什么是P-T-t轨迹
时间: 2023-02-22 22:12:45 浏览: 64
P-T-t 轨迹是指在地质学中表示岩石在地壳压力、温度和时间三个因素的影响下的变形历史的图解。P代表压力,T代表温度,t代表时间。P-T-t 轨迹可以帮助地质学家了解岩石在地质过程中经历的压力、温度条件以及变形历史。
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nmpc轨迹跟踪C++代码
以下是一个简单的NMPC轨迹跟踪C++代码示例,仅供参考:
```c++
#include <iostream>
#include <cmath>
#include <vector>
#include <Eigen/Dense>
#include <Eigen/QR>
using namespace std;
using namespace Eigen;
// 定义系统模型
VectorXd f(VectorXd x, VectorXd u){
double dt = 0.1;
VectorXd xdot(3);
xdot(0) = x(0) + dt * (x(2) * cos(x(2)) + u(0) * cos(u(1)));
xdot(1) = x(1) + dt * (x(2) * sin(x(2)) + u(0) * sin(u(1)));
xdot(2) = x(2) + dt * (u(0) * tan(u(1)));
return xdot;
}
// 定义代价函数
double cost(VectorXd x, VectorXd u){
double cost = 0.0;
cost += x.transpose() * x; // 状态代价
cost += u.transpose() * u; // 控制代价
return cost;
}
// 定义线性化系统模型
void linearize(VectorXd x, VectorXd u, MatrixXd& A, MatrixXd& B){
double dt = 0.1;
double v = u(0);
double phi = u(1);
double theta = x(2);
A << 1.0, 0.0, -v * sin(theta) * dt,
0.0, 1.0, v * cos(theta) * dt,
0.0, 0.0, 1.0;
B << cos(theta) * dt, -v * sin(theta) * dt * dt / cos(phi) / cos(phi),
sin(theta) * dt, v * cos(theta) * dt * dt / cos(phi) / cos(phi),
tan(phi) * dt, v * dt / cos(phi) / cos(phi);
}
// 求解优化问题
VectorXd solve_optimization(VectorXd x0, VectorXd xf, int N){
double dt = 0.1;
int m = 3; // 状态维度
int n = 2; // 控制维度
double alpha = 0.1; // 步长
double tol = 1e-5; // 收敛精度
VectorXd x(m * (N + 1)); // 状态向量
VectorXd u(n * N); // 控制向量
VectorXd xbar(m * (N + 1)); // 状态向量
VectorXd ubar(n * N); // 控制向量
for(int i=0; i<=N; i++){
x.segment(i * m, m) = x0;
}
for(int i=0; i<N; i++){
u.segment(i * n, n) = VectorXd::Zero(n);
}
for(int k=0; k<100; k++){ // 迭代求解
xbar = x;
ubar = u;
for(int i=N-1; i>=0; i--){ // 反向传播
MatrixXd A(m, m);
MatrixXd B(m, n);
VectorXd fval = f(x.segment(i * m, m), u.segment(i * n, n));
linearize(x.segment(i * m, m), u.segment(i * n, n), A, B);
MatrixXd Q = MatrixXd::Identity(m, m);
MatrixXd R = MatrixXd::Identity(n, n);
MatrixXd P = Q; // 终端代价
VectorXd q = Q * x.segment((i+1) * m, m) - fval;
VectorXd r = R * u.segment(i * n, n);
MatrixXd S = A.transpose() * P * A + Q;
MatrixXd T = A.transpose() * P * B;
MatrixXd U = B.transpose() * P * B + R;
VectorXd s = A.transpose() * q - T.transpose() * x.segment(i * m, m);
VectorXd uopt = U.inverse() * r - U.inverse() * T.transpose() * x.segment(i * m, m) + U.inverse() * T.transpose() * x.segment((i+1) * m, m);
VectorXd xopt = A * x.segment(i * m, m) + B * uopt + q;
VectorXd rbar = R * uopt - T.transpose() * x.segment(i * m, m);
VectorXd sbar = S * xopt - A.transpose() * q;
VectorXd uoptbar = -U.inverse() * rbar + U.inverse() * T.transpose() * x.segment(i * m, m) + U.inverse() * T.transpose() * x.segment((i+1) * m, m) - U.inverse() * B.transpose() * sbar;
VectorXd xoptbar = S.transpose() * xopt + A.transpose() * sbar - T * uoptbar;
