Changed fmu control loop to speed execution

rocket_twin/systems/__init__.py

@@ -1,9 +1,10 @@
 from rocket_twin.systems.control import (
-    ControllerFMU,
     RocketControllerCoSApp,
     RocketControllerFMU,
     StageControllerCoSApp,
+    StageControllerFMU,
     StationControllerCoSApp,
+    StationControllerFMU
 )
 from rocket_twin.systems.engine import Engine, EngineGeom, EnginePerfo
 from rocket_twin.systems.ground import Ground
@@ -30,7 +31,8 @@
     "StageControllerCoSApp",
     "StationControllerCoSApp",
     "RocketControllerCoSApp",
-    "ControllerFMU",
+    "StageControllerFMU",
+    "StationControllerFMU",
     "RocketControllerFMU",
     "NoseGeom",
     "TubeGeom",

rocket_twin/systems/control/__init__.py

@@ -2,13 +2,15 @@
 from rocket_twin.systems.control.stage_controller_cosapp import StageControllerCoSApp
 from rocket_twin.systems.control.station_controller_cosapp import StationControllerCoSApp
 
-from rocket_twin.systems.control.controller_fmu import ControllerFMU  # isort: skip
 from rocket_twin.systems.control.rocket_controller_fmu import RocketControllerFMU  # isort: skip
+from rocket_twin.systems.control.stage_controller_fmu import StageControllerFMU  # isort: skip
+from rocket_twin.systems.control.station_controller_fmu import StationControllerFMU  # isort: skip
 
 __all__ = [
     "StageControllerCoSApp",
     "StationControllerCoSApp",
-    "ControllerFMU",
     "RocketControllerCoSApp",
+    "StageControllerFMU",
+    "StationControllerFMU",
     "RocketControllerFMU",
 ]

rocket_twin/systems/control/rocket_controller.mo

@@ -1,31 +1,13 @@
 model rocket_controller
-  input Real ti;
+  input Boolean flying;
   input Real weight_1;
   input Real weight_2;
   input Real weight_3;
-  parameter Real tl;
-  parameter Real weight_max_1;
-  parameter Real weight_max_2;
-  parameter Real weight_max_3;
   output Real is_on_1;
   output Real is_on_2;
   output Real is_on_3;
-  output Real fueling;
-  output Real flying;
 equation
-  if (flying < 0.5 and weight_3 < weight_max_3) then
-    fueling = 1.;
-  else
-    fueling = 0.;
-  end if;
-
-  if (ti < tl) then
-    flying = 0.;
-  else
-    flying = 1.;
-  end if;
-
-  if (flying < 0.5) then
+  if (flying == false) then
     is_on_1 = 0.;
     is_on_2 = 0.;
     is_on_3 = 0.;

rocket_twin/systems/control/rocket_controller_cosapp.py

@@ -21,6 +21,7 @@ def setup(self, n_stages):
 
         self.add_inward("n_stages", n_stages, desc="number of stages")
         self.add_inward("stage", 1, desc="Current active stage")
+        self.add_inward("flying", False, desc="Whether the rocket is flying or not")
 
         for i in range(1, n_stages + 1):
             self.add_inward(f"weight_prop_{i}", 0.0, desc=f"Stage {i} propellant weight", unit="kg")

rocket_twin/systems/control/rocket_controller_fmu.py

@@ -16,39 +16,29 @@ class RocketControllerFMU(System):
         the path to the .mo file, if any
     model_name: string,
         the .fmu file name
+    flying: boolean,
+        whether the rocket is mid-flight or not
     n_stages: int,
         rocket's number of stages
     weight_prop_i: float,
         i-th stage fuel weight
-    weight_max_i: float,
-        i-th stage maximum fuel weight
 
     Outputs
     ------
-    is_on_i: float,
+    is_on_i: boolean,
         whether the i-th stage controller is active or not
-    fueling: float,
-        whether the rocket is in the fueling phase or not
-    flying: float,
-        whether the rocket is mid-flight or not
     """
 
     def setup(self, n_stages, model_path, model_name):
 
         self.add_inward("n_stages", n_stages, desc="number of stages")
         self.add_inward("stage", 1, desc="Current active stage")
 
