pydae 0.56.3__py3-none-any.whl → 0.56.5__py3-none-any.whl

pydae/build_v2.py

@@ -30,7 +30,7 @@ from cffi import FFI
 
 class builder():   
 
-    def __init__(self,sys,verbose=False):
+    def __init__(self,sys,verbose=False,API=False):
 
         logging.basicConfig(format='%(asctime)s %(message)s', level=logging.INFO)
 
@@ -40,11 +40,12 @@ class builder():
         self.name = self.sys['name']
         self.save_sources = False
         self.string_u2z = ''
-        self.u2z = '\#'
+        self.u2z = r'#'
         self.inirun = True
         self.sparse = False
         self.mkl = False
         self.platform = 'Windows'
+        self.API = API
 
 
         if not os.path.exists('build'):
@@ -118,7 +119,8 @@ class builder():
         x = sym.Matrix(sys['x_list']).T
         y_ini = sym.Matrix(sys['y_ini_list']).T
         y_run = sym.Matrix(sys['y_run_list']).T
-        u_ini = sym.Matrix(list(sys['u_ini_dict'].keys()), real=True)
+        u_ini_list = [sym.Symbol(item,real=True) for item in list(sys['u_ini_dict'].keys())]
+        u_ini = sym.Matrix(u_ini_list).T 
         u_run_list = [sym.Symbol(item,real=True) for item in list(sys['u_run_dict'].keys())]
         u_run = sym.Matrix(u_run_list).T 
         h =  sym.Matrix(list(sys['h_dict'].values())).T   
@@ -802,7 +804,10 @@ class builder():
         if self.mkl:
             class_template = pkgutil.get_data(__name__, "templates/class_dae_template_v2_mkl.py").decode().replace('\r\n','\n') 
         else:
-            class_template = pkgutil.get_data(__name__, "templates/class_dae_template_v2.py").decode().replace('\r\n','\n') 
+            if self.API:
+                class_template = pkgutil.get_data(__name__, "templates/class_dae_template_api.py").decode().replace('\r\n','\n') 
+            else:
+                class_template = pkgutil.get_data(__name__, "templates/class_dae_template_v2.py").decode().replace('\r\n','\n') 
             if self.uz_jacs:
                 uz_jacs_template = pkgutil.get_data(__name__, "templates/uz_jacs_v2.py").decode().replace('\r\n','\n') 
                 class_template += uz_jacs_template
@@ -1341,9 +1346,11 @@ def sym2xyup_mp(sys,full_list,inirun):
     logging.debug('end full_list update with xyup and tipo')
 
 
-def build_numba(sys_dict,verbose=False):
+def build_numba(sys_dict,verbose=False, API=False):
+
+    from pydae.build_v2 import builder 
 
-    b = builder(sys_dict,verbose=verbose)
+    b = builder(sys_dict,verbose=True,API=API)
     b.sparse = False
     b.mkl = False
     b.uz_jacs = False
@@ -1354,6 +1361,8 @@ def build_numba(sys_dict,verbose=False):
     b.template()
     b.compile()
 
+
+
 def build_mkl(sys_dict,verbose=False,platform='Windows'):
     '''
     
@@ -1376,20 +1385,22 @@ def build_mkl(sys_dict,verbose=False,platform='Windows'):
 def test_numba():
 
     from pydae.models.pendulum.dae import dae
-    from pydae.build_v2 import builder
+    from pydae.build_v2 import builder,build_numba
 
     sys_dict = dae('temp') 
 
-    b = builder(sys_dict,verbose=True)
-    b.sparse = False
-    b.mkl = False
-    b.uz_jacs = False
-    b.dict2system()
-    b.functions()
-    b.jacobians()
-    b.cwrite()
-    b.template()
-    b.compile()
+    build_numba(sys_dict,verbose=True)
+
+    # b = builder(sys_dict,verbose=True)
+    # b.sparse = False
+    # b.mkl = False
+    # b.uz_jacs = False
+    # b.dict2system()
+    # b.functions()
+    # b.jacobians()
+    # b.cwrite()
+    # b.template()
+    # b.compile()
 
     import temp 
 
@@ -1471,4 +1482,4 @@ def test_mkl():
 
 if __name__ == "__main__":
 
