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example3_build_general_24hr_2hrts_pumpschedule_optimizationproblem.py
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example3_build_general_24hr_2hrts_pumpschedule_optimizationproblem.py
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# GENERAL CODE
import gurobipy as gp
from gurobipy import GRB
import numpy as np
import scipy.sparse as sp
import numpy as np
import matplotlib.pyplot as plt
import wntr
import scipy.sparse as sp
import networkx as nx
import numpy.linalg as la
import time
from scipy.optimize import curve_fit
import re
import datetime
######################################################################################################
pipe_valves = []
######################################################################################################
def calc_K(L, D, R):
alpha = 10.66
e1 = 1.852
e2 = 4.87
return (alpha*L)/((R**e1)*(D**e2))
def one_point_linear(Q_op, dH_op, K):
alpha = 10.66
e1 = 1.852
e2 = 4.87
# np.sign(a) * (np.abs(a)) ** (1 / 3)
# slope = K * e1 * Q_op**(1-e1)
slope = K * e1 * abs(Q_op) ** (e1-1)
intercept = dH_op - Q_op*slope
return slope, intercept
def two_point_linear(Q_op, dH_op, K, range_Q):
alpha = 10.66
e1 = 1.852
e2 = 4.87
Q_1 = Q_op*(1-range_Q)
Q_2 = Q_op*(1+range_Q)
dH_1 = np.sign(Q_1) * K * abs(Q_1)**e1
dH_2 = np.sign(Q_2)* K * abs(Q_2)**e1
slope = (dH_2 - dH_1)/(Q_2 - Q_1)
intercept = dH_2 - Q_2*slope
return slope, intercept
# define function to calculate and store new K~ value for each pipe
def extract_params(wn):
e1 = 1.852
e2 = 4.87
alpha = 10.67
#create name list variables
node_names = wn.node_name_list
pipe_names = wn.pipe_name_list
link_names = []
#number of each element - to demarcate sections of A21
num_nodes = wn.num_nodes
num_junc = wn.num_junctions
num_pipes = wn.num_pipes
#find incidence matrix and A21 matrix
pipe_tp =[]
pipe_tp2 = []
for link_name, link in wn.pipes():
pipe_tp.append(link.start_node_name)
pipe_tp2.append(link.end_node_name)
link_names.append(link_name)
new_pipes_list = tuple(zip(pipe_tp, pipe_tp2))
for link_name, link in wn.pumps(): # added pumps to inc_mat
pipe_tp.append(link.start_node_name)
pipe_tp2.append(link.end_node_name)
link_names.append(link_name)
for link_name, link in wn.valves(): # added pumps to inc_mat
pipe_tp.append(link.start_node_name)
pipe_tp2.append(link.end_node_name)
link_names.append(link_name)
link_list = tuple(zip(pipe_tp, pipe_tp2))
#extract A21 matrix
G = wn.get_graph()
# inc_mat = sp.csr_matrix.toarray(nx.incidence_matrix(G,nodelist = node_names, edgelist = new_pipes_list,oriented=True))
# A21 = inc_mat[0:num_junc,:]
inc_mat = sp.csr_matrix.toarray(nx.incidence_matrix(G,nodelist = node_names, edgelist = link_list, oriented=True))
A21 = inc_mat[0:num_junc,:]
K = np.zeros((num_pipes,1))
for i in range(num_pipes):
L = wn.get_link(pipe_names[i]).length
D = wn.get_link(pipe_names[i]).diameter
R = wn.get_link(pipe_names[i]).roughness
K[i] = (alpha*L)/((R**e1)*(D**e2))
return A21, K, inc_mat, node_names, link_names
def extract_d_h(wn, results, inc_mat, mult_ts):
#number of each element - to demarcate sections of A21
num_nodes = wn.num_nodes
junc_names = wn.junction_name_list
num_junc = wn.num_junctions
#retrieve known heads and demands from inp file
special_heads = np.zeros((num_nodes-num_junc,1))
heads_count = 0
ts = wn.options.time.report_timestep
#returns list of junction demands
junc_demands = np.zeros((num_junc,1))
for i in range(num_junc):
junc_demands[i] = results.node['demand'].loc[ts*mult_ts, junc_names[i]]
#stores head of reservoirs
for res_name, res in wn.reservoirs():
special_heads[heads_count] = results.node['head'].loc[ts*mult_ts, res_name]
heads_count = heads_count+1
#stores head of tanks
for tank_name, tank in wn.tanks():
special_heads[heads_count] = results.node['head'].loc[ts*mult_ts, tank_name]
heads_count = heads_count+1
special_heads_vec = -inc_mat.T[:,num_junc:num_nodes] @ (special_heads)
return junc_demands, special_heads_vec
