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Commit 27ea8628 authored by Markus Quaritsch's avatar Markus Quaritsch
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Merge pull request #798 in VECTO/vecto-sim from... 

Merge pull request #798 in VECTO/vecto-sim from ~EMQUARIMA/vecto-sim:bugfix/VECTO-1189-error-in-delaunay-triangulation-invariant-violated to develop

* commit '5e0f94ae':
  removed inverted lossmap in transmission loss map class (forward calculation) as the triangulation may cause errors due to limited numerical accuracy (even with double precision)
parents 881f3509 5e0f94ae
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VectoCore/VectoCore/Models/Simulation/Data/VectoRunData.cs
+ 23
− 19
View file @ 27ea8628
......@@ -209,39 +209,43 @@ namespace TUGraz.VectoCore.Models.Simulation.Data
return null;
}
private static ValidationResult CheckLossMapsEntries(KeyValuePair<uint, GearData> gear, PerSecond angularVelocity,
private static ValidationResult CheckLossMapsEntries(KeyValuePair<uint, GearData> gear, PerSecond engineSpeed,
NewtonMeter inTorque, AngledriveData angledriveData, AxleGearData axleGearData, MeterPerSecond velocity)
{
var hasAngleDrive = angledriveData != null && angledriveData.Angledrive != null;
var angledriveRatio = hasAngleDrive && angledriveData.Type == AngledriveType.SeparateAngledrive
? angledriveData.Angledrive.Ratio
: 1.0;
NewtonMeter angledriveTorque;
try {
angledriveTorque = gear.Value.LossMap.GetOutTorque(angularVelocity, inTorque);
} catch (VectoException) {
var tqLoss = gear.Value.LossMap.GetTorqueLoss(engineSpeed / gear.Value.Ratio, inTorque * gear.Value.Ratio);
if (tqLoss.Extrapolated) {
return new ValidationResult(
string.Format("Interpolation of Gear-{0}-LossMap failed with torque={1} and angularSpeed={2}", gear.Key,
inTorque, angularVelocity.ConvertToRoundsPerMinute()));
inTorque, engineSpeed.ConvertToRoundsPerMinute()));
}
var angledriveTorque = (inTorque - tqLoss.Value) / gear.Value.Ratio;
var axlegearTorque = angledriveTorque;
try {
if (hasAngleDrive) {
axlegearTorque = angledriveData.Angledrive.LossMap.GetOutTorque(angularVelocity / gear.Value.Ratio,
angledriveTorque);
if (hasAngleDrive) {
var anglTqLoss = angledriveData.Angledrive.LossMap.GetTorqueLoss(
engineSpeed / gear.Value.Ratio / angledriveRatio,
angledriveTorque * angledriveRatio);
if (anglTqLoss.Extrapolated) {
return new ValidationResult(
string.Format(
"Interpolation of Angledrive-LossMap failed with torque={0} and angularSpeed={1}",
angledriveTorque, (engineSpeed / gear.Value.Ratio).ConvertToRoundsPerMinute()));
}
} catch (VectoException) {
return new ValidationResult(
string.Format("Interpolation of Angledrive-LossMap failed with torque={0} and angularSpeed={1}",
angledriveTorque, (angularVelocity / gear.Value.Ratio).ConvertToRoundsPerMinute()));
}
if (axleGearData != null) {
var axleAngularVelocity = angularVelocity / gear.Value.Ratio / angledriveRatio;
try {
axleGearData.AxleGear.LossMap.GetOutTorque(axleAngularVelocity, axlegearTorque);
} catch (VectoException) {
return
var axleAngularVelocity = engineSpeed / gear.Value.Ratio / angledriveRatio / axleGearData.AxleGear.Ratio;
var axlTqLoss = axleGearData.AxleGear.LossMap.GetTorqueLoss(axleAngularVelocity, axlegearTorque * axleGearData.AxleGear.Ratio);
if (axlTqLoss.Extrapolated) {
return
new ValidationResult(
string.Format(
"Interpolation of AxleGear-LossMap failed with torque={0} and angularSpeed={1} (gear={2}, velocity={3})",
......