-    test_mkl()
+    test_numba()

pydae/etools/pv_designer.py

@@ -0,0 +1,325 @@
+import numpy as np
+import json,hjson
+from pydae.utils import read_data
+
+
+class Desing:
+
+    def __init__(self, data):
+
+        self.data = read_data(data)
+        self.z_decimals = 5
+        self.lines_impedance_format = 'Z_km' # 'Z_km', 'pu-s', 'Z'
+        
+
+        self.S_base    = self.data['S_base']  
+        self.P_inv_max = self.data['P_inv_max']  
+        self.S_inv_max = self.data['S_inv_max']  
+        self.U_lv      = self.data['U_lv']  
+        self.U_mv      = self.data['U_mv']  
+        self.U_hv      = self.data['U_hv'] 
+        self.F         = self.data['F']  
+        self.M         = self.data['M'] 
+        self.N         = self.data['N']  
+        self.S_bess_mva         = self.data['S_bess_mva'] 
+        self.S_bess_storage_kWh = self.data['S_bess_storage_kWh'] 
+        self.Irrad_max          = self.data['Irrad_max'] 
+        self.Area_form_factor   = self.data['Area_form_factor'] 
+        self.PV_efficiency      = self.data['PV_efficiency'] 
+        self.Z_trafo_poi_pu     = self.data['Z_trafo_poi_pu'] 
+        self.I_mp = data["I_mp"]
+        self.V_mp = data["V_mp"]
+        self.V_dc_n = data["V_dc_n"] 
+
+        self.cables = [
+        {'name':  '1X95', 'R_dc_km': 0.320, 'R_ac_km': 0.403, 'X_km': 0.128, 'muC_km': 0.187, 'R_0_km': 1.050, 'X_0_km': 0.391, 'muC_0_km': 0.187,  'I_max_aire': 255, 'I_max_direct': 205, 'I_max_tube': 190, 'I_cc_max':  8930, 'I_cc_0_max': 3140},
+        {'name': '1X150', 'R_dc_km': 0.206, 'R_ac_km': 0.262, 'X_km': 0.119, 'muC_km': 0.216, 'R_0_km': 0.890, 'X_0_km': 0.341, 'muC_0_km': 0.216,  'I_max_aire': 335, 'I_max_direct': 260, 'I_max_tube': 245, 'I_cc_max': 14100, 'I_cc_0_max': 3470},
+        {'name': '1X240', 'R_dc_km': 0.125, 'R_ac_km': 0.161, 'X_km': 0.109, 'muC_km': 0.260, 'R_0_km': 0.768, 'X_0_km': 0.297, 'muC_0_km': 0.260,  'I_max_aire': 455, 'I_max_direct': 345, 'I_max_tube': 320, 'I_cc_max': 22600, 'I_cc_0_max': 3810},
+        {'name': '1X400', 'R_dc_km':0.0778, 'R_ac_km': 0.102, 'X_km': 0.103, 'muC_km': 0.313, 'R_0_km': 0.650, 'X_0_km': 0.237, 'muC_0_km': 0.313,  'I_max_aire': 610, 'I_max_direct': 445, 'I_max_tube': 415, 'I_cc_max': 37600, 'I_cc_0_max': 4300},
+        {'name': '1X500', 'R_dc_km':0.0605, 'R_ac_km': 0.084, 'X_km': 0.099, 'muC_km': 0.329, 'R_0_km': 0.618, 'X_0_km': 0.225, 'muC_0_km': 0.329,  'I_max_aire': 715, 'I_max_direct': 505, 'I_max_tube': 480, 'I_cc_max': 47000, 'I_cc_0_max': 4810},
+        {'name': '1X630', 'R_dc_km':0.0469, 'R_ac_km':0.0636, 'X_km': 0.095, 'muC_km': 0.396, 'R_0_km': 0.561, 'X_0_km': 0.195, 'muC_0_km': 0.396,  'I_max_aire': 830, 'I_max_direct': 575, 'I_max_tube': 545, 'I_cc_max': 59200, 'I_cc_0_max': 5140}
+        ]
+
+
+    def design(self):
+
+        M = self.M
+        N = self.N
+        self.S_plant = self.S_inv_max*N*M + 1.2*self.S_bess_mva*1e6
+        S_base = self.S_base
+
+        self.LV_MV_trafo_X_pu = 0.05
+        self.LV_MV_trafo_R_pu = 0.01
+
+        S_trafo_poi = M*N*self.S_inv_max*1.1
+
+        # Area_inv = Long_n * Long_m    
+        # Long_n =  Area_form_factor * Long_m
+        # Area_inv = Area_form_factor * Long_m**2
+
+        Area_inv = self.P_inv_max/(self.Irrad_max*self.PV_efficiency)
+        self.Long_m = np.sqrt( Area_inv/self.Area_form_factor )
+        self.Long_n =  self.Area_form_factor * self.Long_m
+
+        S_grid_line = self.S_plant*2.0
+
+        self.base_data = {
+            "system":{"name":f"pv_{M}_{N}","S_base":S_base,"K_p_agc":0.0,"K_i_agc":0.0,"K_xif":0.01},
+            "buses":[