-        self.add_inward("time_var", 0.0, desc="System time", unit="")
-        self.add_inward("time_int", 0.0, desc="Interval between fueling end and launch", unit="")
-        self.add_inward("time_lnc", 100000.0, desc="Launch time", unit="")
-        self.add_transient("x", der="1")
-
-        pulling = {"flying": "flying", "fueling": "fueling", "tl": "time_lnc", "ti": "time_var"}
+        pulling = {"flying": "flying"}
 
         for i in range(1, n_stages + 1):
             self.add_outward(f"is_on_{i}", 0, desc=f"Whether the stage {i} is on or not")
             pulling[f"weight_{i}"] = f"weight_prop_{i}"
-            pulling[f"weight_max_{i}"] = f"weight_max_{i}"
             pulling[f"is_on_{i}"] = f"is_on_{i}"
 
         fmu_path = self.create_fmu(model_path, model_name)
@@ -57,23 +47,15 @@ def setup(self, n_stages, model_path, model_name):
             pulling=pulling,
         )
 
-        self.add_event("full", trigger="weight_prop_1 > 0.9999*weight_max_1")
         self.add_event("drop", trigger="weight_prop_1 < 0.1")
 
     def compute(self):
 
-        self.time_var = self.time
+        for i in range(1, self.n_stages):
+            self[f"is_on_{i}"] = bool(self[f"is_on_{i}"])
 
     def transition(self):
 
-        if self.full.present:
-            if self.stage < self.n_stages:
-                self.stage += 1
-                self.full.trigger = f"weight_prop_{self.stage} > 0.9999 * weight_max_{self.stage}"
-            else:
-                self.time_lnc = self.time + self.time_int
-                self.stage = 1
-
         if self.drop.present:
             if self.stage < self.n_stages:
                 self.stage += 1

rocket_twin/systems/control/stage_controller.mo

@@ -0,0 +1,10 @@
+model stage_controller
+  input Boolean is_on;
+  output Real w;
+equation
+  if (is_on == true) then
+    w = 1.;
+  else
+    w = 0.;
+  end if;
+end stage_controller;

rocket_twin/systems/control/stage_controller_fmu.py

@@ -0,0 +1,77 @@
+import os
+
+from cosapp.base import System
+from cosapp_fmu.FMUsystem import FMUSystem
+from OMPython import ModelicaSystem
+
+import rocket_twin.systems.control
+
+
+class StageControllerFMU(System):
+    """Controller of the command variables.
+
+    Inputs
+    ------
+    model_path: string,
+        the path to the .mo file, if any
+    model_name: string,
+        the .fmu file name
+    is_on: boolean,
+        whether the system is in fueling phase or not
+    weight_prop: float,
+        stage fuel weight
+    weight_max: float,
+        stage maximum fuel weight
+
+    Outputs
+    ------
+    w: float,
+        command flux
+    """
+
+    def setup(self, model_path, model_name):
+
+        self.add_inward("weight_prop", 0.0, desc="Stage propellant weight", unit="kg")
+        self.add_inward("weight_max", 1.0, desc="Stage maximum propellant weight", unit="kg")
+        self.add_inward("is_on", False, desc="Whether the stage is on or not")
+
+        fmu_path = self.create_fmu(model_path, model_name)
+        self.add_child(
+            FMUSystem("fmu_controller", fmu_path=fmu_path),
+            pulling=['is_on', 'w'],
+        )
+
+        self.add_event("full", trigger="weight_prop == weight_max")
+
+    def create_fmu(self, model_path, model_name):
+        """Create an fmu file in the control folder from an mo file.
+
+        Inputs
+        ------
+        model_path: string
+            the path of the .mo file
+        model_name: string
+            the name of the .fmu file to be created
+
+        Outputs
+        ------
+
+        fmu: string
+            the path to the .fmu file
+        """
+
+        fmu_path = os.path.join(rocket_twin.systems.control.__path__[0], model_name)
+        model_path = os.path.join(rocket_twin.__path__[0], model_path)
+        model_path = model_path.replace("\\", "/")
+        try:
+            os.mkdir(fmu_path)
+        except OSError:
+            pass
+        os.chdir(fmu_path)
+        mod = ModelicaSystem(model_path, model_name)
+        fmu = mod.convertMo2Fmu()
+        for filename in os.listdir(fmu_path):
+            if filename != (model_name + ".fmu"):
+                os.remove(filename)
+
+        return fmu

