From baf362832c5ff85106c1fa468fd8c7eab3b80715 Mon Sep 17 00:00:00 2001
From: Markus Quaritsch <Markus.Quaritsch@tugraz.at>
Date: Thu, 26 Mar 2020 11:15:11 +0100
Subject: [PATCH] hybrid controller works on simple cycle with gearshifting
---
.../VectoCommon/Models/PowertrainPosition.cs | 5 ++
.../Simulation/Data/ModalResultField.cs | 26 +++----
.../IHybridControlStrategy.cs | 1 +
.../Impl/HybridController.cs | 7 +-
.../DelegateParallelHybridStrategy.cs | 7 ++
.../Strategies/HybridStrategy.cs | 5 ++
.../OutputData/ModalDataContainer.cs | 75 ++++++++++++-------
.../Integration/Hybrid/ParallelHybridTest.cs | 42 +++++++++--
8 files changed, 121 insertions(+), 47 deletions(-)
diff --git a/VectoCommon/VectoCommon/Models/PowertrainPosition.cs b/VectoCommon/VectoCommon/Models/PowertrainPosition.cs
index de65b8ae9c..1d5f6fb91a 100644
--- a/VectoCommon/VectoCommon/Models/PowertrainPosition.cs
+++ b/VectoCommon/VectoCommon/Models/PowertrainPosition.cs
@@ -18,5 +18,10 @@ namespace TUGraz.VectoCommon.InputData {
{
return (Prefix + pos).ParseEnum<PowertrainPosition>();
}
+
+ public static string GetName(this PowertrainPosition pos)
+ {
+ return pos.ToString().Replace(Prefix, "");
+ }
}
}
\ No newline at end of file
diff --git a/VectoCore/VectoCore/Models/Simulation/Data/ModalResultField.cs b/VectoCore/VectoCore/Models/Simulation/Data/ModalResultField.cs
index 10a6ce6264..ec8244206d 100644
--- a/VectoCore/VectoCore/Models/Simulation/Data/ModalResultField.cs
+++ b/VectoCore/VectoCore/Models/Simulation/Data/ModalResultField.cs
@@ -374,19 +374,19 @@ namespace TUGraz.VectoCore.Models.Simulation.Data
[ModalResultField(typeof(SI), "P_WHR_mech [kW]", outputFactor: 1e-3)] P_WHR_mech_map,
[ModalResultField(typeof(SI), "P_WHR_mech_corr [kW]", outputFactor: 1e-3)] P_WHR_mech_corr,
- [ModalResultField(typeof(SI), caption: "n_em{0}_avg [1/min]", outputFactor: 60 / (2 * Math.PI))] n_electricMotor_,
- [ModalResultField(typeof(SI), caption: "T_em{0} [Nm]")] T_electricMotor_,
- [ModalResultField(typeof(SI), caption: "T_em{0}_full [Nm]")] T_electricMotor_full_,
- [ModalResultField(typeof(SI), caption: "T_em{0}_drag [Nm]")] T_electricMotor_drag_,
- [ModalResultField(typeof(SI), caption: "P_em{0}_in [kW]", outputFactor: 1e-3)] P_electricMotor_in_,
- [ModalResultField(typeof(SI), caption: "P_em{0}_out [kW]", outputFactor: 1e-3)] P_electricMotor_out_,
- [ModalResultField(typeof(SI), caption: "P_em{0}_mech [kW]", outputFactor: 1e-3)] P_electricMotor_mech_,
- [ModalResultField(typeof(SI), caption: "P_em{0}_el [kW]", outputFactor: 1e-3)] P_electricMotor_el_,
- [ModalResultField(typeof(SI), caption: "P_em{0}_drag_max_ [kW]", outputFactor: 1e-3)] P_electricMotor_drag_max_,
- [ModalResultField(typeof(SI), caption: "P_em{0}_drive_max [kW]", outputFactor: 1e-3)] P_electricMotor_drive_max_,
- [ModalResultField(typeof(SI), caption: "P_em{0}_brake [kW]", outputFactor: 1e-3)] P_electricMotor_brake_,
- [ModalResultField(typeof(SI), caption: "P_em{0}_loss [kW]", outputFactor: 1e-3)] P_electricMotorLoss_,
- [ModalResultField(typeof(SI), caption: "P_em{0}_inertia_loss [kW]", outputFactor: 1e-3)] P_electricMotorInertiaLoss_,