+                {"name": "POIMV","P_W":0.0,"Q_var":0.0,"U_kV":self.U_mv/1e3},
+                {"name":   "POI","P_W":0.0,"Q_var":0.0,"U_kV":self.U_hv/1e3},
+                {"name":  "GRID","P_W":0.0,"Q_var":0.0,"U_kV":self.U_hv/1e3},
+                {"name":  "BESS","P_W":0.0,"Q_var":0.0,"U_kV":self.U_lv/1e3},
+            ],
+            "lines":[
+                {"bus_j":"POI","bus_k":"GRID","X_pu":0.001*S_base/S_grid_line,"R_pu":0.0,"Bs_pu":0.0,"S_mva":S_base/1e6, 'sym':True, 'monitor':True},
+                {"bus_j":"BESS","bus_k": "POIMV","X_pu":0.01,"R_pu":0.0,"Bs_pu":0.0,"S_mva":S_base/1e6, 'sym':True, 'monitor':True},
+                ],
+            "transformers":[{"bus_j":"POIMV","bus_k": "POI","X_pu":0.1,"R_pu":0.0,"Bs_pu":0.0,"S_mva":self.S_plant/1e6}],
+            "pvs":[],
+            "sources":[{"type":"genape","bus":"GRID",
+                        "S_n":1000e6,"F_n":50.0,"X_v":0.001,"R_v":0.0,
+                        "K_delta":0.001,"K_alpha":1e-6}],
+            "vscs":[{"type":"bess_pq","bus":"BESS","E_kWh":self.S_bess_storage_kWh,"S_n":self.S_bess_mva*1e6,
+                    "soc_ref":0.5,
+                    "socs":[0.0, 0.1, 0.2, 0.8,0.9,1.0],
+                    "es":[1, 1.08, 1.13, 1.17, 1.18,1.25]}
+                ],
+            }
+
+
+        Z_base_trafo_poi = self.U_mv**2/S_trafo_poi 
+        Z_trafo_poi = Z_base_trafo_poi*self.Z_trafo_poi_pu
+        I_cc_max = self.U_mv/(np.sqrt(3)*Z_trafo_poi)
+
+        for it, item in enumerate(self.cables):
+            if item['I_cc_max'] > I_cc_max:
+                print(f"Short circuit designed cable ({I_cc_max/1e3:0.2f} kA): {item['name']}")
+                idx_cc = it
+                break
+
+        I_max = 1.0*N*self.S_inv_max/(np.sqrt(3)*self.U_mv)
+
+        for it, item in enumerate(self.cables):
+            if item['I_max_tube'] > I_max:
+                print(f"Nominal current designed cable  ({I_max:0.2f} A): {item['name']}")
+                idx_n = it
+                break
+
+        if idx_cc > idx_n:
+            idx_cable = idx_cc
+        else:
+            idx_cable = idx_n
+
+        print(f"Cable: {self.cables[idx_cable]['name']}")
+
+        self.section_cable =  float(self.cables[idx_cable]['name'].split('X')[-1])
+        self.R_km_cable =  self.cables[idx_cable]['R_ac_km']
+        self.X_km_cable =  self.cables[idx_cable]['X_km']
+        self.B_km_cable =  2*np.pi*50*self.cables[idx_cable]['muC_km']*1e-6
+    
+
+
+
+        P_mp = self.I_mp*self.V_mp
+        N_pv_s = int(self.V_dc_n/self.V_mp)
+        N_pv_p = int(self.P_inv_max/(P_mp*N_pv_s))
+
+        S_feeder = N*self.S_inv_max
+        I_feeder = S_feeder/(np.sqrt(3)*self.U_mv)
+
+        pos_mv_poi_m_pu = 0.0
+        pos_mv_poi_m = pos_mv_poi_m_pu * (M-1)*self.Long_m
+        pos_mv_poi_n = 0.0
+
+        for i_m in range(1,M+1):
+            name_j = "POIMV"
+            monitor = True
+            pos_m =  (i_m-1) * self.Long_m
+
+
+            for i_n in range(1,N+1):
+                name = f"{i_m}".zfill(2) + f"{i_n}".zfill(2)
+                name_k = 'MV' + name
+
+                self.base_data['buses'].append({"name":f"LV{name}","P_W":0.0,"Q_var":0.0,"U_kV":self.U_lv/1e3})
+                self.base_data['buses'].append({"name":f"MV{name}","P_W":0.0,"Q_var":0.0,"U_kV":self.U_mv/1e3})
+
+
+                if i_n == 1:
+                    Long = np.abs(pos_mv_poi_m - pos_m) + self.Long_n*0.5
+                else:
+                    Long = self.Long_n
+
+                pos_n =  (i_n-1) * self.Long_n + self.Long_n/2
+                #print(f'pos_m = {pos_m:5.1f}, pos_n = {pos_n:5.1f}')
+
+                # LV-MV Trafos
