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Parallel Multiple-Shooting and Collocation Optimization with OpenModelica
Dept. Mathematics and Engineering, University of Applied Sciences, Bielefeld, Germany.
Dept. Mathematics and Engineering, University of Applied Sciences, Bielefeld, Germany.
Dept. Mathematics and Engineering, University of Applied Sciences, Bielefeld, Germany.
Linköping University, Faculty of Science & Engineering. Linköping University, Department of Computer and Information Science, PELAB - Programming Environment Laboratory.
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2012 (English)In: Proceedings of the 9th International MODELICA Conference; September 3-5; 2012; Munich; Germany, Linköping University Electronic Press, 2012, 659-668 p., 067Conference paper (Refereed)
Abstract [en]

Nonlinear model predictive control (NMPC) has become increasingly important for today’s control engineers during the last decade. In order to apply NMPC a nonlinear optimal control problem (NOCP) must be solved which needs a high computational effort.

State-of-the-art solution algorithms are based on multiple shooting or collocation algorithms; which are required to solve the underlying dynamic model formulation. This paper describes a general discretization scheme applied to the dynamic model description which can be further concretized to reproduce the mul-tiple shooting or collocation approach. Furthermore; this approach can be refined to represent a total collocation method in order to solve the underlying NOCP much more efficiently. Further speedup of optimization has been achieved by parallelizing the calculation of model specific parts (e.g. constraints; Jacobians; etc.) and is presented in the coming sections.

The corresponding discretized optimization problem has been solved by the interior optimizer Ipopt. The proposed parallelized algorithms have been tested on different applications. As industrial relevant application an optimal control of a Diesel-Electric power train has been investigated. The modeling and problem description has been done in Optimica and Modelica. The simulation has been performed using OpenModelica. Speedup curves for parallel execution are presented.

Place, publisher, year, edition, pages
Linköping University Electronic Press, 2012. 659-668 p., 067
Series
Linköping Electronic Conference Proceedings, ISSN 1650-3686, E-ISSN 1650-3740 ; 076
Keyword [en]
Modelica; Optimica; optimization; multiple shooting; collocation; parallel; simulation
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-137731DOI: 10.3384/ecp12076659ISBN: 978-91-7519-826-2 (electronic)OAI: oai:DiVA.org:liu-137731DiVA: diva2:1107257
Conference
The 9th International MODELICA Conference, Munich, Germany September 3-5 2012
Available from: 2017-06-09 Created: 2017-06-09 Last updated: 2017-06-14Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
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