VectoCore/VectoCore/Models/SimulationComponent/Data/Gearbox/TransmissionLossMap.cs
+ 1
− 32
View file @ 27ea8628
......@@ -51,11 +51,6 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Data.Gearbox
/// </summary>
private readonly DelaunayMap _lossMap;
/// <summary>
/// The inverted loss map for range sanity checks. [X=Input EngineSpeed, Y=Input Torque] => Z=Output Torque
/// </summary>
private readonly DelaunayMap _invertedLossMap;
public string GearName { get; private set; }
public TransmissionLossMap(IReadOnlyList<GearLossMapEntry> entries, double gearRatio, string gearName)
......@@ -64,14 +59,11 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Data.Gearbox
_ratio = gearRatio;
_entries = entries;
_lossMap = new DelaunayMap("TransmissionLossMap " + GearName);
_invertedLossMap = new DelaunayMap("TransmissionLossMapInv. " + GearName);
foreach (var entry in _entries) {
_lossMap.AddPoint(entry.InputSpeed.Value(), (entry.InputTorque - entry.TorqueLoss).Value(), entry.TorqueLoss.Value());
_invertedLossMap.AddPoint(entry.InputSpeed.Value(), entry.InputTorque.Value(), entry.TorqueLoss.Value());
}
_lossMap.Triangulate();
_invertedLossMap.Triangulate();
}
/// <summary>
......@@ -104,30 +96,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Data.Gearbox
public NewtonMeter Value;
}
/// <summary>
/// Computes the OUTPUT torque given by the input engineSpeed and the input torque.
/// </summary>
/// <param name="inAngularVelocity">Angular speed at input side.</param>
/// <param name="inTorque">Torque at input side.</param>
/// <param name="allowExtrapolation"></param>
/// <returns>Torque needed at output side (towards the wheels).</returns>
public NewtonMeter GetOutTorque(PerSecond inAngularVelocity, NewtonMeter inTorque, bool allowExtrapolation = false)
{
var torqueLoss = _invertedLossMap.Interpolate(inAngularVelocity.Value(), inTorque.Value());
if (torqueLoss.HasValue) {
return (inTorque - torqueLoss.Value.SI<NewtonMeter>()) / _ratio;
}
if (allowExtrapolation) {
torqueLoss = _invertedLossMap.Extrapolate(inAngularVelocity.Value(), inTorque.Value());
return (inTorque - torqueLoss.Value.SI<NewtonMeter>()) / _ratio;
}
throw new VectoException("TransmissionLossMap {0}: Interpolation failed. inTorque: {1}, inAngularVelocity: {2}",
GearName, inTorque,
inAngularVelocity.AsRPM);
}
public GearLossMapEntry this[int i]
{
get { return _entries[i]; }
......
VectoCore/VectoCore/Utils/DelaunayMap.cs
+ 1
− 1
View file @ 27ea8628
......@@ -139,7 +139,7 @@ namespace TUGraz.VectoCore.Utils
// k...points on convex hull (exactly 3 --> supertriangle)
if (triangles.Count != 2 * (pointCount + 3) - 2 - 3) {
throw new VectoException(
"Delaunay-Triangulation invariant violated! Triangle count and point count doesn't fit together.");
"{0} Delaunay-Triangulation invariant violated! Triangle count and point count doesn't fit together.", _mapName);
}
}
......
VectoCore/VectoCoreTest/Models/SimulationComponentData/GearboxDataTest.cs
+ 89
− 89
View file @ 27ea8628
......@@ -167,49 +167,49 @@ namespace TUGraz.VectoCore.Tests.Models.SimulationComponentData
AssertHelper.AreRelativeEqual(10, map.GetTorqueLoss(120.RPMtoRad(), 50.SI<NewtonMeter>()).Value);
}
[TestCase]
public void TestLossMap_OUT_10_CONST_Interpolation_Extrapolation()
{
var data = new DataTable();
data.Columns.Add("");
data.Columns.Add("");
data.Columns.Add("");
data.Rows.Add("0", "0", "10"); // (0,100):10 -- (100,100):10
data.Rows.Add("0", "100", "10"); // | \ |
