optimization with sqp algorithm

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Sarah Kern
Sarah Kern 2020-1-27
评论： Alan Weiss 2020-1-29
Why doesnt the sqp algorithm works on my oprimization problem?
function [ Fx1, Fx2, Fx3, Fx4, alpha1, alpha2, alpha3, alpha4] = fcn(Fx_v, Fy_v, Mz_v, P_max_1, P_max_2, P_max_3, P_max_4, M_reg_1, M_reg_2, M_reg_3, M_reg_4, k, delta_T_aA, SW_1, SW_2, SW_3, SW_4, w_1, w_4, w_3, w_2, d_delay_1, d_delay_2, d_delay_3, d_delay_4, r_dyn_1, r_dyn_2, r_dyn_3, SOC_1, SOC_2, r_dyn_4, SOC_3, SOC_4, f_lag, n, j,w_vr, w_vl, w_hr, w_hl, l_h, l_v, c_w,d_min_vl, d_max_vl, d_min_vr, d_max_vr, d_min_hl, d_max_hl, d_min_hr, d_max_hr, A, B, FxB_max, SOC_krit, C, x0)
fun = @(x) C*((Fx_v-(x(1)*cos(x(5)+SW_1)+x(2)*cos(x(6)+SW_2)+x(3)*cos(x(7)+SW_3)+x(4)*cos(x(8)+SW_4)-x(5)*sin(x(5)+SW_1)*c_w-x(6)*sin(x(6)+SW_2)*c_w-x(7)*sin(x(7)+SW_3)*c_w-x(8)*sin(x(8)+SW_4)*c_w))^2+ (Fy_v-(x(1)*sin(x(5)+SW_1)+x(2)*sin(x(6)+SW_2)+x(3)*sin(x(7)+SW_3)+x(4)*sin(x(8)+SW_4)+x(5)*cos(x(5)+SW_1)*c_w+x(6)*cos(x(6)+SW_2)*c_w+x(7)*cos(x(7)+SW_3)*c_w+x(8)*cos(x(8)+SW_4)*c_w))^2+ (Mz_v-(x(1)*(-cos(x(5)+SW_1)*w_vl+l_v*sin(x(5)+SW_1))+x(2)*(cos(x(6)+SW_2)*w_vr+sin(x(6)+SW_2)*l_v)+x(3)*(-cos(x(7)+SW_3)*w_hl-l_h*sin(x(7)+SW_3))+x(4)*(cos(x(8)+SW_4)*w_hr-sin(x(8)+SW_4)*l_h)+x(5)*(sin(x(5)+SW_1)*c_w*w_vl+cos(x(5)+SW_1)*c_w*l_v)+x(6)*(-sin(x(6)+SW_2)*c_w*w_vr+cos(x(6)+SW_2)*c_w*l_v)+x(7)*(sin(x(7)+SW_3)*c_w*w_hl-cos(x(7)+SW_3)*c_w*l_h)+x(8)*(-cos(x(8)+SW_4)*c_w*l_h-sin(x(8)+SW_4)*c_w*w_hl)))^2); %(f_lag >= 0).*((A/SOC_1)*(x(1))^2+(A/SOC_2)*(x(2))^2+(A/SOC_3)*(x(3))^2+(A/SOC_4)*(x(4))^2+(d_delay_1-(SW_1+x(5)))^2+(d_delay_2-(SW_2+x(6)))^2+(d_delay_3-(SW_3+x(7)))^2+(d_delay_4-(SW_4+x(8)))^2) + (f_lag == -1).*((((B*(M_reg_1/(M_reg_1+M_reg_2+M_reg_3+M_reg_4)))/SOC_1)*(1/(x(1)^2)))+(((B*(M_reg_2/(M_reg_1+M_reg_2+M_reg_3+M_reg_4)))/SOC_2)*(1/(x(2)^2)))+(((B*(M_reg_3/(M_reg_1+M_reg_2+M_reg_3+M_reg_4)))/SOC_3)*(1/(x(3)^2)))+(((B*(M_reg_4/(M_reg_1+M_reg_2+M_reg_3+M_reg_4)))/SOC_4)*(1/(x(4)^2)))+(d_delay_1-(SW_1+x(5)))^2+(d_delay_2-(SW_2+x(6)))^2+(d_delay_3-(SW_3+x(7)))^2+(d_delay_4-(SW_4+x(8)))^2);
A = [];
b = [];
Aeq = [ 0 0 0 0 0 0 0 0; 0 0 0 0 0 0 0 0];
if f_lag == -1
%if it is possible the regenerative braking torque is the limit