def build_K_star(wn, results, inc_mat, mult_ts, K, op, range_Q, mid_point):
ts = wn.options.time.report_timestep
num_pipes = wn.num_pipes
num_links = wn.num_links
K_star = np.zeros((num_links,1))
K_int = np.zeros((num_links,1))
Q_test = results.link['flowrate'] # .loc[ts*mult_ts,:]
heads = results.node['head'] # .loc[ts*mult_ts,:]
# Q_op = Q_test.loc[op*ts, :]
# dH_op = - inc_mat.T @ heads.loc[op*ts, :]
Q_op = []
dH_op = []
if mid_point == True:
for i in range(num_pipes):
Q_op.append(0.5*(np.max(Q_test.loc[:,wn.pipe_name_list[i]]) + np.min(Q_test.loc[:,wn.pipe_name_list[i]])))
dH_op.append(np.sign(Q_op[i])*K[i]*abs(Q_op[i])**1.852)
else:
Q_op = Q_test.loc[op*ts, :]
dH_op = - inc_mat.T @ heads.loc[op*ts, :]
if range_Q == None:
for i in range(num_pipes):
K_s, K_i = one_point_linear(Q_op[i], dH_op[i], K[i])
K_star[i] = (K_s)
K_int[i] = (K_i)
else:
for i in range(num_pipes):
K_s, K_i = two_point_linear(Q_op[i], dH_op[i], K[i], range_Q)
K_star[i] = (K_s)
K_int[i] = (K_i)
return K_star, K_int
def find_nearest(array, value):
array = np.asarray(array)
idx = (np.abs(array - value)).argmin()
# if array[idx] < value:
# idx = idx + 1
return array[idx], idx
def pump_func(x, a, b):
return a - b * x**2
def piecewise_pump(p1, pump):
if len(pump.get_pump_curve().points) == 1:
A1, B1 = pump.get_pump_curve().points[0][0], pump.get_pump_curve().points[0][1]
A2, B2 = 0, 4*B1/3
A3, B3 = 2*A1, 0
# print(A1, B1, A2, B2, A3, B3)
# Net3 only
if len(pump.get_pump_curve().points) == 3:
A1, B1 = pump.get_pump_curve().points[0][0], pump.get_pump_curve().points[0][1]
A2, B2 = pump.get_pump_curve().points[1][0], pump.get_pump_curve().points[1][1]
A3, B3 = pump.get_pump_curve().points[2][0], pump.get_pump_curve().points[2][1]
# print(A1, B1, A2, B2, A3, B3)
xdata = [A1, A2, A3]
ydata = [B1, B2, B3]
popt, pcov = curve_fit(pump_func, xdata, ydata)
A, B = popt[0], popt[1]
brackets = np.linspace(0,np.sqrt(A/B),p1+1)
H= A - B*brackets**2
return brackets, H
def piecewise_pipe(p2, results, pipe, K, range_Qp = None):
largest_q = np.max(results.link['flowrate'].loc[:,pipe])
smallest_q = np.min(results.link['flowrate'].loc[:,pipe])
q_bound = max(abs(largest_q), abs(smallest_q))
if range_Qp != None:
q_bound = q_bound*(1+range_Qp)
brackets = np.linspace(-q_bound, q_bound, p2+1)
if abs(brackets[1]-brackets[0]) < 10**(-6):
q_bound = np.mean(np.mean(results.link['flowrate']))
brackets = np.linspace(-q_bound, q_bound, p2+1)
H = np.sign(brackets)*K*abs(brackets)**1.852
plt_brackets = np.linspace(-1.5*q_bound, 1.5*q_bound, 100)
return brackets, H
# In[] Store pump cuve points to be used in PWL function
def run_gurobi(inp_file, no_ts = 3, num_pipe_seg = 3, num_pump_seg = 5,
RELAX = 1, pump_on = False, pump_off = False, gate_valves = [],
gv_on = False, gv_off = False,
ob_fn = 'static', obj = True, penalty = False, mipval = 0.0001):
p1 = num_pump_seg
p2 = num_pipe_seg
pipe_valves = gate_valves
# Run hydraulic simulation and store results
wn = wntr.network.WaterNetworkModel(inp_file)
sim = wntr.sim.EpanetSimulator(wn)
results = sim.run_sim()
junc_names = wn.junction_name_list
node_names = wn.node_name_list
pipe_names = wn.pipe_name_list
num_junc = wn.num_junctions
num_pipes = wn.num_pipes
num_res = len(wn.reservoir_name_list)
num_tanks = len(wn.tank_name_list)
num_pumps = len(wn.pump_name_list)
num_valves = len(wn.valve_name_list)
num_links = len(wn.link_name_list)
# Time configuration
x_val = len(results.node['head'].loc[:, junc_names[0]])
time_step = wn.options.time.report_timestep
# mult_ts = 3600/time_step
mult_ts = 0
# x_plot = np.linspace(0,(x_val-1)/mult_ts,x_val)
report_time_step = wn.options.time.report_timestep
if no_ts == None:
no_ts = int(wn.options.time.duration/report_time_step)
Q_TS = np.zeros((num_pipes, no_ts))
QP_TS = np.zeros((num_pumps, no_ts))
QV_TS = np.zeros((num_valves, no_ts))
H_TS = np.zeros((num_junc, no_ts))
HPi_TS = np.zeros((num_pipes, no_ts))
HP_TS = np.zeros((num_pumps, no_ts))