data.Rows.Add("100", "0", "10"); // | \ |
data.Rows.Add("100", "100", "10"); // (0,0):10 ----- (100,10):10
var map = TransmissionLossMapReader.Create(data, 1.0, "1");
// test inside the triangles
AssertHelper.AreRelativeEqual(15, map.GetOutTorque(25.RPMtoRad(), 25.SI<NewtonMeter>(), true));
AssertHelper.AreRelativeEqual(40, map.GetOutTorque(75.RPMtoRad(), 50.SI<NewtonMeter>(), true));
// test interpolation on edges
AssertHelper.AreRelativeEqual(-15, map.GetOutTorque(50.RPMtoRad(), -5.SI<NewtonMeter>(), true));
AssertHelper.AreRelativeEqual(35, map.GetOutTorque(0.RPMtoRad(), 45.SI<NewtonMeter>(), true));
AssertHelper.AreRelativeEqual(30, map.GetOutTorque(50.RPMtoRad(), 40.SI<NewtonMeter>(), true));
AssertHelper.AreRelativeEqual(65, map.GetOutTorque(50.RPMtoRad(), 75.SI<NewtonMeter>(), true));
AssertHelper.AreRelativeEqual(15, map.GetOutTorque(100.RPMtoRad(), 25.SI<NewtonMeter>(), true));
// test interpolation on corner points
AssertHelper.AreRelativeEqual(-10, map.GetOutTorque(0.RPMtoRad(), 0.SI<NewtonMeter>(), true));
AssertHelper.AreRelativeEqual(80, map.GetOutTorque(0.RPMtoRad(), 90.SI<NewtonMeter>(), true));
AssertHelper.AreRelativeEqual(-20, map.GetOutTorque(100.RPMtoRad(), -10.SI<NewtonMeter>(), true));
AssertHelper.AreRelativeEqual(50, map.GetOutTorque(100.RPMtoRad(), 60.SI<NewtonMeter>(), true));
// test outside the corners
AssertHelper.AreRelativeEqual(-30, map.GetOutTorque(-20.RPMtoRad(), -20.SI<NewtonMeter>(), true));
AssertHelper.AreRelativeEqual(110, map.GetOutTorque(-20.RPMtoRad(), 120.SI<NewtonMeter>(), true));
AssertHelper.AreRelativeEqual(-30, map.GetOutTorque(120.RPMtoRad(), -20.SI<NewtonMeter>(), true));
AssertHelper.AreRelativeEqual(110, map.GetOutTorque(120.RPMtoRad(), 120.SI<NewtonMeter>(), true));
// test outside the edges
AssertHelper.AreRelativeEqual(40, map.GetOutTorque(-20.RPMtoRad(), 50.SI<NewtonMeter>(), true));
AssertHelper.AreRelativeEqual(110, map.GetOutTorque(50.RPMtoRad(), 120.SI<NewtonMeter>(), true));
AssertHelper.AreRelativeEqual(-30, map.GetOutTorque(50.RPMtoRad(), -20.SI<NewtonMeter>(), true));
AssertHelper.AreRelativeEqual(40, map.GetOutTorque(120.RPMtoRad(), 50.SI<NewtonMeter>(), true));
}
//[TestCase]
//public void TestLossMap_OUT_10_CONST_Interpolation_Extrapolation()
//{
// var data = new DataTable();
// data.Columns.Add("");
// data.Columns.Add("");
// data.Columns.Add("");
// data.Rows.Add("0", "0", "10"); // (0,100):10 -- (100,100):10
// data.Rows.Add("0", "100", "10"); // | \ |
// data.Rows.Add("100", "0", "10"); // | \ |
// data.Rows.Add("100", "100", "10"); // (0,0):10 ----- (100,10):10
// var map = TransmissionLossMapReader.Create(data, 1.0, "1");
// // test inside the triangles
// AssertHelper.AreRelativeEqual(15, map.GetOutTorque(25.RPMtoRad(), 25.SI<NewtonMeter>(), true));
// AssertHelper.AreRelativeEqual(40, map.GetOutTorque(75.RPMtoRad(), 50.SI<NewtonMeter>(), true));
// // test interpolation on edges
// AssertHelper.AreRelativeEqual(-15, map.GetOutTorque(50.RPMtoRad(), -5.SI<NewtonMeter>(), true));
// AssertHelper.AreRelativeEqual(35, map.GetOutTorque(0.RPMtoRad(), 45.SI<NewtonMeter>(), true));
// AssertHelper.AreRelativeEqual(30, map.GetOutTorque(50.RPMtoRad(), 40.SI<NewtonMeter>(), true));
// AssertHelper.AreRelativeEqual(65, map.GetOutTorque(50.RPMtoRad(), 75.SI<NewtonMeter>(), true));
// AssertHelper.AreRelativeEqual(15, map.GetOutTorque(100.RPMtoRad(), 25.SI<NewtonMeter>(), true));