xbar.segment(i * m, m) += alpha * xoptbar;
ubar.segment(i * n, n) += alpha * uoptbar;
}
double err = (xbar - x).norm() + (ubar - u).norm();
if(err < tol){ // 判断是否收敛
break;
}
x = xbar;
u = ubar;
}
return u.segment(0, n);
}
int main(){
VectorXd x0(3);
VectorXd xf(3);
x0 << 0.0, 0.0, 0.0;
xf << 10.0, 10.0, M_PI_2;
int N = 50; // 时间步数
VectorXd u = solve_optimization(x0, xf, N);
cout << "u = " << u.transpose() << endl;
return 0;
}
```
该代码实现了一个简单的NMPC轨迹跟踪控制器,其中系统模型为一个三自由度的非线性系统,代价函数为状态和控制的平方和,求解优化问题采用了反向传播算法。
NMPC轨迹跟踪C代码
以下是一个简单的NMPC圆轨迹跟踪的C代码示例:
```c
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <acado_toolkit.h>
#define N 10 // 控制周期
#define T 0.1 // 控制周期时间间隔
int main() {
// 初始化
real_t r = 1; // 圆半径
double x0[3] = {0, 0, 0}; // 初始状态
double x[3] = {0, 0, 0}; // 记录状态历史
double u[2][N] = {0}; // 记录控制历史
// 设置系统模型
DifferentialEquation f(0.0, T);
DMatrix Q(3, 3), R(2, 2);
Q.setIdentity();
R.setIdentity();
VariablesGrid states(3, N+1), controls(2, N);
for (int i = 0; i <= N; i++) {
states(0,i) = x0[0];
states(1,i) = x0[1];
states(2,i) = x0[2];
}
// 循环控制
for (int i = 0; i < N; i++) {
// 计算当前状态下期望的圆心位置
double theta = x[2];
double xc = r*cos(theta);
double yc = r*sin(theta);
// 计算当前状态下期望的圆心速度
DMatrix J(2, 3);
J(0,0) = -r*sin(theta);
J(0,1) = cos(theta);
J(1,0) = r*cos(theta);
J(1,1) = sin(theta);
DVector xc_dot = J*states.getVector(i);
// 使用NMPC求解最优控制
for (int j = 0; j < 2; j++) {
controls(j,i) = 0.0;
}
OptimizationAlgorithm nmpc(N);
nmpc.set( DISCRETIZATION_TYPE, SINGLE_SHOOTING );
nmpc.set( HESSIAN_APPROXIMATION, EXACT_HESSIAN );
nmpc.set( MAX_NUM_ITERATIONS, 1 );
nmpc.set( PRINTLEVEL, LOW );
nmpc.set( KKT_TOLERANCE, 1e-2 );
nmpc.set( INTEGRATOR_TYPE, INT_RK45 );
nmpc.set( QP_SOLVER, QP_QPOASES );
nmpc.set( QP_SOLVER_ITERATIONS, 50 );
Function h;
h << states(0,i) - xc;
h << states(1,i) - yc;
h << states(2,i) - xc_dot(1)/xc - xc_dot(0)/yc;
nmpc.set( CONSTRAINT, h );
Function phi;
phi << states(0,i+1) - (states(0,i) + T*f(states(0,i), states(1,i), states(2,i), controls(0,i), controls(1,i))(0));
phi << states(1,i+1) - (states(1,i) + T*f(states(0,i), states(1,i), states(2,i), controls(0,i), controls(1,i))(1));
phi << states(2,i+1) - (states(2,i) + T*f(states(0,i), states(1,i), states(2,i), controls(0,i), controls(1,i))(2));
nmpc.set( OBJECTIVE, phi );
nmpc.init( 0.0, states, controls );
nmpc.solve();
// 记录控制历史
for (int j = 0; j < 2; j++) {
u[j][i] = controls(j,i);
}
// 模拟下一步状态
x[0] = states(0,i+1);
x[1] = states(1,i+1);
x[2] = states(2,i+1);
}
// 绘制轨迹
FILE *fp = fopen("trajectory.dat", "w");
for (int i = 0; i <= N; i++) {
double theta = x0[2] + i*T*u[1][i];
double xc = r*cos(theta);
double yc = r*sin(theta);
fprintf(fp, "%f %f\n", x[i][0], x[i][1]);
fprintf(fp, "%f %f\n", xc, yc);
fprintf(fp, "\n");
}
fclose(fp);
return 0;
}
```
其中,`f`为系统模型,`Q`和`R`为控制代价函数的权重矩阵,`states`和`controls`为状态和控制量的变量网格,`h`为非线性约束函数,`phi`为控制代价函数。这些变量需要根据具体的系统模型和控制目标进行设置。