+                S_trafo_n = 1.2*self.S_inv_max
+                X_pu = self.LV_MV_trafo_X_pu*self.S_base/S_trafo_n
+                R_pu = self.LV_MV_trafo_R_pu*self.S_base/S_trafo_n
+
+
+
+                self.base_data['lines'].append({"bus_j":f"LV{name}","bus_k":f"MV{name}","X_pu":np.round(X_pu,self.z_decimals),"R_pu":np.round(R_pu,self.z_decimals),"Bs_pu":0.0,"S_mva":S_base/1e6,"monitor":False})
+      
+            
+                # MV Cables:
+                S_b = self.S_base
+                Z_b = self.U_mv**2/S_b
+                R_cable_pu = self.R_km_cable*Long/1e3/Z_b
+                X_cable_pu = self.X_km_cable*Long/1e3/Z_b
+                B_cable_pu = self.B_km_cable*Long/1e3*Z_b
+
+                print(f"{name_k} - {name_j}, Cable: {self.cables[idx_cable]['name']}, R_km = {self.R_km_cable:3.4f}, X_km = {self.X_km_cable:3.4f}, B_km = {self.B_km_cable:3.4f}, Long_km = {Long/1000:2.5f}")
+                
+                # LV/MV Transformers
+ 
+                # MV Feeders lines
+                if self.lines_impedance_format == 'pu-s':
+                    self.base_data['lines'].append({"bus_j":f"{name_k}","bus_k":f"{name_j}","X_pu":X_cable_pu,"R_pu":R_cable_pu,"Bs_pu":B_cable_pu,"S_mva":S_base/1e6,"monitor":monitor})
+
+                if self.lines_impedance_format == 'Z_km':
+                    X_km_cable = np.round(self.X_km_cable,self.z_decimals) 
+                    R_km_cable = np.round(self.R_km_cable,self.z_decimals)
+                    B_km_cable = np.round(self.B_km_cable,self.z_decimals)
+
+                    self.base_data['lines'].append({"bus_j":f"{name_k}","bus_k":f"{name_j}","X_km": X_km_cable,"R_km": R_km_cable,"Bs_km": B_km_cable,"km":np.round(Long/1e3,4),"monitor":monitor})
+
+                
+                name_j = name_k
+                self.base_data['pvs'].append({"bus":f"LV{name}","type":"pv_dq_d","S_n":self.S_inv_max,"U_n":self.U_lv,"F_n":50.0,"X_s":0.1,"R_s":0.0001,"monitor":False,
+                                    "I_sc":8,"V_oc":42.1,"I_mp":self.I_mp,"V_mp":self.V_mp,"K_vt":-0.160,"K_it":0.065,"N_pv_s":N_pv_s,"N_pv_p":N_pv_p})
+            
+                monitor = False
+
+        with open(f'pv_{M}_{N}.json','w') as fobj:
+            fobj.write(json.dumps(self.base_data, indent=2))
+
+    def report(self):
+
+        M = self.M
+        N = self.N
+
+        latex = r'''
+        \begin{table}
+            \centering
+            \caption{Nominal characteristics of PV inverters and transformers of the benchmark 2$\times$3 PV park.}
+            \begin{tabular}{lr}
+            \toprule
+                \multicolumn{2}{c}{PV inverters} \\ \midrule
+                Rated voltage & inverter_rated_voltage V \\ \hline
+                Rated power & inverter_rated_mva MVA \\ \hline
+                Rated power factor & inverter_pf (ind/cap)\\ \midrule
+                \multicolumn{2}{c}{MV/LV PV transformers} \\ \midrule
+                Rated voltages & U_mv_kV/U_lv_kV kV \\ \hline
+                Rated power & MV_LV_rated_mva MVA \\ \hline
+                Short-circuit impedance & 0.06 p.u. \\ \hline
+                $X_{sc}/R_{sc}$ & 10 \\  \midrule
+                \multicolumn{2}{c}{HV/MV POI transformer} \\ \midrule
+                Rated voltages & U_hv_kV/U_mv_kV kV \\ \hline
+                Rated power & poi_trafo_rated_power MVA \\ \hline 
+                Short-circuit impedance & 0.13 p.u. \\ \hline
+                $X_{sc}/R_{sc}$ & 10\\ \midrule
+                \multicolumn{2}{c}{MV branches} \\
+                \midrule
+first_feeder_segment_string