+ [ModalResultField(typeof(SI), caption: "n_em-{0}_avg [1/min]", outputFactor: 60 / (2 * Math.PI))] n_electricMotor_,
+ [ModalResultField(typeof(SI), caption: "T_em-{0} [Nm]")] T_electricMotor_,
+ [ModalResultField(typeof(SI), caption: "T_em-{0}_full [Nm]")] T_electricMotor_full_,
+ [ModalResultField(typeof(SI), caption: "T_em-{0}_drag [Nm]")] T_electricMotor_drag_,
+ [ModalResultField(typeof(SI), caption: "P_em-{0}_in [kW]", outputFactor: 1e-3)] P_electricMotor_in_,
+ [ModalResultField(typeof(SI), caption: "P_em-{0}_out [kW]", outputFactor: 1e-3)] P_electricMotor_out_,
+ [ModalResultField(typeof(SI), caption: "P_em-{0}_mech [kW]", outputFactor: 1e-3)] P_electricMotor_mech_,
+ [ModalResultField(typeof(SI), caption: "P_em-{0}_el [kW]", outputFactor: 1e-3)] P_electricMotor_el_,
+ [ModalResultField(typeof(SI), caption: "P_em-{0}_drag_max_ [kW]", outputFactor: 1e-3)] P_electricMotor_drag_max_,
+ [ModalResultField(typeof(SI), caption: "P_em-{0}_drive_max [kW]", outputFactor: 1e-3)] P_electricMotor_drive_max_,
+ [ModalResultField(typeof(SI), caption: "P_em-{0}_brake [kW]", outputFactor: 1e-3)] P_electricMotor_brake_,
+ [ModalResultField(typeof(SI), caption: "P_em-{0}_loss [kW]", outputFactor: 1e-3)] P_electricMotorLoss_,
+ [ModalResultField(typeof(SI), caption: "P_em-{0}_inertia_loss [kW]", outputFactor: 1e-3)] P_electricMotorInertiaLoss_,
[ModalResultField(typeof(SI), caption: "P_bat_T [kW]", outputFactor: 1e-3)] P_battery_terminal,
[ModalResultField(typeof(SI), caption: "P_bat_int [kW]", outputFactor: 1e-3)] P_battery_int,
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/IHybridControlStrategy.cs b/VectoCore/VectoCore/Models/SimulationComponent/IHybridControlStrategy.cs
index 9955b9e13c..8193d17a1e 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/IHybridControlStrategy.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/IHybridControlStrategy.cs
@@ -16,5 +16,6 @@ namespace TUGraz.VectoCore.Models.SimulationComponent
{
HybridStrategyResponse Request(Second absTime, Second dt, NewtonMeter outTorque, PerSecond outAngularVelocity, bool dryRun);
HybridStrategyResponse Initialize(NewtonMeter outTorque, PerSecond outAngularVelocity);
+ void CommitSimulationStep();
}
}
\ No newline at end of file
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Impl/HybridController.cs b/VectoCore/VectoCore/Models/SimulationComponent/Impl/HybridController.cs
index 84c166dbcf..091c127416 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Impl/HybridController.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Impl/HybridController.cs
@@ -63,7 +63,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
bool dryRun = false)
{
CurrentState.StrategyResponse = Strategy.Request(absTime, dt, outTorque, outAngularVelocity, dryRun);
- return NextComponent.Request(absTime, dt, outTorque, outAngularVelocity);
+ return NextComponent.Request(absTime, dt, outTorque, outAngularVelocity, dryRun);
}
public IResponse Initialize(NewtonMeter outTorque, PerSecond outAngularVelocity)
@@ -72,6 +72,11 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