HV_TS = np.zeros((num_valves, no_ts))
HT_TS = np.zeros((num_tanks, no_ts+1))
pump_x = []
pump_y = []
pipe_x = []
pipe_y = []
valve_x = []
valve_y = []
tank_elv = []
valve_dict = {}
A21, K, inc_mat, node_names, link_names = extract_params(wn)
junc_demands, special_heads_vec = extract_d_h(wn, results, inc_mat, mult_ts)
# K_star, K_int = build_K_star(wn, results, inc_mat, mult_ts, K, op, range_Q, mid_point)
for _, pump in wn.pumps():
x,y = piecewise_pump(p1, pump)
pump_x.append(x)
pump_y.append(y)
for i in range(num_pipes):
pipe = wn.pipe_name_list[i]
x,y = piecewise_pipe(p2, results, pipe, K[i])
pipe_x.append(x)
pipe_y.append(y)
for _, tank in wn.tanks():
tank_elv.append(tank.elevation)
for valve_name, valve in wn.valves():
#valve_x
valve_dict[valve_name] = {'Start node': valve.start_node_name,
'End node': valve.end_node_name,
'Setting': valve.setting,
'Type': valve.valve_type,
'Minor loss': valve.minor_loss,
'Start node index': wn.junction_name_list.index(valve.start_node_name),
'End node index': wn.junction_name_list.index(valve.end_node_name)}
# In[] Extract control rules and store in a dictionary
time_controls_dict = {}
event_controls_dict = {}
time_controls_compiled = {}
events_controls_pairs = {}
time_controls_link_list = []
event_controls_link_list = []
for i in range(len(wn.control_name_list)):
pattern = "'(.*?)'"
cont = wn.get_control(wn.control_name_list[i])
cont_str = str(cont)
contr_list = cont_str.split()
# print(cont_str)
# time-based controls
if 'TIME' in cont_str:
link_name = contr_list[7] # link name
sim_time = contr_list[4] # time
stat = contr_list[8] # status? setting?
stat_val = contr_list[10]
ctrl_name = 'Control {}'.format(i)
time_controls_dict[ctrl_name] = {'Link': link_name,
'Time': sim_time,
'Stat': stat,
'Stat val': stat_val}
if link_name not in time_controls_link_list:
time_controls_link_list.append(link_name)
# event-based controls
else:
node_name = contr_list[2]
link_name = contr_list[8]
node_level = contr_list[5]
sense = contr_list[4]
stat = contr_list[9]
stat_val = contr_list[11]
event_controls_dict['Control {}'.format(i)] = {'Link': link_name,
'Node': node_name,
'Sense': sense,
'Level': node_level,
'Stat': stat,
'Stat val': stat_val}
if link_name not in event_controls_link_list:
event_controls_link_list.append(link_name)
# store all time controls in one dict
for link in time_controls_link_list:
times_list_stat = [1- int(results.link['status'].loc[0,link])]
times_list_time = [0]
for key in list(time_controls_dict.keys()):
if time_controls_dict[key]['Link'] == link:
# dt_val = datetime.datetime.strptime(time_controls_dict[key]['Time'], "%H:%M:%S")
# time_val = int(datetime.timedelta(hours=dt_val.hour, minutes=dt_val.minute, seconds=dt_val.second).total_seconds())
# time_cont = float(time_val)/report_time_step
dt_list = time_controls_dict[key]['Time'].split(":")
dt_time = int(dt_list[0])*3600 + int(dt_list[1])*60 + int(dt_list[2])
time_cont = float(dt_time)/report_time_step
if time_cont <= no_ts:
if time_controls_dict[key]['Stat'] == 'status' or time_controls_dict[key]['Stat'] == 'STATUS':
if time_controls_dict[key]['Stat val'] == 'Open' or time_controls_dict[key]['Stat val'] == 'OPEN': # check if other stat vals are possible
times_list_stat.append(0)
else:
times_list_stat.append(1)
times_list_time.append(int(time_cont))
stat_array = np.zeros((no_ts))
for i in range(len(times_list_stat)-1):
stat_array[times_list_time[i]:times_list_time[i+1]] = times_list_stat[i]
stat_array[times_list_time[-1]:] = times_list_stat[-1]
time_controls_compiled[link] = {'Status':stat_array}
# store coupled event-based controls together
ev_pair_count = 0
ev_pair_list = []
above_list = ['>', 'ABOVE']
below_list = ['<', 'BELOW']
closed_list = ['Closed', 'CLOSED']
open_list = ['OPEN', 'Opened', 'Open']
for key in list(event_controls_dict.keys()):
for key_2 in list(event_controls_dict.keys()):
if key != key_2:
dict1 = event_controls_dict[key]
dict2 = event_controls_dict[key_2]
link, node = dict1['Link'], dict1['Node']