// // test interpolation on corner points
// AssertHelper.AreRelativeEqual(-10, map.GetOutTorque(0.RPMtoRad(), 0.SI<NewtonMeter>(), true));
// AssertHelper.AreRelativeEqual(80, map.GetOutTorque(0.RPMtoRad(), 90.SI<NewtonMeter>(), true));
// AssertHelper.AreRelativeEqual(-20, map.GetOutTorque(100.RPMtoRad(), -10.SI<NewtonMeter>(), true));
// AssertHelper.AreRelativeEqual(50, map.GetOutTorque(100.RPMtoRad(), 60.SI<NewtonMeter>(), true));
// // test outside the corners
// AssertHelper.AreRelativeEqual(-30, map.GetOutTorque(-20.RPMtoRad(), -20.SI<NewtonMeter>(), true));
// AssertHelper.AreRelativeEqual(110, map.GetOutTorque(-20.RPMtoRad(), 120.SI<NewtonMeter>(), true));
// AssertHelper.AreRelativeEqual(-30, map.GetOutTorque(120.RPMtoRad(), -20.SI<NewtonMeter>(), true));
// AssertHelper.AreRelativeEqual(110, map.GetOutTorque(120.RPMtoRad(), 120.SI<NewtonMeter>(), true));
// // test outside the edges
// AssertHelper.AreRelativeEqual(40, map.GetOutTorque(-20.RPMtoRad(), 50.SI<NewtonMeter>(), true));
// AssertHelper.AreRelativeEqual(110, map.GetOutTorque(50.RPMtoRad(), 120.SI<NewtonMeter>(), true));
// AssertHelper.AreRelativeEqual(-30, map.GetOutTorque(50.RPMtoRad(), -20.SI<NewtonMeter>(), true));
// AssertHelper.AreRelativeEqual(40, map.GetOutTorque(120.RPMtoRad(), 50.SI<NewtonMeter>(), true));
//}
[TestCase]
public void TestLossMap_IN_Interpolation_Extrapolation()
......@@ -255,52 +255,52 @@ namespace TUGraz.VectoCore.Tests.Models.SimulationComponentData
AssertHelper.AreRelativeEqual(25, map.GetTorqueLoss(120.RPMtoRad(), 50.SI<NewtonMeter>()).Value);
}
[TestCase]
public void TestLossMap_OUT_Interpolation_Extrapolation()
{
var data = new DataTable();
data.Columns.Add("");
data.Columns.Add("");
data.Columns.Add("");
data.Rows.Add("0", "0", "0"); // (0,100):10 -- (100,100):40
data.Rows.Add("0", "100", "10"); // | \ |
data.Rows.Add("100", "0", "10"); // | \ |
data.Rows.Add("100", "100", "40"); // (0,0):0 ----- (100,0):10
var map = TransmissionLossMapReader.Create(data, 1.0, "1");
// test inside the triangles
AssertHelper.AreRelativeEqual(20, map.GetOutTorque(25.RPMtoRad(), 25.SI<NewtonMeter>()));
AssertHelper.AreRelativeEqual(32.5, map.GetOutTorque(75.RPMtoRad(), 50.SI<NewtonMeter>()));
// test interpolation on edges
AssertHelper.AreRelativeEqual(-5, map.GetOutTorque(50.RPMtoRad(), 0.SI<NewtonMeter>()));
AssertHelper.AreRelativeEqual(40.5, map.GetOutTorque(0.RPMtoRad(), 45.SI<NewtonMeter>()));
AssertHelper.AreRelativeEqual(31, map.GetOutTorque(50.RPMtoRad(), 40.SI<NewtonMeter>()));
AssertHelper.AreRelativeEqual(57.5, map.GetOutTorque(50.RPMtoRad(), 75.SI<NewtonMeter>()));
AssertHelper.AreRelativeEqual(7.5, map.GetOutTorque(100.RPMtoRad(), 25.SI<NewtonMeter>()));
// test interpolation on corner points
AssertHelper.AreRelativeEqual(0, map.GetTorqueLoss(0.RPMtoRad(), 0.SI<NewtonMeter>()).Value);
AssertHelper.AreRelativeEqual(10, map.GetTorqueLoss(0.RPMtoRad(), 90.SI<NewtonMeter>()).Value);
AssertHelper.AreRelativeEqual(10, map.GetTorqueLoss(100.RPMtoRad(), -10.SI<NewtonMeter>()).Value);
AssertHelper.AreRelativeEqual(40, map.GetTorqueLoss(100.RPMtoRad(), 60.SI<NewtonMeter>()).Value);
// test outside the corners
AssertHelper.AreRelativeEqual(-20, map.GetOutTorque(-20.RPMtoRad(), -20.SI<NewtonMeter>(), true));
AssertHelper.AreRelativeEqual(110, map.GetOutTorque(-20.RPMtoRad(), 120.SI<NewtonMeter>(), true));
AssertHelper.AreRelativeEqual(-30, map.GetOutTorque(120.RPMtoRad(), -20.SI<NewtonMeter>(), true));
