Merge pull request #362 in VECTO/vecto-sim from...

Merge pull request #362 in VECTO/vecto-sim from ~EMQUARIMA/vecto-sim:bugfix/VECTO-436-at-gearbox-simulation-aborts to develop

* commit '37ed7c6c':
  combustion engine: validate power demand on commit (not during normal request)
  double the delta value when searching operating point for tc + engine combined (safety margin for final engine operating point)
  combustion engine: remove unnecessary call of update engine state, (fails if engine drag torque == 0 for low speed)
  at shift strategy: upshift 1C -> 2C only if gbx speed > 0
  AT Model: improve shifting: don't disengage only when halt is intended, torque converter: decision on max-power/drag power depends on driving behavior
  modContainer extension methods: add default values for aggregates
  Reset braking power before next search

VectoCore/VectoCore/Models/SimulationComponent/Impl/ATGearbox.cs

@@ -191,7 +191,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 
 			if (!dryRun &&
 				((DataBus.VehicleStopped && outAngularVelocity > 0) ||
-				(CurrentState.Disengaged && outTorque.IsGreater(0)))) {
+				(CurrentState.Disengaged && outTorque.IsGreater(0, 1e-3)))) {
 				Gear = 1;
 				CurrentState.TorqueConverterLocked = false;
 				LastShift = absTime;
@@ -224,6 +224,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 								outTorque * (PreviousState.OutAngularVelocity + outAngularVelocity) / 2.0
 						};
 						_requestAfterGearshift = true;
+						LastShift = absTime;
 					} else {
 						loop = true;
 						Gear = _strategy.Engage(absTime, dt, outTorque, outAngularVelocity);

VectoCore/VectoCore/Models/SimulationComponent/Impl/ATShiftStrategy.cs

@@ -135,7 +135,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 
 			// 3) 1C -> 0: disengange when negative T_out and positive T_in
 			var gear1C = gear == 1 && !_gearbox.TorqueConverterLocked;
-			var disengageTOutNegativeAndTInPositive = gear1C && outTorque.IsSmaller(0) && inTorque.IsGreater(0);
+			var disengageTOutNegativeAndTInPositive = DataBus.DriverAcceleration <= 0 && gear1C && outTorque.IsSmaller(0) && inTorque.IsGreater(0);
 
 			var disengageTCEngineSpeedLowerIdle = braking && torqueNegative && gear1C &&
 												inAngularVelocity.IsSmallerOrEqual(DataBus.EngineIdleSpeed);
@@ -225,7 +225,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 
 			// UPSHIFT - Special rule for 1C -> 2C
 			if (!_gearbox.TorqueConverterLocked && ModelData.Gears.ContainsKey(gear + 1) &&
-				ModelData.Gears[gear + 1].HasTorqueConverter) {
+				ModelData.Gears[gear + 1].HasTorqueConverter && outAngularVelocity.IsGreater(0)) {
 				// C -> C+1
 				var nextGear = ModelData.Gears[gear + 1];
 				var gearRatio = nextGear.TorqueConverterRatio / currentGear.TorqueConverterRatio;

VectoCore/VectoCore/Models/SimulationComponent/Impl/CombustionEngine.cs

@@ -200,7 +200,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 
 			Log.Debug("Dynamic FullLoad: torque: {0}, power: {1}", dynamicFullLoadTorque, dynamicFullLoadPower);
 
-			ValidatePowerDemand(totalTorqueDemand); // requires CurrentState.FullDragTorque and DynamicfullLoad to be set!
+			//ValidatePowerDemand(totalTorqueDemand, dynamicFullLoadTorque, fullDragTorque); 
 
 			// get max. torque as limited by gearbox. gearbox only limits torqueOut!
 			var gearboxFullLoad = DataBus.GearMaxTorque;
@@ -277,7 +277,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 				};
 			}
 
-			UpdateEngineState(CurrentState.EnginePower, avgEngineSpeed);
+			//UpdateEngineState(CurrentState.EnginePower, avgEngineSpeed);
 
 			return new ResponseSuccess {
 				EnginePowerRequest = totalTorqueDemand * avgEngineSpeed,
@@ -328,16 +328,17 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 		/// <summary>
 		/// Validates the requested power demand [W].
 		/// </summary>
-		protected virtual void ValidatePowerDemand(NewtonMeter torqueDemand)
+		protected virtual void ValidatePowerDemand(NewtonMeter torqueDemand, NewtonMeter dynamicFullLoadTorque,
+			NewtonMeter fullDragTorque)
 		{
-			if (CurrentState.FullDragTorque >= 0 && torqueDemand < 0) {
+			if (fullDragTorque.IsGreater(0) && torqueDemand < 0) {
 				throw new VectoSimulationException("P_engine_drag > 0! Tq_drag: {0}, Tq_eng: {1},  n_eng_avg: {2} [1/min] ",
-					CurrentState.FullDragTorque, torqueDemand, CurrentState.EngineSpeed.AsRPM);
+					fullDragTorque, torqueDemand, CurrentState.EngineSpeed.AsRPM);
 			}
 