return NextComponent.Initialize(outTorque, outAngularVelocity);
}
+ protected override void DoCommitSimulationStep()
+ {
+ base.DoCommitSimulationStep();
+ Strategy.CommitSimulationStep();
+ }
protected override void DoWriteModalResults(Second time, Second simulationInterval,
IModalDataContainer container) { }
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Strategies/DelegateParallelHybridStrategy.cs b/VectoCore/VectoCore/Models/SimulationComponent/Strategies/DelegateParallelHybridStrategy.cs
index 1af43d6db2..b4cd9ff212 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Strategies/DelegateParallelHybridStrategy.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Strategies/DelegateParallelHybridStrategy.cs
@@ -10,6 +10,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
public Func<NewtonMeter, PerSecond, HybridStrategyResponse> InitializeFunc { get; set; }
public Func<Second, Second, NewtonMeter, PerSecond, bool, HybridStrategyResponse> RequestFunc { get; set; }
+ public Action CommitFunc { get; set; }
+
public HybridStrategyResponse Request(Second absTime, Second dt, NewtonMeter outTorque,
PerSecond outAngularVelocity, bool dryRun)
{
@@ -21,5 +23,10 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
{
return InitializeFunc(outTorque, outAngularVelocity);
}
+
+ public void CommitSimulationStep()
+ {
+ CommitFunc();
+ }
}
}
\ No newline at end of file
diff --git a/VectoCore/VectoCore/Models/SimulationComponent/Strategies/HybridStrategy.cs b/VectoCore/VectoCore/Models/SimulationComponent/Strategies/HybridStrategy.cs
index 6b3b76c7cc..40a2c1452c 100644
--- a/VectoCore/VectoCore/Models/SimulationComponent/Strategies/HybridStrategy.cs
+++ b/VectoCore/VectoCore/Models/SimulationComponent/Strategies/HybridStrategy.cs
@@ -25,6 +25,11 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
return new HybridStrategyResponse()
{ MechanicalAssistPower = new Dictionary<PowertrainPosition, NewtonMeter>() };
}
+
+ public void CommitSimulationStep()
+ {
+
+ }
}
diff --git a/VectoCore/VectoCore/OutputData/ModalDataContainer.cs b/VectoCore/VectoCore/OutputData/ModalDataContainer.cs
index 1f3fb55d89..f4a75d388d 100644
--- a/VectoCore/VectoCore/OutputData/ModalDataContainer.cs
+++ b/VectoCore/VectoCore/OutputData/ModalDataContainer.cs
@@ -43,6 +43,7 @@ using TUGraz.VectoCommon.Utils;
using TUGraz.VectoCore.Models.Declaration;
using TUGraz.VectoCore.Models.Simulation.Data;
using TUGraz.VectoCore.Models.Simulation.Impl;
+using TUGraz.VectoCore.Models.SimulationComponent.Impl;
namespace TUGraz.VectoCore.OutputData
{
@@ -62,6 +63,16 @@ namespace TUGraz.VectoCore.OutputData
private Second _duration;
private Meter _distance;
+ private readonly ModalResultField[] _electricMotorColumns = new[] {
+ ModalResultField.n_electricMotor_, ModalResultField.T_electricMotor_,
+ ModalResultField.T_electricMotor_full_, ModalResultField.T_electricMotor_drag_,
+ ModalResultField.P_electricMotor_in_, ModalResultField.P_electricMotor_out_,
+ ModalResultField.P_electricMotor_mech_, ModalResultField.P_electricMotor_el_,
+ ModalResultField.P_electricMotorLoss_, ModalResultField.P_electricMotorInertiaLoss_,