link_2, node_2 = dict2['Link'], dict2['Node']
if link == link_2 and node == node_2:
if (link,node) not in ev_pair_list:
# add other possibilites? setting for each kind of valve
# if status == link status
if dict1['Stat'] == 'status' or dict1['Stat'] == 'STATUS':
val1 = wn.get_node(node).elevation + float(dict1['Level'])
val2 = wn.get_node(node).elevation + float(dict2['Level'])
init = str(wn.get_link(link).initial_status) # results.link['status'].loc[0, link]
if init == 'Closed' or init :
init_stat = 1
if init == 'Open':
init_stat = 0
if dict1['Sense'] in above_list and dict1['Stat val'] in closed_list:
# print('yo')
events_controls_pairs[ev_pair_count] = {'Link': link,
'Node': node,
'Upper lim': val1,
'Lower lim': val2,
'Upper lim stat': 1, # this is the value that will go to y
'Lower lim stat': 0,
'Link initial status': init_stat} # this is the value that will go to y0
if dict1['Sense'] in above_list and dict1['Stat val'] in open_list: #unlikely
events_controls_pairs[ev_pair_count] = {'Link': link,
'Node': node,
'Upper lim': val1,
'Lower lim': val2,
'Upper lim stat': 0, # this is the value that will go to y
'Lower lim stat': 1,
'Link initial status': init_stat} # this is the value that will go to y0
if dict1['Sense'] in below_list and dict1['Stat val'] in closed_list: #unlikely
events_controls_pairs[ev_pair_count] = {'Link': link,
'Node': node,
'Upper lim': val2,
'Lower lim': val1,
'Upper lim stat': 0, # this is the value that will go to y
'Lower lim stat': 1,
'Link initial status': init_stat}
if dict1['Sense'] in below_list and dict1['Stat val'] in open_list:
events_controls_pairs[ev_pair_count] = {'Link': link,
'Node': node,
'Upper lim': val2,
'Lower lim': val1,
'Upper lim stat': 1, # this is the value that will go to y
'Lower lim stat': 0,
'Link initial status': init_stat}
ev_pair_count += 1
ev_pair_list.append((link,node))
# In[] compile lists of special links and their indices
# pumps, tank inlet, valves, other links in controls
special_link_list = []
special_link_index_list = []
unique_ctrl_link_list = []
unique_ctrl_ind_list = []
unique_pipe_valve_list = []
pipe_valve_ind_list = []
u_tank_count = 0
u_tank_link_list = []
u_tank_ind_list = []
# pumps
for pump_name,_ in wn.pumps():
special_link_list.append(pump_name)
special_link_index_list.append(link_names.index(pump_name))
# tank inlet pipes
for i in range(len(link_names)):
for j in range(num_tanks):
tank = wn.tank_name_list[j]
link = wn.get_link(link_names[i])
if link.start_node_name == tank or link.end_node_name == tank:
u_tank_count += 1
u_tank_link_list.append(link_names[i])
u_tank_ind_list.append(i)
if link_names[i] not in special_link_list:
special_link_list.append(link_names[i])
special_link_index_list.append(link_names.index(link_names[i]))
# valves
for valve_name,_ in wn.valves():
if valve_name not in special_link_list:
special_link_list.append(valve_name)
special_link_index_list.append(link_names.index(valve_name))
# time based controls
for link in time_controls_link_list:
if link not in special_link_list:
special_link_list.append(link)
special_link_index_list.append(link_names.index(link))
unique_ctrl_link_list.append(link)
# event based controls
for link in event_controls_link_list:
if link not in special_link_list:
special_link_list.append(link)
special_link_index_list.append(link_names.index(link))
unique_ctrl_link_list.append(link)
unique_ctrl_ind_list.append(link_names.index(link))
# pipe valves
for link in pipe_valves:
if link not in special_link_list:
special_link_list.append(link)
special_link_index_list.append(link_names.index(link))
unique_pipe_valve_list.append(link)
pipe_valve_ind_list.append(link_names.index(link))
num_unique_ctrl_links = len(unique_ctrl_link_list)
num_pipe_valves = len(unique_pipe_valve_list)
# In[]
# Build matrices and solve
A12 = A21.T
KA11 = np.zeros((num_links,num_links)) # not populated by K star
#build energy conservation rhs
energy_rhs = special_heads_vec # no K int here!