-			if (CurrentState.DynamicFullLoadTorque <= 0 && torqueDemand > 0) {
+			if (dynamicFullLoadTorque <= 0 && torqueDemand > 0) {
 				throw new VectoSimulationException("P_engine_full < 0! Tq_full: {0}, Tq_eng: {1},  n_eng_avg: {2} [1/min] ",
-					CurrentState.DynamicFullLoadTorque, torqueDemand, CurrentState.EngineSpeed.AsRPM);
+					dynamicFullLoadTorque, torqueDemand, CurrentState.EngineSpeed.AsRPM);
 			}
 		}
 
@@ -347,8 +348,11 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 
 		protected override void DoWriteModalResults(IModalDataContainer container)
 		{
+			ValidatePowerDemand(CurrentState.EngineTorque, CurrentState.DynamicFullLoadTorque, CurrentState.FullDragTorque);
+
 			var avgEngineSpeed = (PreviousState.EngineSpeed + CurrentState.EngineSpeed) / 2.0;
-			if (avgEngineSpeed.IsSmaller(EngineIdleSpeed, DataBus.ExecutionMode == ExecutionMode.Engineering ? 20.RPMtoRad():1e-3.RPMtoRad())) {
+			if (avgEngineSpeed.IsSmaller(EngineIdleSpeed,
+				DataBus.ExecutionMode == ExecutionMode.Engineering ? 20.RPMtoRad() : 1e-3.RPMtoRad())) {
 				Log.Warn("EngineSpeed below idling speed! n_eng_avg: {0}, n_idle: {1}", avgEngineSpeed, EngineIdleSpeed);
 			}
 			container[ModalResultField.P_eng_fcmap] = CurrentState.EngineTorque * avgEngineSpeed;

VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs

@@ -674,6 +674,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 								response = Driver.DrivingActionRoll(absTime, ds, targetVelocity, gradient);
 							} else {
 								Log.Info("Brake -> Overload -> Clutch is closed - Trying brake action again");
+								DataBus.BrakePower = 0.SI<Watt>();
 								response = Driver.DrivingActionBrake(absTime, ds, DriverStrategy.BrakeTrigger.NextTargetSpeed, gradient,
 									targetDistance: targetDistance);
 								response.Switch().
@@ -745,8 +746,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 
 		public Meter ActionDistance
 		{
-			get
-			{
+			get {
 				return VectoMath.Min(CoastingStartDistance ?? double.MaxValue.SI<Meter>(),
 					BrakingStartDistance ?? double.MaxValue.SI<Meter>());
 			}

VectoCore/VectoCore/Models/SimulationComponent/Impl/EngineOnlyCombustionEngine.cs

@@ -71,7 +71,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 			var dynamicFullLoadPower = ComputeFullLoadPower(avgEngineSpeed, dt, dryRun);
 			CurrentState.DynamicFullLoadTorque = dynamicFullLoadPower / avgEngineSpeed;
 
-			ValidatePowerDemand(totalTorqueDemand);
+			ValidatePowerDemand(totalTorqueDemand, CurrentState.DynamicFullLoadTorque, CurrentState.FullDragTorque);
 
 			CurrentState.EngineTorque = LimitEnginePower(CurrentState.EngineTorque, avgEngineSpeed, absTime);
 
@@ -83,7 +83,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 				};
 			}
 
-			UpdateEngineState(CurrentState.EnginePower, avgEngineSpeed);
+			//UpdateEngineState(CurrentState.EnginePower, avgEngineSpeed);
 
 			CurrentState.EngineTorque = CurrentState.EnginePower / CurrentState.EngineSpeed;
 

VectoCore/VectoCore/Models/SimulationComponent/Impl/TorqueConverter.cs

@@ -111,7 +111,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 				//if (false && DataBus.VehicleStopped && DataBus.DriverBehavior == DrivingBehavior.Driving && outTorque.IsGreater(0)) {
 				//	dryOperatingPoint = ModelData.FindOperatingPoint(DataBus.EngineIdleSpeed, outAngularVelocity);
 				//} else {
-				dryOperatingPoint = outTorque.IsGreater(0) && DataBus.BrakePower.IsEqual(0)
+				dryOperatingPoint = (DataBus.DriverBehavior != DrivingBehavior.Braking) ||
+									(outTorque.IsGreater(0) && DataBus.BrakePower.IsEqual(0))
 					? GetMaxPowerOperatingPoint(dt, outAngularVelocity, engineResponse,
 						PreviousState.InTorque * PreviousState.InAngularVelocity)
 					: GetDragPowerOperatingPoint(dt, outAngularVelocity, engineResponse,
@@ -122,15 +123,13 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 
 				return new ResponseDryRun {
 					Source = this,
-					DeltaFullLoad = delta,
-					DeltaDragLoad = delta,
+					DeltaFullLoad = 2 * delta,
+					DeltaDragLoad = 2 * delta,
 					TorqueConverterOperatingPoint = dryOperatingPoint
 				};
 			}
 
