From 45d098554549f298a36fe444fcaed6a16fe76063 Mon Sep 17 00:00:00 2001
From: Markus Quaritsch <markus.quaritsch@tugraz.at>
Date: Thu, 15 Oct 2015 08:56:29 +0200
Subject: [PATCH] introduce driving behavior (databus) gearbox disengages when
braking and engine-speed would drop below idle speed
---
.../Models/SimulationComponent/Impl/Driver.cs | 6 ++---
.../SimulationComponent/Impl/Gearbox.cs | 5 +++-
.../SimulationComponent/Impl/ShiftStrategy.cs | 25 ++++++++++---------
3 files changed, 20 insertions(+), 16 deletions(-)
diff --git a/VectoCore/Models/SimulationComponent/Impl/Driver.cs b/VectoCore/Models/SimulationComponent/Impl/Driver.cs
index 1dfd6ed2b3..6e0320d3b6 100644
--- a/VectoCore/Models/SimulationComponent/Impl/Driver.cs
+++ b/VectoCore/Models/SimulationComponent/Impl/Driver.cs
@@ -305,7 +305,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
Case<ResponseSuccess>().
Case<ResponseUnderload>(). // driver limits acceleration, operating point may be below engine's
//drag load resp. below 0
- //Case<ResponseOverload>(). // driver limits acceleration, operating point may be above 0 (GBX), use brakes
+ Case<ResponseOverload>(). // driver limits acceleration, operating point may be above 0 (GBX), use brakes
Case<ResponseGearShift>().
Case<ResponseFailTimeInterval>(r => {
retVal = new ResponseDrivingCycleDistanceExceeded() {
@@ -769,10 +769,10 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
/// <returns></returns>
public IResponse DrivingActionHalt(Second absTime, Second dt, MeterPerSecond targetVelocity, Radian gradient)
{
- if (!targetVelocity.IsEqual(0) || !DataBus.VehicleSpeed.IsEqual(0)) {
+ if (!targetVelocity.IsEqual(0) || !DataBus.VehicleSpeed.IsEqual(0, 1e-3)) {
throw new NotImplementedException("TargetVelocity or VehicleVelocity is not zero!");
}
- DataBus.BreakPower = double.PositiveInfinity.SI<Watt>();
+ DataBus.BreakPower = Double.PositiveInfinity.SI<Watt>();
var retVal = NextComponent.Request(absTime, dt, 0.SI<MeterPerSquareSecond>(), gradient);
retVal.Switch().
Case<ResponseGearShift>(r => {
diff --git a/VectoCore/Models/SimulationComponent/Impl/Gearbox.cs b/VectoCore/Models/SimulationComponent/Impl/Gearbox.cs
index 2dafcc1493..b528cbe88a 100644
--- a/VectoCore/Models/SimulationComponent/Impl/Gearbox.cs
+++ b/VectoCore/Models/SimulationComponent/Impl/Gearbox.cs
@@ -186,6 +186,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
/// </returns>
public IResponse Request(Second absTime, Second dt, NewtonMeter torque, PerSecond angularVelocity, bool dryRun)
{
+ Log.Debug("Gearbox Power Request: torque: {0}, angularVelocity: {1}", torque, angularVelocity);
if (DataBus.VehicleStopped) {
_shiftTime = absTime;
}
@@ -293,7 +294,9 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
}
if (dryRun) {
- if (inEngineSpeed < DataBus.EngineIdleSpeed && DataBus.VehicleSpeed < Constants.SimulationSettings.VehicleStopClutchDisengageSpeed) {
+ if ((DataBus.DrivingBehavior == DrivingBehavior.Braking || DataBus.DrivingBehavior == DrivingBehavior.Coasting) &&
+ inEngineSpeed < DataBus.EngineIdleSpeed &&
+ DataBus.VehicleSpeed < Constants.SimulationSettings.VehicleStopClutchDisengageSpeed) {
_disengaged = true;
_shiftTime = absTime + dt;
_strategy.Disengage(absTime, dt, outTorque, outAngularVelocity);
diff --git a/VectoCore/Models/SimulationComponent/Impl/ShiftStrategy.cs b/VectoCore/Models/SimulationComponent/Impl/ShiftStrategy.cs
index 7261ffba83..3c0cb58e8d 100644
--- a/VectoCore/Models/SimulationComponent/Impl/ShiftStrategy.cs
+++ b/VectoCore/Models/SimulationComponent/Impl/ShiftStrategy.cs
@@ -289,18 +289,19 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
Gearbox.Gear = tryNextGear;
var response = (ResponseDryRun)Gearbox.Request(absTime, dt, outTorque, outAngularVelocity, true);
Gearbox.Gear = tmpGear;
-
- inAngularVelocity = Data.Gears[tryNextGear].Ratio * outAngularVelocity;
- inTorque = response.ClutchPowerRequest / inAngularVelocity;
-
- // if next gear supplied enough power reserve: take it
- // otherwise take
- if (!IsBelowDownShiftCurve(tryNextGear, inTorque, inAngularVelocity)) {
- var fullLoadPower = response.EnginePowerRequest - response.DeltaFullLoad;
- var reserve = 1 - (response.EnginePowerRequest / fullLoadPower).Cast<Scalar>();
-
- if (reserve >= Data.TorqueReserve) {
- NextGear = tryNextGear;
+ if (!(response is ResponseEngineSpeedTooLow)) {
+ inAngularVelocity = Data.Gears[tryNextGear].Ratio * outAngularVelocity;
+ inTorque = response.ClutchPowerRequest / inAngularVelocity;
+
+ // if next gear supplied enough power reserve: take it
+ // otherwise take
+ if (!IsBelowDownShiftCurve(tryNextGear, inTorque, inAngularVelocity)) {
+ var fullLoadPower = response.EnginePowerRequest - response.DeltaFullLoad;
+ var reserve = 1 - (response.EnginePowerRequest / fullLoadPower).Cast<Scalar>();
+
+ if (reserve >= Data.TorqueReserve) {
+ NextGear = tryNextGear;
+ }
}
}
}
--
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