#build A_link submatrix
A_link = np.identity(num_links)
for i in range(num_pipes, num_links):
A_link[i,i] = -1
u_count = num_pumps + u_tank_count + num_valves + num_unique_ctrl_links + num_pipe_valves
u_block = np.zeros((num_links, u_count))
for i in range(num_pumps):
j = num_pipes + i
u_block[j][i] = 1 # we do this to avoid problems that might arise because of names (eg. there might be both a pipe 1 and a valve 1)
for i in range(u_tank_count):
j = u_tank_ind_list[i]
u_block[j][num_pumps + i] = 1
for i in range(num_valves):
j = num_pipes + num_pumps + i
u_block[j][num_pumps + u_tank_count + i] = 1
for i in range(num_unique_ctrl_links):
j = unique_ctrl_ind_list[i]
u_block[j][num_pumps + u_tank_count + num_valves + i] = 1
for i in range(num_pipe_valves):
j = pipe_valve_ind_list[i]
u_block[j][num_pumps + u_tank_count + num_valves + num_unique_ctrl_links] = 1
#build w block matrix
w_block = np.zeros((num_links, num_valves))
for i in range(num_valves):
j = num_pipes + num_pumps + i
w_block[j][i] = -1
up_TS = np.zeros((num_pumps, no_ts))
ut_TS = np.zeros((u_tank_count, no_ts))
uv_TS = np.zeros((num_valves, no_ts))
uu_TS = np.zeros((num_unique_ctrl_links, no_ts))
upv_TS = np.zeros((num_pipe_valves, no_ts))
#build tank volume continuity equation
Vt = np.zeros((num_tanks, num_links))
Htanks = np.zeros((num_tanks, 1))
for j in range(len(wn.tank_name_list)):
tank = wn.get_node(wn.tank_name_list[j])
tank_ind = num_junc + num_res + j
prev_tank_head = np.array(inc_mat[tank_ind,:])[np.newaxis] @ special_heads_vec
diam = tank.diameter
Htanks[j] = - prev_tank_head
Vt[j,:] = np.array(inc_mat[tank_ind,:])[np.newaxis]*(time_step/(np.pi*(diam/2)**2)) #check sign
HT_TS[j,0] = -prev_tank_head
# build A submatrix
A_sub = np.block([[KA11, A12, A_link, u_block, w_block, np.zeros((num_links,num_tanks))], # delta H = H1 - H2 + u ...
[A21, np.zeros((num_junc,num_junc)), np.zeros((num_junc,num_links)), np.zeros((num_junc, u_count)), np.zeros((num_junc, num_valves)), np.zeros((num_junc, num_tanks))], # sum of Q = d
[-Vt, np.zeros((num_tanks,num_junc)), np.zeros((num_tanks,num_links)), np.zeros((num_tanks, u_count)), np.zeros((num_tanks, num_valves)), np.identity(num_tanks) ]]) # tank storage
# build b submatrix
b_sub = np.vstack((energy_rhs, junc_demands, Htanks)) #check sign
A = A_sub # just in case there's only one time step
b = b_sub
# Build master matrices
for i in range(1,no_ts):
# Update RHS vector
mult_ts = i
num_nodes = wn.num_nodes
num_junc = wn.num_junctions
num_pipes = wn.num_pipes
A_dim0 = A.shape[0]
A_dim1 = A.shape[1]
special_heads = np.zeros((num_res,1))
heads_count = 0
junc_demands = np.zeros((num_junc,1))
for j in range(num_junc):
junc_demands[j] = results.node['demand'].loc[i*time_step, junc_names[j]] # update junctions
#stores head of reservoirs
for res_name, res in wn.reservoirs():
special_heads[heads_count] = results.node['head'].loc[i*time_step, res_name]
heads_count = heads_count+1
special_heads_vec = - inc_mat.T[:, num_junc : num_junc + num_res] @ (special_heads)
# build energy conservation rhs
energy_rhs = special_heads_vec
Vt = np.zeros((num_tanks, num_links))
Htanks = np.zeros((num_tanks, 1))
A_tank = inc_mat[num_nodes - num_tanks : num_nodes,:].T
for j in range(len(wn.tank_name_list)):
tank = wn.get_node(wn.tank_name_list[j])
tank_ind = num_junc + num_res + j
diam = tank.diameter
Vt[j,:] = np.array(inc_mat[tank_ind,:])[np.newaxis]*(time_step/(np.pi*(diam/2)**2))
# build A submatrix
A_tank_block = np.vstack((A_tank, np.zeros((num_junc, num_tanks)), -np.identity(num_tanks)))
A_sub1 = np.hstack((A_tank_block, A_sub))
# build b submatrix
b_sub1 = np.vstack((energy_rhs, junc_demands, np.zeros((num_tanks,1))))
# define A and b
A = np.block([[A, np.zeros((A_dim0, A_sub1.shape[1] - num_tanks))],
[np.zeros((A_sub1.shape[0], A_dim1 - num_tanks)), A_sub1]])
b = np.vstack((b, b_sub1))
# In[] Power
pump_name = wn.pump_name_list[0]
power = results.link['flowrate'].loc[:,pump_name]*-results.link['headloss'].loc[:,pump_name]
mean_power = power[power>0].mean()*9.81*3600/1000
# In[] Build Gurobi optimization problem
# Build right hand side
rhs = []
for i in range(len(b)):
rhs.append(b[i][0])
rhs = np.array(rhs)
no_cons = A.shape[1] # should be (num_junc + 2 * num_links + num_tanks) * no_ts
Q_pipes, Q_pumps, Q_valves = {}, {}, {} # flowrates
H_nodes, H_pipes, H_pumps, H_valves = {}, {}, {}, {} # heads and head differences
u_pumps, u_tanks, u_valves, u_conts, u_pvalves, w_valves = {}, {}, {}, {}, {}, {} # u slack values
H_tanks = {} # tank heads
y_pumps, y_tanks, y_controls, y_pvalves = {}, {}, {}, {} # on/off variables
z1_cont, z2_cont, z3_cont, z4_cont = {}, {}, {}, {} # control rules binary variables
