ref_ignored)` with the LQR
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gain baked in. Pattern chosen so the user can specify Q/R from the
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calling script and get a pure function to pass to the ODE solver.
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Depends on MatrixEquations.jl for `arec` (algebraic Riccati).
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"""
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function ctrl_operation_lqr_factory(plant, A, B; Q_lqr, R_lqr)
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x_op = pke_initial_conditions(plant)
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X_ric, _, _ = MatrixEquations.arec(A, B, R_lqr, Q_lqr)
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K = (R_lqr \ B') * X_ric # 1x10
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return function (t, x, plant_ignored, ref_ignored)
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return -(K * (x - x_op))[1]
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end, K, x_op
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end
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