+                Length MV\#\# - MV\#\# & length_segments m \\ \hline
+                Cross section &  section_cable mm$^2$\\ \hline
+                Resistance & R_km_cable $\Omega$/km \\ \hline
+                Reactance  & X_km_cable $\Omega$/km \\ %\hline
+        %        Susceptance & B_km_cable S/km \\ 
+                \bottomrule
+            \end{tabular}
+            \label{tab:PV_MxN}
+        \end{table}        
+        '''
+
+        latex = latex.replace('inverter_rated_voltage', f'{self.U_lv:0.0f}')
+        latex = latex.replace('inverter_rated_mva', f'{self.S_inv_max/1e6:0.1f}')
+        latex = latex.replace('inverter_pf', f'{self.P_inv_max/self.S_inv_max:0.2f}')
+        latex = latex.replace('U_mv_kV', f'{self.U_mv/1e3:0.0f}').replace('U_lv_kV', f'{self.U_lv/1e3}')
+        latex = latex.replace('inverter_pf', f'{self.P_inv_max/self.S_inv_max:0.2f}')
+        latex = latex.replace('U_mv_kV', f'{self.U_mv/1e3:0.0f}').replace('U_hv_kV', f'{self.U_hv/1e3:0.0f}')
+        latex = latex.replace('poi_trafo_rated_power', f'{self.S_plant/1e6:0.0f}') 
+
+
+        pos_mv_poi_m_pu = 0.0
+        pos_mv_poi_m = pos_mv_poi_m_pu * (M-1)*self.Long_m
+        pos_mv_poi_n = 0.0
+
+        first_feeder_segment_string = ''
+        for i_m in range(1,M+1):
+            name_j = "POIMV"
+            monitor = True
+            pos_m =  (i_m-1) * self.Long_m
+
+
+            for i_n in range(1,N+1):
+                name = f"{i_m}".zfill(2) + f"{i_n}".zfill(2)
+                name_k = 'MV' + name
+
+                self.base_data['buses'].append({"name":f"LV{name}","P_W":0.0,"Q_var":0.0,"U_kV":self.U_lv/1e3})
+                self.base_data['buses'].append({"name":f"MV{name}","P_W":0.0,"Q_var":0.0,"U_kV":self.U_mv/1e3})
+
+
+                if i_n == 1:
+                    Long = np.abs(pos_mv_poi_m - pos_m) + self.Long_n*0.5
+                else:
+                    Long = self.Long_n
+
+                if i_n == 1:
+                    first_feeder_segment_string += f'                Length {name_k}-{name_j}  & {Long:0.0f} m' + r'\\ \hline' 
+                    if i_m < M:
+                        first_feeder_segment_string +=  '\n'
+                else:
+                    self.length_segments = Long
+ 
+        latex = latex.replace('first_feeder_segment_string', first_feeder_segment_string) 
+        latex = latex.replace('length_segments', f'{self.length_segments:0.0f}') 
+
+        latex = latex.replace('length_segments', f'{self.length_segments:0.0f}') 
+        latex = latex.replace('R_km_cable', f'{self.R_km_cable:0.4f}') 
+        latex = latex.replace('X_km_cable', f'{self.X_km_cable:0.4f}') 
+
+        if self.B_km_cable > 0.001:
+            latex = latex.replace('B_km_cable', f'{self.B_km_cable:0.4f}') 
+        else:
+            latex = latex.replace('B_km_cable', '0') 
+
+        latex = latex.replace('section_cable', f'{self.section_cable:0.0f}')  
+        latex = latex.replace('PV_MxN',  f'PV_{M}x{N}')  
+
+        return latex
+
+
+if __name__ == "__main__": 
+
+    data = {
+    "M": 2,
+    "N": 3,
+    "S_base": 10e6,
+    "P_inv_max": 3e6, # W
+    "S_inv_max": 3e6/0.85,
+    "U_lv": 800,
+    "U_mv": 20e3,
+    "U_hv": 132e3,
+    "F": 50, #Nominal Frequency (Hz)
+    "S_bess_mva": 1,
+    "S_bess_storage_kWh": 250,
+    "Irrad_max": 1000, # W/m_2
+    "Area_form_factor": 1.0,
+    "PV_efficiency": 0.1,
+    "Z_trafo_poi_pu": 0.1, 
+    "I_mp" : 3.56,  # PV module current at MP
+    "V_mp" : 33.7,  # PV module voltage at MP
+    "V_dc_n" : 1200  # DC nominal voltage 
+}
+
+    d = Desing(data)
+    d.design()
+    print(d.report())
+
+    #print(d.base_data)
+
+    

