From 5e0f94ae89bb4610d7a27ef9cf39a77b513abc98 Mon Sep 17 00:00:00 2001
From: Markus Quaritsch <markus.quaritsch@tugraz.at>
Date: Tue, 5 Nov 2019 10:47:54 +0100
Subject: [PATCH] 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)
---
.../Models/Simulation/Data/VectoRunData.cs | 42 +++--
.../Data/Gearbox/TransmissionLossMap.cs | 33 +---
VectoCore/VectoCore/Utils/DelaunayMap.cs | 2 +-
.../GearboxDataTest.cs | 178 +++++++++---------
4 files changed, 114 insertions(+), 141 deletions(-)
diff --git a/VectoCore/VectoCore/Models/Simulation/Data/VectoRunData.cs b/VectoCore/VectoCore/Models/Simulation/Data/VectoRunData.cs
index e20a564588..5cca01b4d0 100644
--- a/VectoCore/VectoCore/Models/Simulation/Data/VectoRunData.cs
+++ b/VectoCore/VectoCore/Models/Simulation/Data/VectoRunData.cs
@@ -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})",
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Data/Gearbox/TransmissionLossMap.cs b/VectoCore/VectoCore/Models/SimulationComponent/Data/Gearbox/TransmissionLossMap.cs
index 7d1e6f7890..2d4ed2d806 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Data/Gearbox/TransmissionLossMap.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Data/Gearbox/TransmissionLossMap.cs
@@ -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]; }
diff --git a/VectoCore/VectoCore/Utils/DelaunayMap.cs b/VectoCore/VectoCore/Utils/DelaunayMap.cs
index d147ce127b..c662782595 100644
--- a/VectoCore/VectoCore/Utils/DelaunayMap.cs
+++ b/VectoCore/VectoCore/Utils/DelaunayMap.cs
@@ -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);
}
}
diff --git a/VectoCore/VectoCoreTest/Models/SimulationComponentData/GearboxDataTest.cs b/VectoCore/VectoCoreTest/Models/SimulationComponentData/GearboxDataTest.cs
index 5e810dde26..18de49f589 100644
--- a/VectoCore/VectoCoreTest/Models/SimulationComponentData/GearboxDataTest.cs
+++ b/VectoCore/VectoCoreTest/Models/SimulationComponentData/GearboxDataTest.cs
@@ -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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