z1_inlet, z2_inlet, z3_inlet, z4_inlet = {}, {}, {}, {} # tank inlet pipe binary variables
v1, v2, v3 = {}, {}, {}
y_pumps_proxy, diff_y, consecutive_y = {}, {}, {} # valve status binary variables
# Define bounds
lbounds_qpipes, ubounds_qpipes = [], []
lbounds_qpumps, ubounds_qpumps = [], []
lbounds_qvalves, ubounds_qvalves = [], []
lbounds_hnodes, ubounds_hnodes = [], []
lbounds_hpipes, ubounds_hpipes = [], []
lbounds_hpumps, ubounds_hpumps = [], []
lbounds_hvalves, ubounds_hvalves = [], []
lbounds_upumps, ubounds_upumps = [], []
lbounds_utanks, ubounds_utanks = [], []
lbounds_uvalves, ubounds_uvalves = [], []
lbounds_ucont, ubounds_ucont = [], []
lbounds_upvalves, ubounds_upvalves = [], []
lbounds_wvalves, ubounds_wvalves = [], []
lbounds_htanks, ubounds_htanks = [], []
largest_q = max(np.max(results.link['flowrate']))
smallest_q = min(np.min(results.link['flowrate']))
q_bound = max(abs(largest_q), abs(smallest_q))
h_bound = max(np.max(results.node['head']))
for i in range(num_pipes):
lbounds_qpipes.append(-2 * q_bound)
ubounds_qpipes.append(2 * q_bound)
for i in range(num_pumps):
lbounds_qpumps.append(0)
ubounds_qpumps.append(pump_x[i][len(pump_x[0])-1])
for i in range(num_valves):
lbounds_qvalves.append(0)
ubounds_qvalves.append(q_bound)
for i in range(num_junc):
lbounds_hnodes.append(wn.get_node(wn.junction_name_list[i]).elevation) # forcing pressures to be >= 0
ubounds_hnodes.append(2 * h_bound)
for i in range(num_pipes):
lbounds_hpipes.append(-2 * h_bound)
ubounds_hpipes.append(2 * h_bound)
for i in range(num_pumps):
lbounds_hpumps.append(0)
ubounds_hpumps.append(pump_y[i][0])
for i in range(num_valves):
lbounds_hvalves.append(-2 * h_bound)
ubounds_hvalves.append(2 * h_bound)
for i in range(num_pumps):
lbounds_upumps.append(-h_bound)
ubounds_upumps.append(h_bound)
for i in range(u_tank_count):
lbounds_utanks.append(-h_bound)
ubounds_utanks.append(h_bound)
for i in range(num_valves):
lbounds_uvalves.append(-h_bound)
ubounds_uvalves.append(h_bound)
for i in range(num_unique_ctrl_links):
lbounds_ucont.append(-h_bound)
ubounds_ucont.append(h_bound)
for i in range(num_pipe_valves):
lbounds_upvalves.append(-h_bound)
ubounds_upvalves.append(h_bound)
for i in range(num_valves):
lbounds_wvalves.append(0)
ubounds_wvalves.append(h_bound)
for i in range(num_tanks):
tank = wn.get_node(wn.tank_name_list[i])
lbounds_htanks.append(tank.elevation + tank.min_level)
ubounds_htanks.append(tank.elevation + tank.max_level)
# Define some constants
eps_flow = 0.000001
eps_head = 0.1
M = h_bound * 1.1
# M_q = q_bound * 1.1
try:
t1 = time.time()
#####################################################################################################################################################################################
# Create a new model
m = gp.Model("Net1")
m.reset()
#####################################################################################################################################################################################
# Create variables
for i in range(no_ts):
Q_pipes[i] = m.addMVar(shape = num_pipes, lb=lbounds_qpipes, ub=ubounds_qpipes, vtype=GRB.CONTINUOUS, name="Q_pipes {}".format(i))
if num_pumps > 0:
Q_pumps[i] = m.addMVar(shape = num_pumps, lb=lbounds_qpumps, ub=ubounds_qpumps, vtype=GRB.CONTINUOUS, name="Q_pumps {}".format(i))
if num_valves > 0:
Q_valves[i] = m.addMVar(shape = num_valves, lb=lbounds_qvalves, ub=ubounds_qvalves, vtype=GRB.CONTINUOUS, name="Q_valves {}".format(i))
H_nodes[i] = m.addMVar(shape = num_junc, lb=lbounds_hnodes, ub=ubounds_hnodes, vtype=GRB.CONTINUOUS, name="H_nodes {}".format(i))
H_pipes[i] = m.addMVar(shape = num_pipes, lb=lbounds_hpipes, ub=ubounds_hpipes, vtype=GRB.CONTINUOUS, name="H_pipes {}".format(i))
if num_pumps > 0:
H_pumps[i] = m.addMVar(shape = num_pumps, lb=lbounds_hpumps, ub=ubounds_hpumps, vtype=GRB.CONTINUOUS, name="H_pumps {}".format(i))
if num_valves > 0:
H_valves[i] = m.addMVar(shape = num_valves, lb=lbounds_hvalves, ub=ubounds_hvalves, vtype=GRB.CONTINUOUS, name="H_valves {}".format(i))
if num_pumps > 0:
u_pumps[i] = m.addMVar(shape = num_pumps, lb=lbounds_upumps, ub=ubounds_upumps, vtype=GRB.CONTINUOUS, name="u_pump {}".format(i))
u_tanks[i] = m.addMVar(shape = u_tank_count, lb=lbounds_utanks, ub=ubounds_utanks, vtype=GRB.CONTINUOUS, name="u_tanks {}".format(i))
if num_valves > 0:
u_valves[i] = m.addMVar(shape = num_valves, lb=lbounds_uvalves, ub=ubounds_uvalves, vtype=GRB.CONTINUOUS, name="u_valves {}".format(i))
if num_unique_ctrl_links > 0:
u_conts[i] = m.addMVar(shape = num_unique_ctrl_links, lb=lbounds_ucont, ub=ubounds_ucont, vtype=GRB.CONTINUOUS, name="u_conts {}".format(i))
if num_pipe_valves > 0:
u_pvalves[i] = m.addMVar(shape = num_pipe_valves, lb=lbounds_upvalves, ub=ubounds_upvalves, vtype=GRB.CONTINUOUS, name="u_pvalves {}".format(i))
if num_valves > 0:
w_valves[i] = m.addMVar(shape = num_valves, lb=lbounds_wvalves, ub=ubounds_wvalves, vtype=GRB.CONTINUOUS, name="w_valves {}".format(i))
H_tanks[i] = m.addMVar(shape = num_tanks, lb=lbounds_htanks, ub=ubounds_htanks, vtype=GRB.CONTINUOUS, name="H_tanks {}".format(i+1))
#####################################################################################################################################################################################
# Load all current variable into one vector x_A
m.update()
x_A = gp.MVar(m.getVars())
m.update()
#####################################################################################################################################################################################
# MATRIX CONSTRAINTS (head loss, mass balance, tank storage)
m.addConstr(A @ x_A == rhs, name = "block") # for mass balance, head loss, tank storage constraints
m.update()
#####################################################################################################################################################################################
# PWL PIPE HEAD LOSS CONSTRAINTS
for i in range(no_ts):
for j in range(num_pipes):
m.addGenConstrPWL(Q_pipes[i][j], H_pipes[i][j], pipe_x[j], pipe_y[j])
#####################################################################################################################################################################################
# PWL PUMP HEAD GAIN CONSTRAINTS
if num_pumps > 0:
for i in range(no_ts):
for j in range(num_pumps):
m.addGenConstrPWL(Q_pumps[i][j], H_pumps[i][j], pump_x[j], pump_y[j])
#####################################################################################################################################################################################
# ALLOW PUMP TO DISCONNECT
if num_pumps > 0:
for i in range(no_ts):
y_pumps[i] = m.addMVar(num_pumps, vtype = GRB.BINARY, name = "y_pumps {}".format(i))
# Initial conditions for the pump and tank inlet pipe
# for i in range(num_pumps):
# stat = str(wn.get_link(wn.pump_name_list[i]).initial_status)
## print('stat', stat)
# if stat == 'Open' or stat == 0:
# m.addConstr(y_pumps[0][i] == 0)
# m.addConstr(u_pumps[0][i] == 0)
# else:
# m.addConstr(y_pumps[0][i] == 1)
# m.addConstr(Q_pumps[0][i] == 0)
for i in range(no_ts):
for j in range(num_pumps):
# Define big M value
M = max(ubounds_upumps) + 5
m.addConstr(-Q_pumps[i][j] - M*(1-y_pumps[i][j]) <= 0)
m.addConstr(Q_pumps[i][j] - M*(1-y_pumps[i][j]) <= 0)
m.addConstr((y_pumps[i][j] == 0) >> (u_pumps[i][j] == 0))
m.addConstr((y_pumps[i][j] == 1) >> (Q_pumps[i][j] == 0))
## forcing pump 1 to be open the whole time
if pump_on == True:
for i in range(no_ts):
m.addConstr(y_pumps[i][0] == 0)
## forcing pump 1 to be open the whole time
if pump_off == True:
for i in range(no_ts):
m.addConstr(y_pumps[i][0] == 1)
#####################################################################################################################################################################################
# FORCE TANK INLET PIPE TO CLOSE ONLY IF TANK LEVEL HITS MAX OR MIN
for i in range(no_ts):
y_tanks[i] = m.addMVar(u_tank_count, vtype = GRB.BINARY, name = "y tanks {}".format(i))
z1_inlet[i] = m.addMVar(u_tank_count, vtype = GRB.BINARY, name = "z1_inlet {}".format(i))
z2_inlet[i] = m.addMVar(u_tank_count, vtype = GRB.BINARY, name = "z2_inlet {}".format(i))
z3_inlet[i] = m.addMVar(u_tank_count, vtype = GRB.BINARY, name = "z3_inlet {}".format(i))
z4_inlet[i] = m.addMVar(u_tank_count, vtype = GRB.BINARY, name = "z4_inlet {}".format(i))
for i in range(u_tank_count):
m.addConstr(y_tanks[0][i] == 0) ####### edit this at some point! to reflect actual starting
m.addConstr(u_tanks[0][i] == 0)
m.addConstr(z1_inlet[0][i] == 0)
m.addConstr(z2_inlet[0][i] == 1)
m.addConstr(z3_inlet[0][i] == 1)
for i in range(1,no_ts):
for j in range(num_tanks):
ind = u_tank_ind_list[j]
up_bd = ubounds_htanks[j]
lo_bd = lbounds_htanks[j]
M_tank = up_bd - lo_bd + 500
# I tank level greater than or equal to upper bound
m.addConstr(H_tanks[i-1][j] >= up_bd - M_tank*(1-z1_inlet[i][j]))
m.addConstr(H_tanks[i-1][j] + eps_head <= up_bd + M_tank*z1_inlet[i][j])
# II tank level greater than lower lim
m.addConstr(H_tanks[i-1][j] >= lo_bd - M_tank*(1-z2_inlet[i][j]) + eps_head)
m.addConstr(H_tanks[i-1][j] <= lo_bd + M_tank*z2_inlet[i][j])
m.addConstr((z2_inlet[i][j] == 1) >> (z3_inlet[i][j] == 0))
# III tank level between lower and upper lim
m.addConstr(y_tanks[i][j] == gp.or_(z1_inlet[i][j],z3_inlet[i][j]), name = "III {}".format(i)) # is this right?