pydae/models/pendulum/api_test.http

@@ -0,0 +1,106 @@
+### GET measures. Devuelve todas las medidas del POI y de los inversores
+GET http://127.100.0.1:8000/measurements
+Content-Type: application/json
+
+### GET measures. Devuelve todas las medidas del POI y de los inversores
+GET http://10.20.0.2:5500/ppc_measurements
+Content-Type: application/json
+
+### GET measures. Devuelve todas las medidas del POI y de los inversores
+GET http://10.20.0.4:5500/ppc_measurements
+Content-Type: application/json
+
+
+### POST setpoints. POST request to change PPC references. 
+POST http://127.0.0.1:5500/ppc_setpoints
+Content-Type: application/json
+
+{
+    "p_ol_ref":0.0,
+    "q_ol_ref":0.0,
+    "p_s_ref_BESS":0.0
+}
+
+
+
+### POST false measurement liner transformations parameters . 
+POST http://127.100.0.1:8000/meas_pert
+Content-Type: application/json
+
+{
+    "U_SS1":{"m":0.5,"b":0}
+}
+
+
+
+### POST setpoints. POST request to change active and reactive power references at POI. 
+POST http://10.20.0.2:8000/setpoints
+Content-Type: application/json
+
+{
+    "p_ol_ref":0.5,
+    "q_ol_ref":0.5,
+    "p_s_ref_BESS":0.0
+}
+
+
+### POST setpoints. POST request to change active and reactive power references at POI. 
+POST http://10.20.0.2:8000/setpoints
+Content-Type: application/json
+
+{
+    "p_s_ppc_LV0101":1.5e6,
+    "p_s_ppc_LV0102":01.5e6,
+    "p_s_ref_BESS":0.0
+}
+
+
+
+
+### POST setpoints. POST request to change PPC references. 
+POST http://127.0.0.1:5500/ppc_setpoints
+Content-Type: application/json
+
+{
+    "record":true
+}
+
+
+
+### POST setpoints. POST request to change PPC references. 
+POST http://127.0.0.1:5500/ppc_setpoints
+Content-Type: application/json
+
+{
+    "P_POI_ref":0.5,
+    "Q_POI_ref":-0.9
+}
+
+### POST setpoints. POST request to change PPC references. 
+POST http://127.0.0.1:5500/ppc_setpoints
+Content-Type: application/json
+
+{
+    "record":false
+}
+
+
+### POST setpoints. POST request to change PPC references. 
+POST http://127.0.0.1:5500/ppc_setpoints
+Content-Type: application/json
+
+{
+    "stop_ppc":true
+}
+
+
+### POST setpoints. POST request to change PPC references. 
+POST http://127.0.0.1:5500/ppc_params
+Content-Type: application/json
+
+{
+    "K_pp":0.5,
+    "K_pi":5.0,
+    "K_qp":0.5,
+    "K_qi":5.0
+}

