test_robust_ddp_reference.TestReferenceGeneration Class Reference

Inheritance diagram for test_robust_ddp_reference.TestReferenceGeneration:

Collaboration diagram for test_robust_ddp_reference.TestReferenceGeneration:

Public Member Functions
	setUp (self)
	test_thrust_command_constant (self)
	test_thrust_command_piecewise (self)
	test_altitude_command (self)
	test_altitude_command_below_goal (self)
	test_project_thrust_bounds (self)
	test_project_thrust_slew_rate (self)
	test_estimate_thrust_bounds (self)
	test_build_reference_thrust_mode (self)
	test_build_reference_altitude_mode (self)
	test_build_reference_slew_rate (self)

Public Attributes
	cfg
	nav
	meas

Detailed Description

Test reference generation.

Definition at line 25 of file test_robust_ddp_reference.py.

Member Function Documentation

setUp()

test_robust_ddp_reference.TestReferenceGeneration.setUp

(

self

)

Set up test fixtures.

Definition at line 28 of file test_robust_ddp_reference.py.

test_altitude_command()

test_robust_ddp_reference.TestReferenceGeneration.test_altitude_command

(

self

)

Test altitude command produces reasonable thrust.

Definition at line 88 of file test_robust_ddp_reference.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, test_robust_ddp_actuation.TestActuation.cfg, test_robust_ddp_controller_integration.TestControllerIntegration.cfg, test_robust_ddp_ddp_solver.TestDDPSolver.cfg, test_robust_ddp_identify.TestParameterIdentification.cfg, cfg, and nav.

test_altitude_command_below_goal()

test_robust_ddp_reference.TestReferenceGeneration.test_altitude_command_below_goal

(

self

)

Test altitude command when below goal increases thrust.

Definition at line 109 of file test_robust_ddp_reference.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, test_robust_ddp_actuation.TestActuation.cfg, test_robust_ddp_controller_integration.TestControllerIntegration.cfg, test_robust_ddp_ddp_solver.TestDDPSolver.cfg, test_robust_ddp_identify.TestParameterIdentification.cfg, and cfg.

test_build_reference_altitude_mode()

test_robust_ddp_reference.TestReferenceGeneration.test_build_reference_altitude_mode

(

self

)

Test build_reference with altitude command mode.

Definition at line 245 of file test_robust_ddp_reference.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, test_robust_ddp_actuation.TestActuation.cfg, test_robust_ddp_controller_integration.TestControllerIntegration.cfg, test_robust_ddp_ddp_solver.TestDDPSolver.cfg, test_robust_ddp_identify.TestParameterIdentification.cfg, cfg, meas, and nav.

test_build_reference_slew_rate()

test_robust_ddp_reference.TestReferenceGeneration.test_build_reference_slew_rate

(

self

)

Test build_reference respects slew rate across horizon.

Definition at line 285 of file test_robust_ddp_reference.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, test_robust_ddp_actuation.TestActuation.cfg, test_robust_ddp_controller_integration.TestControllerIntegration.cfg, test_robust_ddp_ddp_solver.TestDDPSolver.cfg, test_robust_ddp_identify.TestParameterIdentification.cfg, cfg, meas, and nav.

test_build_reference_thrust_mode()

test_robust_ddp_reference.TestReferenceGeneration.test_build_reference_thrust_mode

(

self

)

Test build_reference with thrust command mode.

Definition at line 200 of file test_robust_ddp_reference.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, test_robust_ddp_actuation.TestActuation.cfg, test_robust_ddp_controller_integration.TestControllerIntegration.cfg, test_robust_ddp_ddp_solver.TestDDPSolver.cfg, test_robust_ddp_identify.TestParameterIdentification.cfg, cfg, meas, and nav.

test_estimate_thrust_bounds()

test_robust_ddp_reference.TestReferenceGeneration.test_estimate_thrust_bounds

(

self

)

Test thrust bounds estimation.

Definition at line 174 of file test_robust_ddp_reference.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, test_robust_ddp_actuation.TestActuation.cfg, test_robust_ddp_controller_integration.TestControllerIntegration.cfg, test_robust_ddp_ddp_solver.TestDDPSolver.cfg, test_robust_ddp_identify.TestParameterIdentification.cfg, cfg, and meas.

test_project_thrust_bounds()

test_robust_ddp_reference.TestReferenceGeneration.test_project_thrust_bounds

(

self

)

Test thrust projection respects bounds.

Definition at line 131 of file test_robust_ddp_reference.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, test_robust_ddp_actuation.TestActuation.cfg, test_robust_ddp_controller_integration.TestControllerIntegration.cfg, test_robust_ddp_ddp_solver.TestDDPSolver.cfg, test_robust_ddp_identify.TestParameterIdentification.cfg, and cfg.

test_project_thrust_slew_rate()

test_robust_ddp_reference.TestReferenceGeneration.test_project_thrust_slew_rate

(

self

)

Test thrust projection respects slew rate limit.