# IV putting it all together
m.addConstr(-Q_pipes[i][ind] - M_tank*(1-y_tanks[i][j]) <= 0)
m.addConstr(Q_pipes[i][ind] - M_tank*(1-y_tanks[i][j]) <= 0) ##### try to change M val here
m.addConstr((y_tanks[i][j] == 0) >> (u_tanks[i][j] == 0))
m.addConstr((y_tanks[i][j] == 1) >> (Q_pipes[i][ind] == 0))
#####################################################################################################################################################################################
# VALVE STATUS RULES
if num_valves > 0:
for i in range(no_ts):
v1[i] = m.addMVar(num_valves, vtype = GRB.BINARY, name = "v1 {}".format(i))
v2[i] = m.addMVar(num_valves, vtype = GRB.BINARY, name = "v2 {}".format(i))
v3[i] = m.addMVar(num_valves, vtype = GRB.BINARY, name = "v3 {}".format(i))
for i in range(no_ts):
for j in range(num_valves):
valve_name = wn.valve_name_list[j]
M = M_tank
# PRV
if valve_dict[valve_name]['Type'] == 'PRV':
start_ind = valve_dict[valve_name]['Start node index']
end_ind = valve_dict[valve_name]['End node index']
Hset_start = wn.get_node(valve_dict[valve_name]['End node']).elevation + valve_dict[valve_name]['Setting']
Hset_end = wn.get_node(valve_dict[valve_name]['End node']).elevation + valve_dict[valve_name]['Setting']
#1
m.addConstr(v1[i][j] + v2[i][j] + v3[i][j] == 1, name = 'Valve status')
# 2
m.addConstr(-M*v3[i][j] <= u_valves[i][j])
m.addConstr(u_valves[i][j] <= M*v3[i][j])
# 3
# m.addConstr(-M*(1-v3[i][j]) <= Q_valves[i][j])
# m.addConstr(Q_valves[i][j] <= M*(1-v3[i][j]))
#4
m.addConstr(H_nodes[i][start_ind] - H_nodes[i][end_ind] >= -M*v3[i][j])
#5
m.addConstr(H_nodes[i][start_ind] - H_nodes[i][end_ind] + eps_head* v3[i][j] <= M*(1-v3[i][j]))
#6
m.addConstr(Hset_start - H_nodes[i][start_ind] >= -M*(1-v2[i][j]) - M*v1[i][j] + eps_head*v2[i][j])
#7
m.addConstr(Hset_start - H_nodes[i][start_ind] <= M*(1-v1[i][j]) + M*v2[i][j])
#8
m.addConstr(w_valves[i][j] <= M*v1[i][j] )# + v2[i][j])
# m.addConstr(w_valves[i][j] >= -eps_head * v2[i][j])
#9
m.addConstr(Hset_end*v1[i][j] - M*v2[i][j] - M*v3[i][j] <= H_nodes[i][end_ind])
m.addConstr(H_nodes[i][end_ind] <= Hset_end*v1[i][j] + M*v2[i][j] + M*v3[i][j])
# # 10
m.addConstr((v1[i][j] == 1) >> (Q_valves[i][j] >= eps_flow))
m.addConstr((v1[i][j] == 1) >> (u_valves[i][j] == 0))
m.addConstr((v2[i][j] == 1) >> (Q_valves[i][j] >= eps_flow))
m.addConstr((v2[i][j] == 1) >> (u_valves[i][j] == 0))
m.addConstr((v3[i][j] == 1) >> (Q_valves[i][j] == 0))
if valve_dict[valve_name]['Minor loss'] == 0:
m.addConstr((v2[i][j] == 1) >> (H_nodes[i][start_ind] == H_nodes[i][end_ind]))
# else: flesh this out later!
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