+ ModalResultField.P_electricMotor_brake_, ModalResultField.P_electricMotor_drive_max_,
+ ModalResultField.P_electricMotor_drag_max_
+ };
+
public static readonly IList<ModalResultField> FuelConsumptionSignals = new[] {
ModalResultField.FCMap, ModalResultField.FCNCVc, ModalResultField.FCWHTCc, // ModalResultField.FCAAUX,
ModalResultField.FCICEStopStart, ModalResultField.FCFinal
@@ -69,6 +80,7 @@ namespace TUGraz.VectoCore.OutputData
private readonly Dictionary<String, SI> _timeIntegrals = new Dictionary<string, SI>();
private readonly Dictionary<FuelType, KilogramPerWattSecond> _vehicleLine = new Dictionary<FuelType, KilogramPerWattSecond>();
+ private List<PowertrainPosition> ElectricMotors = new List<PowertrainPosition>();
public int JobRunId { get; }
public string RunName { get; }
@@ -231,18 +243,9 @@ namespace TUGraz.VectoCore.OutputData
public void AddElectricMotor(PowertrainPosition pos)
{
- var electricMotorColumns = new[] {
- ModalResultField.n_electricMotor_, ModalResultField.T_electricMotor_,
- ModalResultField.T_electricMotor_full_, ModalResultField.T_electricMotor_drag_,
- ModalResultField.P_electricMotor_in_, ModalResultField.P_electricMotor_out_,
- ModalResultField.P_electricMotor_mech_, ModalResultField.P_electricMotor_el_,
- ModalResultField.P_electricMotorLoss_, ModalResultField.P_electricMotorInertiaLoss_,
- ModalResultField.P_electricMotor_brake_, ModalResultField.P_electricMotor_drive_max_,
- ModalResultField.P_electricMotor_drag_max_
- };
- foreach (var entry in electricMotorColumns)
- {
- var col = Data.Columns.Add(string.Format(entry.GetAttribute().Caption, pos.ToString()), typeof(SI));
+ ElectricMotors.Add(pos);
+ foreach (var entry in _electricMotorColumns) {
+ var col = Data.Columns.Add(string.Format(entry.GetAttribute().Caption, pos.GetName()), typeof(SI));
col.ExtendedProperties[ModalResults.ExtendedPropertyNames.Decimals] =
entry.GetAttribute().Decimals;
col.ExtendedProperties[ModalResults.ExtendedPropertyNames.OutputFactor] =
@@ -308,8 +311,7 @@ namespace TUGraz.VectoCore.OutputData
var dataColumns = GetOutputColumns();
- var strCols = dataColumns.Select(x => x.GetName())
- .Concat(Auxiliaries.Values.Select(c => c.ColumnName))
+ var strCols = dataColumns.Concat(Auxiliaries.Values.Select(c => c.ColumnName))
.Concat(
new[] {
ModalResultField.P_WHR_el_map, ModalResultField.P_WHR_el_corr, ModalResultField.P_WHR_mech_map, ModalResultField.P_WHR_mech_corr, ModalResultField.P_aux_ice_off,
@@ -342,9 +344,9 @@ namespace TUGraz.VectoCore.OutputData
_addReportResult(this);
}
- private IList<ModalResultField> GetOutputColumns()
+ private IList<string> GetOutputColumns()
{
- var dataColumns = new List<ModalResultField> { ModalResultField.time };
+ var dataColumns = new List<string> { ModalResultField.time.GetName() };
if (!_writeEngineOnly) {
dataColumns.AddRange(
@@ -356,15 +358,15 @@ namespace TUGraz.VectoCore.OutputData
ModalResultField.acc,
ModalResultField.grad,
ModalResultField.altitude
- });
+ }.Select(x => x.GetName()));
}
if (!_writeEngineOnly) {
dataColumns.AddRange(
new[] {
ModalResultField.Gear,