Definition at line 151 of file test_robust_ddp_reference.py.

References engine.control.robust_ddp.controller.RobustDDPController.cfg, engine.control.robust_ddp.identify.ParameterIdentifier.cfg, payload.cold_gas_thruster.ColdGasThruster.cfg, test_robust_ddp_actuation.TestActuation.cfg, test_robust_ddp_controller_integration.TestControllerIntegration.cfg, test_robust_ddp_ddp_solver.TestDDPSolver.cfg, test_robust_ddp_identify.TestParameterIdentification.cfg, and cfg.

test_thrust_command_constant()

test_robust_ddp_reference.TestReferenceGeneration.test_thrust_command_constant

(

self

)

Test constant thrust command.

Definition at line 55 of file test_robust_ddp_reference.py.

test_thrust_command_piecewise()

test_robust_ddp_reference.TestReferenceGeneration.test_thrust_command_piecewise

(

self

)

Test piecewise thrust schedule.

Definition at line 68 of file test_robust_ddp_reference.py.

Member Data Documentation

cfg

test_robust_ddp_reference.TestReferenceGeneration.cfg

Initial value:

=  ControllerConfig(
            N=10,
            dt=0.01,
            MR_min=1.5,
            MR_max=3.0,
            headroom_dp_min=50000.0,
            P_copv_min=1e6,
        )

Definition at line 30 of file test_robust_ddp_reference.py.

Referenced by test_combustion_stability_audit.TestIntegration.test_acoustic_report_only_by_default(), test_altitude_command(), test_altitude_command_below_goal(), test_build_reference_altitude_mode(), test_build_reference_slew_rate(), test_build_reference_thrust_mode(), test_combustion_stability_audit.TestIntegration.test_chug_gate_is_the_gain_margin_band_minimum(), test_robust_ddp_safety_filter.TestSafetyFilter.test_compute_action_cost(), test_estimate_thrust_bounds(), test_robust_ddp_safety_filter.TestSafetyFilter.test_filter_action_clamping(), test_robust_ddp_safety_filter.TestSafetyFilter.test_filter_action_safe(), test_robust_ddp_safety_filter.TestSafetyFilter.test_filter_action_unsafe_mr(), test_robust_ddp_safety_filter.TestSafetyFilter.test_filter_action_unsafe_ullage(), test_robust_ddp_safety_filter.TestSafetyFilter.test_find_best_safe_action(), test_robust_ddp_safety_filter.TestSafetyFilter.test_generate_action_candidates(), test_combustion_stability_audit.TestIntegration.test_missing_injector_drop_is_recorded_and_zero_is_zero(), test_combustion_stability_audit.TestIntegration.test_model_error_fails_closed(), test_project_thrust_bounds(), test_project_thrust_slew_rate(), test_robust_ddp_safety_filter.TestSafetyFilter.test_tube_violates_constraints_copv_min(), test_robust_ddp_safety_filter.TestSafetyFilter.test_tube_violates_constraints_mr(), test_robust_ddp_safety_filter.TestSafetyFilter.test_tube_violates_constraints_safe(), and test_robust_ddp_safety_filter.TestSafetyFilter.test_tube_violates_constraints_ullage_max().

meas

test_robust_ddp_reference.TestReferenceGeneration.meas

Initial value:

=  Measurement(
            P_copv=30e6,  # 30 MPa
            P_reg=24e6,  # 24 MPa
            P_u_fuel=3e6,  # 3 MPa
            P_u_ox=3.5e6,  # 3.5 MPa
            P_d_fuel=2.5e6,  # 2.5 MPa
            P_d_ox=3e6,  # 3 MPa
        )

Definition at line 46 of file test_robust_ddp_reference.py.

Referenced by test_build_reference_altitude_mode(), test_build_reference_slew_rate(), test_build_reference_thrust_mode(), and test_estimate_thrust_bounds().

nav

test_robust_ddp_reference.TestReferenceGeneration.nav

Initial value:

=  NavState(
            h=100.0,  # 100 m altitude
            vz=10.0,  # 10 m/s upward
            theta=0.0,  # Vertical
            mass_estimate=100.0,  # 100 kg
        )

Definition at line 39 of file test_robust_ddp_reference.py.

Referenced by test_altitude_command(), test_build_reference_altitude_mode(), test_build_reference_slew_rate(), and test_build_reference_thrust_mode().

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The documentation for this class was generated from the following file:

• EngineDesign/tests/control/robust_ddp/test_robust_ddp_reference.py