% sum of the Force from the regenerative braking torque in vehiclecoordinates is bigger than the demanded force for the whole vehicle
% M_reg is always positive and Fx_v can be either positive or negative in the braking case
if (cos(SW_1)*(M_reg_1/r_dyn_1)+cos(SW_2)*(M_reg_2/r_dyn_2)+cos(SW_3)*(M_reg_3/r_dyn_3)+cos(SW_3)*(M_reg_4/r_dyn_4))> abs(Fx_v)
% max. regenerative braking torque
lb = [-M_reg_1/r_dyn_1, -M_reg_2/r_dyn_2, -M_reg_3/r_dyn_3, -M_reg_4/r_dyn_4, d_min_vl-SW_1, d_min_vr-SW_2, d_min_hl-SW_3, d_min_hr-SW_4]; %d and betato the left side are positive, to the right side are negative %regenerative braking torque must be positive
ub = [M_reg_1/r_dyn_1, M_reg_2/r_dyn_2, M_reg_3/r_dyn_3, M_reg_4/r_dyn_4, d_max_vl-SW_1, d_max_vr-SW_2, d_max_hl-SW_3, d_max_hr-SW_4];
else
% mechanical braking
%FxB_max is positive
lb = [-FxB_max, -FxB_max, -FxB_max, -FxB_max, d_min_vl-SW_1, d_min_vr-SW_2, d_min_hl-SW_3, d_min_hr-SW_4]; %d and betato the left side are positive, to the right side are negative %FxB_max is negative
ub = [FxB_max, FxB_max, FxB_max, FxB_max, d_min_vl-SW_1, d_min_vr-SW_2, d_min_hl-SW_3, d_min_hr-SW_4];
end % close conditions for braking loop, max braking torque is positive
%driving mode
else
lb = [-P_max_1/(r_dyn_1*w_1), -P_max_2/(r_dyn_2*w_2), -P_max_3/(r_dyn_3*w_3), -P_max_4/(r_dyn_4*w_4), d_min_vl-SW_1, d_min_vr-SW_2, d_min_hl-SW_3, d_min_hr-SW_4];
ub = [P_max_1/(r_dyn_1*w_1), P_max_2/(r_dyn_2*w_2), P_max_3/(r_dyn_3*w_3), P_max_4/(r_dyn_4*w_4), d_max_vl-SW_1, d_max_vr-SW_2, d_max_hl-SW_3, d_max_hr-SW_4];
end
%ub = (1:8);
nlcon = @nonlnconstraints;
%options = optimoptions(@fmincon, 'MaxFunctionEvaluations',10.000000e+03);
options = optimoptions(@fmincon, 'Algorithm', 'sqp');
x = fmincon(fun,x0,A,b,Aeq,beq,lb,ub,nlcon(Fx_v,Fy_v,Mz_v,SW_1,SW_2,SW_3,SW_4,w_vr, w_vl, w_hr, w_hl, l_h, l_v, c_w),options);
the problem works with the interior point algorithm, but the matlab function block, wont let me use it.
Any ideas, how I can make my problem work with the sqp algorithm?
Thank you very much!
  2 个评论
Matt J
Matt J 2020-1-27
How do we know that sqp doesn't work?
Alan Weiss
Alan Weiss 2020-1-29
Why do you have an all-zero Aeq? Looks like a mistake. And I don't see your definition of beq.
Alan Weiss
MATLAB mathematical toolbox documentation

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