fa45e96fd1
journal/ directory, LaTeX-based, dated entries, callout boxes for
derivations / decisions / dead ends / limitations, plus an \apass{}
macro for in-line markers when a later deep-pass is needed.
Retroactive A-style entries for 2026-04-17 (controllers, linearization,
LQR, operation-mode linear reach, Lyapunov barrier) and 2026-04-20
(predicates restructure into deadbands+safety+invariants, OL-vs-CL
barrier analysis, mode-obligation taxonomy, heatup-rate-as-halfspace,
mode_boundaries, first Julia nonlinear reach attempt).
Both entries include derivations written out in math, dead-ends I
hit, code snippets with commentary, figure embeds, and terminal
output where it changed what we did next. The goal is invention-log
depth — readable 4 years from now without the git history to help.
journal/README.md documents the conventions. journal.tex aggregates
all entries into one PDF via latexmk.
Kept claude_memory/ separate as per earlier agreement — those are
short AI-context notes, different audience.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
133 lines
5.4 KiB
Julia
133 lines
5.4 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_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 ---
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plant = pke_params()
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# Load T_standby from predicates.json for the hot-standby IC + heatup ref.
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pred_path = joinpath(@__DIR__, "..", "..", "reachability", "predicates.json")
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pred_raw = JSON.parsefile(pred_path)
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T_standby = plant.T_c0 + pred_raw["derived"]["T_standby_offset_C"]
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# --- ICs ---
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x_op = pke_initial_conditions(plant)
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# Hot-standby IC: everything at T_standby, trace n.
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n_shut = 1e-6
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C_shut = (plant.beta_i ./ (plant.lambda_i .* plant.Lambda)) .* n_shut
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x_shut = [n_shut; C_shut; T_standby; T_standby; T_standby]
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# Heatup IC: already critical at 0.1% power, thermally matched.
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n_heat = 1e-3
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C_heat = (plant.beta_i ./ (plant.lambda_i .* plant.Lambda)) .* n_heat
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x_heat = [n_heat; C_heat; T_standby; T_standby; T_standby]
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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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