| 1 | package TestOptAnn
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| 2 | model BangBang "Model to verify that optimization gives bang-bang optimal control"
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| 3 | parameter Real m = 1;
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| 4 | parameter Real p = 1 "needed for final constraints";
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| 5 | Real a;
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| 6 | Real v(start = 0);
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| 7 | Real pos(start = 0);
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| 8 | Real pow(min = -30, max = 30) = f * v annotation(
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| 9 | isConstraint = true);
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| 10 | input Real f(min = -10, max = 10);
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| 11 | Real costPos(nominal = 1) = -pos "minimize -pos(tf)" annotation(
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| 12 | isMayer = true);
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| 13 | Real conSpeed(min = 0, max = 0) = p * v " 0<= p*v(tf) <=0 " annotation(
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| 14 | isFinalConstraint = true);
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| 15 | equation
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| 16 | der(pos) = v;
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| 17 | der(v) = a;
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| 18 | f = m * a;
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| 19 | annotation(
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| 20 | experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-08, Interval = 0.0142857),
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| 21 | __OpenModelica_commandLineOptions="+gDynOpt",
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| 22 | __OpenModelica_simulationFlags(optimizerNP = "1", s = "optimization"));
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| 23 | end BangBang;
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| 24 |
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| 25 |
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| 26 |
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| 27 | model RL
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| 28 | Modelica.Electrical.Analog.Basic.Resistor resistor1(R = 1) annotation(
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| 29 | Placement(visible = true, transformation(origin = {-18, 36}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
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| 30 | Modelica.Electrical.Analog.Basic.Inductor inductor1(L = 0.1) annotation(
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| 31 | Placement(visible = true, transformation(origin = {38, 6}, extent = {{-10, -10}, {10, 10}}, rotation = -90)));
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| 32 | Modelica.Electrical.Analog.Sources.ConstantVoltage constantVoltage1 annotation(
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| 33 | Placement(visible = true, transformation(origin = {-66, 18}, extent = {{-10, -10}, {10, 10}}, rotation = -90)));
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| 34 | Modelica.Electrical.Analog.Basic.Ground ground1 annotation(
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| 35 | Placement(visible = true, transformation(origin = {-66, -32}, extent = {{-10, -10}, {10, 10}}, rotation = 0)));
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| 36 | equation
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| 37 | connect(resistor1.p, constantVoltage1.p) annotation(
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| 38 | Line(points = {{-28, 36}, {-66, 36}, {-66, 28}}, color = {0, 0, 255}));
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| 39 | connect(resistor1.n, inductor1.p) annotation(
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| 40 | Line(points = {{-8, 36}, {38, 36}, {38, 16}}, color = {0, 0, 255}));
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| 41 | connect(ground1.p, constantVoltage1.n) annotation(
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| 42 | Line(points = {{-66, -22}, {-66, -22}, {-66, 8}, {-66, 8}}, color = {0, 0, 255}));
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| 43 | connect(constantVoltage1.n, inductor1.n) annotation(
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| 44 | Line(points = {{-66, 8}, {-66, 8}, {-66, -14}, {38, -14}, {38, -4}, {38, -4}}, color = {0, 0, 255}));
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| 45 | annotation(
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| 46 | Diagram(coordinateSystem(extent = {{-100, -80}, {100, 80}})),
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| 47 | experiment(StartTime = 0, StopTime = 1, Tolerance = 1e-07, Interval = 0.002));end RL;
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| 48 | annotation(
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| 49 | Diagram(coordinateSystem(extent = {{-100, -80}, {100, 80}})),
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| 50 | uses(Modelica(version = "3.2.2")));
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| 51 | end TestOptAnn;
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