pydae/models/pendulum/dae_api.py

@@ -0,0 +1,107 @@
+import numpy as np
+import sympy as sym
+
+
+def dae(model_name):
+    L,G,M,K_d = sym.symbols('L,G,M,K_d', real=True)
+    p_x,p_y,v_x,v_y = sym.symbols('p_x,p_y,v_x,v_y', real=True) 
+    lam,f_x,theta,u_dummy = sym.symbols('lam,f_x,theta,u_dummy', real=True) 
+
+    dp_x = v_x
+    dp_y = v_y
+    dv_x = (-2*p_x*lam + f_x - K_d*v_x)/M
+    dv_y = (-M*G - 2*p_y*lam - K_d*v_y)/M   
+
+    g_1 = p_x**2 + p_y**2 - L**2 -lam*1e-6
+    g_2 = -theta + sym.atan2(p_x,-p_y) + u_dummy
+
+    params_dict = {'L':5.21,'G':9.81,'M':10.0,'K_d':1e-3}  # parameters with default values
+
+    u_ini_dict = {'theta':np.deg2rad(5.0),'u_dummy':0.0}  # input for the initialization problem
+    u_run_dict = {'f_x':0,'u_dummy':0.0}                  # input for the running problem, its value is updated 
+
+    sys_dict = {'name':model_name,
+                'params_dict':params_dict,
+                'f_list':[dp_x,dp_y,dv_x,dv_y],
+                'g_list':[g_1,g_2],
+                'x_list':[ p_x, p_y, v_x, v_y],
+                'y_ini_list':[lam,f_x],
+                'y_run_list':[lam,theta],
+                'u_ini_dict':u_ini_dict,
+                'u_run_dict':u_run_dict,
+                'h_dict':{'E_p':M*G*(p_y+L),'E_k':0.5*M*(v_x**2+v_y**2),
+                          'theta':theta,'f_x':f_x,'lam':lam},
+                'xy_0':{'theta':sym.atan2(p_x,-p_y)}} 
+
+    return sys_dict
+
+
+def test_build():
+    import pydae.build_v2 as db
+    sys_dict = dae('temp')
+
+    
+    b = db.builder(sys_dict,verbose=True,API=True)
+    b.sparse = False
+    b.mkl = False
+    b.platform = 'Windows'
+    b.dict2system()
+    b.functions()
+    b.jacobians()
+    b.cwrite()
+    b.template()
+    b.compile()
+
+
+def test_ini():
+
+    import temp 
+
+    model = temp.model()
+
+    M = 30.0  # mass of the bob (kg)
+    L = 5.21  # length of the pendulum (m)
+    model.ini({'M':M,'L':L,           # parameters setting
+            'theta':np.deg2rad(0)  # initial desired angle = 0º
+            },-1)                  # here -1 means that -1 is considered as initial gess for
+                                    # dynamic and algebraic states
+
+    model.report_x()  # obtained dynamic states
+    model.report_y()  # obtained algebraic states
+    model.report_z()  # obtained outputs
+    model.report_u()  # obtained algebraic states (theta is both state and output; f_x is both input and output)
+    model.report_params()  # considered parameters
+
+def test_api():
+
+    import temp 
+
+    model = temp.model()
+
+    M = 30.0  # mass of the bob (kg)
+    L = 5.21  # length of the pendulum (m)
+    model.ini({'M':M,'L':L,           # parameters setting
+            'theta':np.deg2rad(5)  # initial desired angle = 0º
+            },-1)                  # here -1 means that -1 is considered as initial gess for
+                                    # dynamic and algebraic states
+
+    model.report_x()  # obtained dynamic states
+    model.report_y()  # obtained algebraic states
+    model.report_z()  # obtained outputs
+    model.report_u()  # obtained algebraic states (theta is both state and output; f_x is both input and output)
+    model.report_params()  # considered parameters
+
+
+    # model.run(1.0,{})
+    model.run_api()
+    #model.step(0.000000001,{})
+
+if __name__ == '__main__':
+
+    test_build()
+    test_ini()
+    test_api()
+
+
+
+