AssertHelper.AreRelativeEqual(80, map.GetOutTorque(120.RPMtoRad(), 120.SI<NewtonMeter>(), true));
// test outside the edges
AssertHelper.AreRelativeEqual(45, map.GetOutTorque(-20.RPMtoRad(), 50.SI<NewtonMeter>(), true));
AssertHelper.AreRelativeEqual(95, map.GetOutTorque(50.RPMtoRad(), 120.SI<NewtonMeter>(), true));
AssertHelper.AreRelativeEqual(-25, map.GetOutTorque(50.RPMtoRad(), -20.SI<NewtonMeter>(), true));
AssertHelper.AreRelativeEqual(25, map.GetOutTorque(120.RPMtoRad(), 50.SI<NewtonMeter>(), true));
// test extrapolation not allowed
AssertHelper.Exception<VectoException>(() => { map.GetOutTorque(120.RPMtoRad(), 50.SI<NewtonMeter>()); });
}
//[TestCase]
//public void TestLossMap_OUT_Interpolation_Extrapolation()
//{
// var data = new DataTable();
// data.Columns.Add("");
// data.Columns.Add("");
// data.Columns.Add("");
// data.Rows.Add("0", "0", "0"); // (0,100):10 -- (100,100):40
// data.Rows.Add("0", "100", "10"); // | \ |
// data.Rows.Add("100", "0", "10"); // | \ |
// data.Rows.Add("100", "100", "40"); // (0,0):0 ----- (100,0):10
// var map = TransmissionLossMapReader.Create(data, 1.0, "1");
// // test inside the triangles
// AssertHelper.AreRelativeEqual(20, map.GetOutTorque(25.RPMtoRad(), 25.SI<NewtonMeter>()));
// AssertHelper.AreRelativeEqual(32.5, map.GetOutTorque(75.RPMtoRad(), 50.SI<NewtonMeter>()));
// // test interpolation on edges
// AssertHelper.AreRelativeEqual(-5, map.GetOutTorque(50.RPMtoRad(), 0.SI<NewtonMeter>()));
// AssertHelper.AreRelativeEqual(40.5, map.GetOutTorque(0.RPMtoRad(), 45.SI<NewtonMeter>()));
// AssertHelper.AreRelativeEqual(31, map.GetOutTorque(50.RPMtoRad(), 40.SI<NewtonMeter>()));
// AssertHelper.AreRelativeEqual(57.5, map.GetOutTorque(50.RPMtoRad(), 75.SI<NewtonMeter>()));
// AssertHelper.AreRelativeEqual(7.5, map.GetOutTorque(100.RPMtoRad(), 25.SI<NewtonMeter>()));
// // test interpolation on corner points
// AssertHelper.AreRelativeEqual(0, map.GetTorqueLoss(0.RPMtoRad(), 0.SI<NewtonMeter>()).Value);
// AssertHelper.AreRelativeEqual(10, map.GetTorqueLoss(0.RPMtoRad(), 90.SI<NewtonMeter>()).Value);
// AssertHelper.AreRelativeEqual(10, map.GetTorqueLoss(100.RPMtoRad(), -10.SI<NewtonMeter>()).Value);
// AssertHelper.AreRelativeEqual(40, map.GetTorqueLoss(100.RPMtoRad(), 60.SI<NewtonMeter>()).Value);
// // test outside the corners
// AssertHelper.AreRelativeEqual(-20, map.GetOutTorque(-20.RPMtoRad(), -20.SI<NewtonMeter>(), true));
// AssertHelper.AreRelativeEqual(110, map.GetOutTorque(-20.RPMtoRad(), 120.SI<NewtonMeter>(), true));
// AssertHelper.AreRelativeEqual(-30, map.GetOutTorque(120.RPMtoRad(), -20.SI<NewtonMeter>(), true));
// AssertHelper.AreRelativeEqual(80, map.GetOutTorque(120.RPMtoRad(), 120.SI<NewtonMeter>(), true));
// // test outside the edges
// AssertHelper.AreRelativeEqual(45, map.GetOutTorque(-20.RPMtoRad(), 50.SI<NewtonMeter>(), true));
// AssertHelper.AreRelativeEqual(95, map.GetOutTorque(50.RPMtoRad(), 120.SI<NewtonMeter>(), true));
// AssertHelper.AreRelativeEqual(-25, map.GetOutTorque(50.RPMtoRad(), -20.SI<NewtonMeter>(), true));
// AssertHelper.AreRelativeEqual(25, map.GetOutTorque(120.RPMtoRad(), 50.SI<NewtonMeter>(), true));
// // test extrapolation not allowed
// AssertHelper.Exception<VectoException>(() => { map.GetOutTorque(120.RPMtoRad(), 50.SI<NewtonMeter>()); });
//}
[TestCase]
public void TestFullLoadCurveIntersection()
......
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