From a3359ece9854f8717c9da6fa59b589460e8b9006 Mon Sep 17 00:00:00 2001
From: Markus Quaritsch <markus.quaritsch@tugraz.at>
Date: Wed, 8 Feb 2017 13:03:09 +0100
Subject: [PATCH] reset braking power before next search, fix gearbox: add
inertia
---
.../Impl/DefaultDriverStrategy.cs | 1 +
.../SimulationComponent/Impl/Gearbox.cs | 22 ++++++++-----------
2 files changed, 10 insertions(+), 13 deletions(-)
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
index 34a04c78e5..e63f0466d1 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/DefaultDriverStrategy.cs
@@ -691,6 +691,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
Case<ResponseGearShift>(r => {
Log.Info("Brake -> Got GearShift response, performing roll action + brakes");
//response = Driver.DrivingActionRoll(absTime, ds, DriverStrategy.BrakeTrigger.NextTargetSpeed, gradient);
+ DataBus.BrakePower = 0.SI<Watt>();
response = Driver.DrivingActionBrake(absTime, ds, DriverStrategy.BrakeTrigger.NextTargetSpeed,
gradient, targetDistance: targetDistance);
});
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/Gearbox.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/Gearbox.cs
index 25f4aacb60..c02b652086 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/Gearbox.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/Gearbox.cs
@@ -74,7 +74,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
return _engageTime.IsSmallerOrEqual(absTime);
}
- public Gearbox(IVehicleContainer container, GearboxData gearboxModelData, IShiftStrategy strategy, KilogramSquareMeter engineInertia)
+ public Gearbox(IVehicleContainer container, GearboxData gearboxModelData, IShiftStrategy strategy,
+ KilogramSquareMeter engineInertia)
: base(container, gearboxModelData, engineInertia)
{
_strategy = strategy;
@@ -309,14 +310,13 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
var inTorque = outTorque / ModelData.Gears[Gear].Ratio + inTorqueLossResult.Value;
var inAngularVelocity = outAngularVelocity * ModelData.Gears[Gear].Ratio;
+ var inertiaTorqueLossOut = !inAngularVelocity.IsEqual(0)
+ ? Formulas.InertiaPower(outAngularVelocity, PreviousState.OutAngularVelocity, ModelData.Inertia, dt) /
+ avgOutAngularVelocity
+ : 0.SI<NewtonMeter>();
+ inTorque += inertiaTorqueLossOut / ModelData.Gears[Gear].Ratio;
if (dryRun) {
- CurrentState.InertiaTorqueLossOut = !inAngularVelocity.IsEqual(0)
- ? Formulas.InertiaPower(outAngularVelocity, PreviousState.OutAngularVelocity, ModelData.Inertia, dt) /
- avgOutAngularVelocity
- : 0.SI<NewtonMeter>();
- inTorque += CurrentState.InertiaTorqueLossOut / ModelData.Gears[Gear].Ratio;
-
var inertiaTorqueLossIn = avgOutAngularVelocity.IsEqual(0, 1e-9)
? 0.SI<NewtonMeter>()
: Formulas.InertiaPower(outAngularVelocity, PreviousState.OutAngularVelocity, ModelData.Inertia, dt) /
@@ -357,11 +357,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
// begin critical section
CurrentState.TransmissionTorqueLoss = inTorque - outTorque / ModelData.Gears[Gear].Ratio;
// MQ 19.2.2016: check! inertia is related to output side, torque loss accounts to input side
- CurrentState.InertiaTorqueLossOut = !inAngularVelocity.IsEqual(0)
- ? Formulas.InertiaPower(outAngularVelocity, PreviousState.OutAngularVelocity, ModelData.Inertia, dt) /
- avgOutAngularVelocity
- : 0.SI<NewtonMeter>();
- inTorque += CurrentState.InertiaTorqueLossOut / ModelData.Gears[Gear].Ratio;
+ CurrentState.InertiaTorqueLossOut = inertiaTorqueLossOut;
CurrentState.TransmissionTorqueLoss = inTorque - outTorque / ModelData.Gears[Gear].Ratio;
CurrentState.TorqueLossResult = inTorqueLossResult;
@@ -378,7 +374,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
protected override void DoWriteModalResults(IModalDataContainer container)
{
var avgInAngularSpeed = (PreviousState.InAngularVelocity + CurrentState.InAngularVelocity) / 2.0;
- // (PreviousState.OutAngularVelocity +
+ // (PreviousState.OutAngularVelocity +
//CurrentState.OutAngularVelocity) / 2.0 * ModelData.Gears[Gear].Ratio;
container[ModalResultField.Gear] = Disengaged || DataBus.VehicleStopped ? 0 : Gear;
--
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