From a6b4a69eac31a422a8bf61a7aedb0b891831fbcc Mon Sep 17 00:00:00 2001
From: Michael Krisper <michael.krisper@tugraz.at>
Date: Wed, 24 Aug 2016 16:17:39 +0200
Subject: [PATCH] ComputeAcceleration: more intuitive formulas
---
.../Models/SimulationComponent/Impl/Driver.cs | 61 ++++++++++---------
1 file changed, 32 insertions(+), 29 deletions(-)
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs
index c7cd5a46c9..e1cb4c6766 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/Driver.cs
@@ -527,7 +527,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
deltaPower = nextResp.GearboxPowerRequest;
}).
Case<ResponseUnderload>(r =>
- deltaPower = DataBus.ClutchClosed(absTime) ? r.Delta : r.GearboxPowerRequest).
+ deltaPower = DataBus.ClutchClosed(absTime) ? r.Delta : r.GearboxPowerRequest).
Default(r => { throw new UnexpectedResponseException("cannot use response for searching braking power!", r); });
try {
@@ -588,39 +588,39 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
return actionRoll ? r.GearboxPowerRequest : (coastingOrRoll ? r.DeltaDragLoad : r.DeltaFullLoad);
},
evaluateFunction:
- acc => {
- // calculate new time interval only when vehiclespeed and acceleration are != 0
- // else: use same timeinterval as before.
- if (!(acc.IsEqual(0) && DataBus.VehicleSpeed.IsEqual(0))) {
- var tmp = ComputeTimeInterval(acc, ds);
- if (tmp.SimulationInterval.IsEqual(0.SI<Second>(), 1e-9.SI<Second>())) {
- throw new VectoSearchAbortedException("next TimeInterval is 0. a: {0}, v: {1}, dt: {2}", acc,
- DataBus.VehicleSpeed, tmp.SimulationInterval);
- }
- retVal.Acceleration = tmp.Acceleration;
- retVal.SimulationInterval = tmp.SimulationInterval;
- retVal.SimulationDistance = tmp.SimulationDistance;
+ acc => {
+ // calculate new time interval only when vehiclespeed and acceleration are != 0
+ // else: use same timeinterval as before.
+ if (!(acc.IsEqual(0) && DataBus.VehicleSpeed.IsEqual(0))) {
+ var tmp = ComputeTimeInterval(acc, ds);
+ if (tmp.SimulationInterval.IsEqual(0.SI<Second>(), 1e-9.SI<Second>())) {
+ throw new VectoSearchAbortedException("next TimeInterval is 0. a: {0}, v: {1}, dt: {2}", acc,
+ DataBus.VehicleSpeed, tmp.SimulationInterval);
}
- IterationStatistics.Increment(this, "SearchOperatingPoint");
- DriverAcceleration = acc;
- var response = NextComponent.Request(absTime, retVal.SimulationInterval, acc, gradient, true);
- response.OperatingPoint = retVal;
- return response;
- },
+ retVal.Acceleration = tmp.Acceleration;
+ retVal.SimulationInterval = tmp.SimulationInterval;
+ retVal.SimulationDistance = tmp.SimulationDistance;
+ }
+ IterationStatistics.Increment(this, "SearchOperatingPoint");
+ DriverAcceleration = acc;
+ var response = NextComponent.Request(absTime, retVal.SimulationInterval, acc, gradient, true);
+ response.OperatingPoint = retVal;
+ return response;
+ },
criterion: response => {
var r = (ResponseDryRun)response;
delta = actionRoll ? r.GearboxPowerRequest : (coastingOrRoll ? r.DeltaDragLoad : r.DeltaFullLoad);
return delta.Value();
},
abortCriterion:
- (response, cnt) => {
- var r = (ResponseDryRun)response;
- if (r == null) {
- return false;
- }
+ (response, cnt) => {
+ var r = (ResponseDryRun)response;
+ if (r == null) {
+ return false;
+ }
- return !actionRoll && !ds.IsEqual(r.OperatingPoint.SimulationDistance);
- });
+ return !actionRoll && !ds.IsEqual(r.OperatingPoint.SimulationDistance);
+ });
} catch (VectoSearchAbortedException) {
// search aborted, try to go ahead with the last acceleration
} catch (Exception) {
@@ -650,9 +650,12 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
var currentSpeed = DataBus.VehicleSpeed;
var retVal = new OperatingPoint() { SimulationDistance = ds };
- var requiredAverageSpeed = (targetVelocity + currentSpeed) / 2.0;
- var requiredAcceleration =
- (((targetVelocity - currentSpeed) * requiredAverageSpeed) / ds).Cast<MeterPerSquareSecond>();
+ // Δx = (v0+v1)/2 * Δt
+ // => Δt = 2*Δx/(v0+v1)
+ var dt = 2 * ds / (currentSpeed + targetVelocity);
+
+ // a = Δv / Δt
+ var requiredAcceleration = (targetVelocity - currentSpeed) / dt;
if (!limitByDriverModel) {
return ComputeTimeInterval(requiredAcceleration, ds);
--
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