 			// normal request
-			var ratio = Gearbox.GetGearData(Gearbox.Gear).TorqueConverterRatio;
-
 
 			// check if out-side of the operating point is equal to requested values
 			if (!outAngularVelocity.IsEqual(operatingPoint.OutAngularVelocity) || !outTorque.IsEqual(operatingPoint.OutTorque)) {
@@ -151,6 +150,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
 			var retVal = NextComponent.Request(absTime, dt, inTorque, operatingPoint.InAngularVelocity);
 
 			// check if shift is required
+			var ratio = Gearbox.GetGearData(Gearbox.Gear).TorqueConverterRatio;
 			if (retVal is ResponseSuccess &&
 				ShiftStrategy.ShiftRequired(absTime, dt, outTorque * ratio, outAngularVelocity / ratio, inTorque,
 					operatingPoint.InAngularVelocity, Gearbox.Gear, Gearbox.LastShift)) {

VectoCore/VectoCore/OutputData/IModalDataContainer.cs

@@ -152,7 +152,7 @@ namespace TUGraz.VectoCore.OutputData
 		{
 			var accelerationTimeShare = data.Data.Rows.Cast<DataRow>()
 				.Select(x => new {
-					a = x.Field<MeterPerSquareSecond>((int)ModalResultField.acc),
+					a = x.Field<MeterPerSquareSecond>((int)ModalResultField.acc).DefaultIfNull(0),
 					dt = x.Field<Second>((int)ModalResultField.simulationInterval)
 				})
 				.Sum(x => x.a > 0.125 ? x.dt : 0.SI<Second>()).DefaultIfNull(0);
@@ -163,7 +163,7 @@ namespace TUGraz.VectoCore.OutputData
 		{
 			var decelerationTimeShare = data.Data.Rows.Cast<DataRow>()
 				.Select(x => new {
-					a = x.Field<MeterPerSquareSecond>((int)ModalResultField.acc),
+					a = x.Field<MeterPerSquareSecond>((int)ModalResultField.acc).DefaultIfNull(0),
 					dt = x.Field<Second>((int)ModalResultField.simulationInterval)
 				})
 				.Sum(x => x.a < -0.125 ? x.dt : 0.SI<Second>()).DefaultIfNull(0);
@@ -174,8 +174,8 @@ namespace TUGraz.VectoCore.OutputData
 		{
 			var cruiseTime = data.Data.Rows.Cast<DataRow>()
 				.Select(x => new {
-					v = x.Field<MeterPerSecond>((int)ModalResultField.v_act),
-					a = x.Field<MeterPerSquareSecond>((int)ModalResultField.acc),
+					v = x.Field<MeterPerSecond>((int)ModalResultField.v_act).DefaultIfNull(0),
+					a = x.Field<MeterPerSquareSecond>((int)ModalResultField.acc).DefaultIfNull(0),
 					dt = x.Field<Second>((int)ModalResultField.simulationInterval)
 				})
 				.Sum(x => x.v >= 0.1.KMPHtoMeterPerSecond() && x.a.IsBetween(-0.125, 0.125) ? x.dt : 0.SI<Second>())
@@ -187,7 +187,7 @@ namespace TUGraz.VectoCore.OutputData
 		{
 			var stopTime = data.Data.Rows.Cast<DataRow>()
 				.Select(x => new {
-					v = x.Field<MeterPerSecond>((int)ModalResultField.v_act),
+					v = x.Field<MeterPerSecond>((int)ModalResultField.v_act).DefaultIfNull(0),
 					dt = x.Field<Second>((int)ModalResultField.simulationInterval)
 				})
 				.Sum(x => x.v < 0.1.KMPHtoMeterPerSecond() ? x.dt : 0.SI<Second>()) ?? 0.SI<Second>();

VectoCore/VectoCoreTest/Reports/SumWriterTest.cs

@@ -58,6 +58,7 @@ namespace TUGraz.VectoCore.Tests.Reports
 			for (var i = 0; i < 499; i++) {
 				modData[ModalResultField.simulationInterval] = 1.SI<Second>();
 				modData[ModalResultField.n_eng_avg] = 600.RPMtoRad();
+				modData[ModalResultField.v_act] = 20.KMPHtoMeterPerSecond();
 				modData[ModalResultField.drivingBehavior] = DrivingBehavior.Driving;
 				modData[ModalResultField.time] = i.SI<Second>();
 				modData[ModalResultField.dist] = i.SI<Meter>();
@@ -119,6 +120,7 @@ namespace TUGraz.VectoCore.Tests.Reports
 				modData[ModalResultField.time] = i.SI<Second>();
 				modData[ModalResultField.dist] = i.SI<Meter>();
 				modData[ModalResultField.n_eng_avg] = 600.RPMtoRad();
+				modData[ModalResultField.v_act] = 20.KMPHtoMeterPerSecond();
 				modData[ModalResultField.drivingBehavior] = DrivingBehavior.Driving;
 				modData["FAN"] = powerDemand[i % powerDemand.Length];
 				modData[ModalResultField.P_air] = powerDemand[i % powerDemand.Length];