enabled multicore simulation for multiple sims
This commit is contained in:
@@ -10,9 +10,13 @@ from utils import euler2dcm, fmag2, initialize_magnetic_characteristics, reset_m
|
||||
from simulate import simulate_maglev_control
|
||||
from visualize import visualize_quad
|
||||
import os
|
||||
from concurrent.futures import ProcessPoolExecutor
|
||||
import multiprocessing
|
||||
|
||||
# ===== SIMULATION CONFIGURATION =====
|
||||
NUM_TRIALS = 5 # Number of trials to run
|
||||
NUM_CORES_LIMIT = 8 # Max number of CPU cores to use for simulations
|
||||
# (min of this and num of cores on ur computer will be chosen.)
|
||||
NOISE_LEVEL = 0.1 # Standard deviation of noise (5%)
|
||||
# =====================================
|
||||
|
||||
@@ -86,7 +90,7 @@ def generate_parameter_report(trial_num, quad_params, output_dir):
|
||||
|
||||
|
||||
def run_single_trial(trial_num, Tsim, delt, ref_gap, z0, output_dir):
|
||||
"""Run a single simulation trial with randomized parameters"""
|
||||
"""Run a single simulation trial with randomized parameters, including all visualizations"""
|
||||
|
||||
# Reset and reinitialize noise for this trial
|
||||
reset_parameter_variations()
|
||||
@@ -113,7 +117,7 @@ def run_single_trial(trial_num, Tsim, delt, ref_gap, z0, output_dir):
|
||||
oversampFact = 10
|
||||
|
||||
# Check nominal gap
|
||||
print(f"Force check: {4*fmag2(0, 10.830e-3) - m*g}")
|
||||
print(f"Trial {trial_num}: Force check: {4*fmag2(0, 10.830e-3) - m*g}")
|
||||
|
||||
# SET REFERENCE HERE
|
||||
ref_gap = 10.830e-3 # from python code
|
||||
@@ -166,9 +170,9 @@ def run_single_trial(trial_num, Tsim, delt, ref_gap, z0, output_dir):
|
||||
generate_parameter_report(trial_num, quad_params, output_dir)
|
||||
|
||||
# Run simulation
|
||||
print(f" Running simulation for trial {trial_num}...")
|
||||
print(f"Trial {trial_num}: Running simulation...")
|
||||
P0 = simulate_maglev_control(R, S, P)
|
||||
print(f" Trial {trial_num} simulation complete!")
|
||||
print(f"Trial {trial_num}: Simulation complete!")
|
||||
|
||||
# Extract results
|
||||
tVec_out = P0['tVec']
|
||||
@@ -179,7 +183,7 @@ def run_single_trial(trial_num, Tsim, delt, ref_gap, z0, output_dir):
|
||||
currents = state['currents']
|
||||
|
||||
# Generate 3D visualization (GIF) without displaying
|
||||
print(f" Generating 3D visualization for trial {trial_num}...")
|
||||
print(f"Trial {trial_num}: Generating 3D visualization...")
|
||||
S2 = {
|
||||
'tVec': tVec_out,
|
||||
'rMat': rMat,
|
||||
@@ -195,6 +199,65 @@ def run_single_trial(trial_num, Tsim, delt, ref_gap, z0, output_dir):
|
||||
# Calculate forces
|
||||
Fm = fmag2(currents[:, 0], gaps[:, 0])
|
||||
|
||||
# Generate plots immediately after simulation
|
||||
print(f"Trial {trial_num}: Generating plots...")
|
||||
|
||||
# Create plots for this trial
|
||||
fig = plt.figure(figsize=(12, 8))
|
||||
fig.suptitle(f'Trial {trial_num} - Noise Level {NOISE_LEVEL*100:.1f}%', fontsize=14, fontweight='bold')
|
||||
|
||||
# Plot 1: Gaps
|
||||
ax1 = plt.subplot(3, 1, 1)
|
||||
plt.plot(tVec_out, gaps * 1e3)
|
||||
plt.axhline(y=ref_gap * 1e3, color='k', linestyle='--', linewidth=1, label='Reference')
|
||||
plt.ylabel('Gap (mm)')
|
||||
plt.title('Sensor Gaps')
|
||||
plt.legend(['Sensor 1', 'Sensor 2', 'Sensor 3', 'Sensor 4', 'Reference'],
|
||||
loc='upper right', fontsize=8)
|
||||
plt.grid(True)
|
||||
plt.xticks([])
|
||||
|
||||
# Plot 2: Currents
|
||||
ax2 = plt.subplot(3, 1, 2)
|
||||
plt.plot(tVec_out, currents)
|
||||
plt.ylabel('Current (A)')
|
||||
plt.title('Yoke Currents')
|
||||
plt.legend(['Yoke 1', 'Yoke 2', 'Yoke 3', 'Yoke 4'],
|
||||
loc='upper right', fontsize=8)
|
||||
plt.grid(True)
|
||||
plt.xticks([])
|
||||
|
||||
# Plot 3: Forces
|
||||
ax3 = plt.subplot(3, 1, 3)
|
||||
plt.plot(tVec_out, Fm)
|
||||
plt.xlabel('Time (sec)')
|
||||
plt.ylabel('Force (N)')
|
||||
plt.title('Magnetic Force (Yoke 1)')
|
||||
plt.grid(True)
|
||||
|
||||
plt.tight_layout()
|
||||
plt.savefig(f'{output_dir}/trial_{trial_num:02d}_results.png', dpi=150)
|
||||
plt.close()
|
||||
|
||||
# FFT for this trial
|
