shootdefs.f90

一个基于打靶法的最优控制求解软件 求解过程中采用参数延续算法

!!****************************************
!!* Simplicial package v1.4              *
!!* Module for shooting global variables *
!!* Author: Pierre Martinon              *
!!* ENSEEIHT-IRIT, UMR CNRS 5505         *
!!* CMAP-INRIA FUTURS, UMR CNRS 7641     *
!!* 12/2006                              *
!!****************************************

Module Shootdefs
  implicit none

  !ex globaldefs
  integer, save :: n, outputfid, shootverbose, shootdebug, hcount
  real(kind=8), save :: normh, macheps

  !Global parameters for shoot problem
  integer, save:: ns, nc, nz, m, nci, ncf, xpdim, dimpsi, dimcrit, npar
  integer, save :: nonlinsolver, problemclass, unodes, outmode, homotop, scalemode
  integer, dimension(:), allocatable, save :: free0, fixed0, fixedT

  real(kind=8), save :: jump, lambda, lower(1), upper(1), obj0
  real(kind=8), save :: t0, tf, matchDt, tff, tf0
  real(kind=8), dimension(:), allocatable, save :: zscal, yscal, tscal
  real(kind=8), dimension(:), allocatable, save:: ci, ci0, cf, cf0, xstart, par


  !current point and time
  real(kind=8), save :: currenttime
  real(kind=8), dimension(:), allocatable, save :: currentpoint

  !Jacobian handling
  integer, save :: vareqmode, vareqinteg, totomode, forcevareq 


  !Switchings handling
  integer, save :: discshoot, switchflag, ntry, switchmode
  !Bissection iterations
  integer, save :: globaldicho, globaldichoiter
  integer, parameter :: maxdichoiter = 50
  !data for commutation surface crossing
!!$  integer, save :: symcross
!!$  real(kind=8), save :: toldhyb, thyb, tcrossing
!!$  real(kind=8), dimension(:), allocatable, save :: yehyb, precrossing, postcrossing, ycrossing


  !Structure
  integer :: nbtimes1, nbtimes, nodes, nbfixedtimes
  integer, dimension(:), allocatable :: structure1, structure
  real(kind=8), dimension(:), allocatable :: times1, times, fixedtimes
  real(kind=8), dimension(:,:), allocatable :: ynodes

  !Hamiltonian handling
  !hamiltonian initial value
  integer, save :: hamiltonianoutput
  real(kind=8), save :: trueH0, hamilton


  !Singular shoot formulations
  integer, save :: maxswitch, nbswitch, structflag
  real(kind=8), dimension(:), allocatable, save :: switchtime
  !Singular Control Alternate Formulation
  integer, save :: singularcontrolmode, ucorr, controlmode, arcentry, dimsing, update
  real(kind=8), save :: prevalpha

  !Structured shoot 
  integer, save :: nbphase, phase

  !Active constraints
  real(kind=8), save :: pijump, muviolation, constraintviolation, mu


  !Parameters for Powell solver (hybrd/hybrj)
  integer, parameter :: maxfev = 2000
  real(kind=8), parameter :: xtol = 1d-14
  real(kind=8), save :: epsfun


  !Parameters for integrators
  integer, save :: integmode, integmode0
  integer, save :: fixedsteps, fixedsteps0, finalsteps
  real(kind=8), save :: atol, rtol, atol0, rtol0, stepsize
  integer, parameter :: maxsteps = 150000


  !Fixed point parameters
  integer, save :: fpiter, totalfpiter, totalfpcount
  integer, parameter :: fpmaxiter = 25
  real(kind=8), parameter :: fpminprog = 1d-14
  !bootstraping for dense output
  real(kind=8), save :: alphaboot


End module Shootdefs