rocket_twin/systems/control/station_controller.mo

@@ -0,0 +1,10 @@
+model station_controller
+  input Boolean fueling;
+  output Real w;
+equation
+  if (fueling == true) then
+    w = 1.;
+  else
+    w = 0.;
+  end if;
+end station_controller;

rocket_twin/systems/control/controller_fmu.py → rocket_twin/systems/control/station_controller_fmu.py

@@ -7,7 +7,7 @@
 import rocket_twin.systems.control
 
 
-class ControllerFMU(System):
+class StationControllerFMU(System):
     """Controller of the command variables.
 
     Inputs
@@ -16,21 +16,21 @@ class ControllerFMU(System):
         the path to the .mo file, if any
     model_name: string,
         the .fmu file name
-    is_on: float,
-        whether the system is active or not
+    fueling: boolean,
+        whether the system is in fueling phase or not
 
     Outputs
     ------
-    'w': float,
-        command flow
+    w: float,
+        command flux
     """
 
     def setup(self, model_path, model_name):
 
         fmu_path = self.create_fmu(model_path, model_name)
         self.add_child(
             FMUSystem("fmu_controller", fmu_path=fmu_path),
-            pulling=["w", "is_on"],
+            pulling=['fueling', 'w'],
         )
 
     def create_fmu(self, model_path, model_name):
@@ -64,4 +64,4 @@ def create_fmu(self, model_path, model_name):
             if filename != (model_name + ".fmu"):
                 os.remove(filename)
 
-        return fmu
+        return fmu

rocket_twin/systems/rocket/occ_geometry.py

@@ -13,13 +13,17 @@ class OCCGeometry(System):
 
     Inputs
     ------
-    shapes: TopoDS_Solid, TopoDS_Compound
+    shapes: TopoDS_Solid, TopoDS_Compound,
         pyoccad models of each component of the system
     props: GProp_GProps,
         properties of each model
 
     Outputs
     ------
+    shapes: TopoDS_Solid, TopoDS_Compound,
+        fusion of all input models
+    props: GProp_GProps,
+        properties of the global model
     cg [m]: float,
         center of gravity
     weight [kg]: float,

rocket_twin/systems/rocket/rocket.py

@@ -35,7 +35,8 @@ def setup(self, n_stages=1):
         shapes, properties, forces = ([None] * n_stages for i in range(3))
 
         self.add_inward("n_stages", n_stages, desc="Number of stages")
-        self.add_outward_modevar("stage", 1, desc="Current stage")
+        self.add_outward("stage", 1, desc="Current stage")
+        self.add_inward("flying", False, desc="Whether the rocket is flying or not")
 
         for i in range(1, n_stages + 1):
             nose = False
@@ -59,6 +60,7 @@ def setup(self, n_stages=1):
         self.add_child(
             RocketControllerCoSApp("controller", n_stages=n_stages),
             execution_index=0,
+            pulling=["flying"]
         )
         self.add_child(OCCGeometry("geom", shapes=shapes, properties=properties))
         self.add_child(Dynamics("dyn", forces=forces, weights=["weight_rocket"]), pulling=["a"])
@@ -77,8 +79,6 @@ def setup(self, n_stages=1):
 
         self.connect(self.geom.outwards, self.dyn.inwards, {"weight": "weight_rocket"})
 
-        self.add_outward_modevar("flying", False, desc="Whether the rocket is flying or not")
-
     def compute(self):
         self.a *= self.flying