||||
Fs = 1/delt * oversampFact
|
||||
L = len(tVec_out)
|
||||
|
||||
Y = np.fft.fft(Fm)
|
||||
frequencies = Fs / L * np.arange(L)
|
||||
|
||||
fig2 = plt.figure(figsize=(10, 6))
|
||||
plt.semilogx(frequencies, np.abs(Y), linewidth=2)
|
||||
plt.title(f"FFT Spectrum - Trial {trial_num}")
|
||||
plt.xlabel("Frequency (Hz)")
|
||||
plt.ylabel("Magnitude")
|
||||
plt.ylim([0, np.max(np.abs(Y[1:])) * 1.05])
|
||||
plt.grid(True)
|
||||
plt.savefig(f'{output_dir}/trial_{trial_num:02d}_fft.png', dpi=150)
|
||||
plt.close()
|
||||
|
||||
print(f"Trial {trial_num}: COMPLETE (all outputs generated)")
|
||||
|
||||
return {
|
||||
'tVec': tVec_out,
|
||||
'gaps': gaps,
|
||||
@@ -223,80 +286,23 @@ def main():
|
||||
|
||||
print(f"\n{'='*60}")
|
||||
print(f"Running {NUM_TRIALS} trials with noise level {NOISE_LEVEL*100:.1f}%")
|
||||
num_cores = min(multiprocessing.cpu_count(), NUM_CORES_LIMIT)
|
||||
print(f"Using {num_cores} CPU cores for parallel processing")
|
||||
print(f"{'='*60}\n")
|
||||
|
||||
# Run all trials
|
||||
# Run all trials in parallel (each trial does simulation + visualization + plots)
|
||||
trial_results = []
|
||||
for trial in range(1, NUM_TRIALS + 1):
|
||||
print(f"Trial {trial}/{NUM_TRIALS}")
|
||||
result = run_single_trial(trial, Tsim, delt, ref_gap, z0, output_dir)
|
||||
trial_results.append(result)
|
||||
print()
|
||||
with ProcessPoolExecutor(max_workers=num_cores) as executor:
|
||||
# Submit all trials
|
||||
futures = [
|
||||
executor.submit(run_single_trial, trial, Tsim, delt, ref_gap, z0, output_dir)
|
||||
for trial in range(1, NUM_TRIALS + 1)
|
||||
]
|
||||
|
||||
# Create individual plots for each trial
|
||||
print("Generating plots...")
|
||||
for i, result in enumerate(trial_results, 1):
|
||||
tVec_out = result['tVec']
|
||||
gaps = result['gaps']
|
||||
currents = result['currents']
|
||||
Fm = result['Fm']
|
||||
|
||||
# Create plots for this trial
|
||||
fig = plt.figure(figsize=(12, 8))
|
||||
fig.suptitle(f'Trial {i} - Noise Level {NOISE_LEVEL*100:.1f}%', fontsize=14, fontweight='bold')
|
||||
|
||||
# Plot 1: Gaps
|
||||
ax1 = plt.subplot(3, 1, 1)
|
||||
plt.plot(tVec_out, gaps * 1e3)
|
||||
plt.axhline(y=ref_gap * 1e3, color='k', linestyle='--', linewidth=1, label='Reference')
|
||||
plt.ylabel('Gap (mm)')
|
||||
plt.title('Sensor Gaps')
|
||||
plt.legend(['Sensor 1', 'Sensor 2', 'Sensor 3', 'Sensor 4', 'Reference'],
|
||||
loc='upper right', fontsize=8)
|
||||
plt.grid(True)
|
||||
plt.xticks([])
|
||||
|
||||
# Plot 2: Currents
|
||||
ax2 = plt.subplot(3, 1, 2)
|
||||
plt.plot(tVec_out, currents)
|
||||
plt.ylabel('Current (A)')
|
||||
plt.title('Yoke Currents')
|
||||
plt.legend(['Yoke 1', 'Yoke 2', 'Yoke 3', 'Yoke 4'],
|
||||
loc='upper right', fontsize=8)
|
||||
plt.grid(True)
|
||||
plt.xticks([])
|
||||
|
||||
# Plot 3: Forces
|
||||
ax3 = plt.subplot(3, 1, 3)
|
||||
plt.plot(tVec_out, Fm)
|
||||
plt.xlabel('Time (sec)')
|
||||
plt.ylabel('Force (N)')
|
||||
plt.title('Magnetic Force (Yoke 1)')
|
||||
plt.grid(True)
|
||||
|
||||
plt.tight_layout()
|
||||
plt.savefig(f'{output_dir}/trial_{i:02d}_results.png', dpi=150)
|
||||
print(f" Saved trial {i} plot")
|
||||
plt.close()
|
||||
|
||||
# FFT for this trial
|
||||
oversampFact = 10
|
||||
Fs = 1/delt * oversampFact
|
||||
L = len(tVec_out)
|
||||
|
||||
Y = np.fft.fft(Fm)
|
||||
frequencies = Fs / L * np.arange(L)
|
||||
|
||||
fig2 = plt.figure(figsize=(10, 6))
|
||||
plt.semilogx(frequencies, np.abs(Y), linewidth=2)
|
||||
plt.title(f"FFT Spectrum - Trial {i}")
|
||||
plt.xlabel("Frequency (Hz)")
|
||||
plt.ylabel("Magnitude")
|
||||
plt.ylim([0, np.max(np.abs(Y[1:])) * 1.05])
|
||||
plt.grid(True)
|
||||
plt.savefig(f'{output_dir}/trial_{i:02d}_fft.png', dpi=150)
|
||||
print(f" Saved trial {i} FFT")
|
||||
plt.close()
|
||||
# Collect results as they complete
|
||||
for future in futures:
|
||||
result = future.result()
|
||||
trial_results.append(result)
|
||||
|
||||
# Create overlay comparison plots
|
||||
print("\nGenerating comparison plots...")
|
||||
|
||||
Reference in New Issue
Block a user