69 lines
1.3 KiB
Python
69 lines
1.3 KiB
Python
from pathlib import Path
|
|
from shutil import copyfile
|
|
import pickle
|
|
|
|
import numpy as np
|
|
import pandas as pd
|
|
from sklearn.preprocessing import MinMaxScaler, RobustScaler
|
|
from sklearn.exceptions import NotFittedError
|
|
|
|
import gpflow
|
|
import tensorflow as tf
|
|
|
|
import matplotlib.pyplot as plt
|
|
from gpflow.utilities import print_summary
|
|
|
|
import casadi as cs
|
|
|
|
import callbacks
|
|
from helpers import *
|
|
from controllers import GP_MPCcontroller
|
|
|
|
from time import sleep
|
|
|
|
t_cols = []
|
|
w_cols = ['SolRad', 'OutsideTemp']
|
|
u_cols = ['SimulatedHeat']
|
|
y_cols = ['SimulatedTemp']
|
|
|
|
t_lags = 0
|
|
w_lags = 1
|
|
u_lags = 2
|
|
y_lags = 3
|
|
|
|
dict_cols = {
|
|
't': (t_lags, t_cols),
|
|
'w': (w_lags, w_cols),
|
|
'u': (u_lags, u_cols),
|
|
'y': (y_lags, y_cols)
|
|
}
|
|
|
|
N_horizon = 10
|
|
|
|
|
|
controller = GP_MPCcontroller(dict_cols = dict_cols, N_horizon = N_horizon)
|
|
|
|
|
|
|
|
idx = 0
|
|
while True:
|
|
u = controller.get_control_input()
|
|
|
|
# Measure disturbance
|
|
w = np.random.rand(2)
|
|
controller.add_disturbance_measurement(w)
|
|
w_forecast = np.random.rand(N_horizon, 2)
|
|
controller.set_weather_forecast(w_forecast)
|
|
|
|
# Measure output
|
|
y = np.random.rand(1)
|
|
controller.add_output_measurement(y)
|
|
|
|
# Update model
|
|
controller.update_model()
|
|
|
|
idx += 1
|
|
|
|
if idx > 502:
|
|
import pdb; pdb.set_trace()
|
|
pass
|