- });
+ }.Select(x => x.GetName()));
if (HasTorqueConverter) {
- dataColumns.AddRange(new[] { ModalResultField.TC_Locked });
+ dataColumns.AddRange(new[] { ModalResultField.TC_Locked }.Select(x => x.GetName()));
}
}
dataColumns.AddRange(
@@ -379,25 +381,42 @@ namespace TUGraz.VectoCore.OutputData
ModalResultField.P_ice_drag,
ModalResultField.P_ice_inertia,
ModalResultField.P_ice_out,
- });
+ }.Select(x => x.GetName()));
+ if (ElectricMotors.Count > 0) {
+ dataColumns.AddRange(new[] {
+ ModalResultField.P_battery_terminal,
+ ModalResultField.P_battery_int,
+ ModalResultField.P_battery_loss,
+ ModalResultField.P_battery_charge_max,
+ ModalResultField.P_battery_discharge_max,
+ ModalResultField.BatteryStateOfCharge,
+ ModalResultField.U_bat_terminal,
+ ModalResultField.U0_bat,
+ ModalResultField.I_bat
+ }.Select(x => x.GetName()));
+ foreach (var em in ElectricMotors.OrderBy(x => x).Reverse()) {
+ dataColumns.AddRange(_electricMotorColumns.Select(emCol =>
+ string.Format(emCol.GetAttribute().Caption, em.GetName())));
+ }
+ }
if (HasTorqueConverter) {
dataColumns.AddRange(
new[] {
ModalResultField.P_gbx_shift_loss,
ModalResultField.P_TC_loss,
ModalResultField.P_TC_out,
- });
+ }.Select(x => x.GetName()));
} else {
dataColumns.AddRange(
new[] {
ModalResultField.P_clutch_loss,
ModalResultField.P_clutch_out,
- });
+ }.Select(x => x.GetName()));
}
dataColumns.AddRange(
new[] {
ModalResultField.P_aux_mech
- });
+ }.Select(x => x.GetName()));
if (!_writeEngineOnly) {
dataColumns.AddRange(
@@ -422,7 +441,7 @@ namespace TUGraz.VectoCore.OutputData
ModalResultField.P_veh_inertia,
ModalResultField.n_gbx_out_avg,
ModalResultField.T_gbx_out
- });
+ }.Select(x => x.GetName()));
if (WriteAdvancedAux) {
dataColumns.AddRange(
new[] {
@@ -441,7 +460,7 @@ namespace TUGraz.VectoCore.OutputData
ModalResultField.P_busAux_PS_generated,
ModalResultField.P_busAux_PS_generated_alwaysOn,
ModalResultField.P_busAux_PS_generated_dragOnly,
- });
+ }.Select(x => x.GetName()));
}
if (HasTorqueConverter) {
dataColumns.AddRange(
@@ -452,7 +471,7 @@ namespace TUGraz.VectoCore.OutputData
ModalResultField.TC_angularSpeedOut,
ModalResultField.TC_TorqueIn,
ModalResultField.TC_angularSpeedIn,
- });
+ }.Select(x => x.GetName()));
}
}
//if (!_writeEngineOnly && WriteAdvancedAux) {
@@ -546,8 +565,8 @@ namespace TUGraz.VectoCore.OutputData
public object this[ModalResultField key, PowertrainPosition pos]
{
- get { return CurrentRow[string.Format(key.GetCaption(), pos.ToString())]; }
- set { CurrentRow[string.Format(key.GetCaption(), pos)] = value; }
+ get { return CurrentRow[string.Format(key.GetCaption(), pos.GetName())]; }
+ set { CurrentRow[string.Format(key.GetCaption(), pos.GetName())] = value; }
}
public object this[string auxId]
diff --git a/VectoCore/VectoCoreTest/Integration/Hybrid/ParallelHybridTest.cs b/VectoCore/VectoCoreTest/Integration/Hybrid/ParallelHybridTest.cs
index 5614fe85c3..7723974f97 100644
--- a/VectoCore/VectoCoreTest/Integration/Hybrid/ParallelHybridTest.cs
+++ b/VectoCore/VectoCoreTest/Integration/Hybrid/ParallelHybridTest.cs
@@ -52,7 +52,11 @@ namespace TUGraz.VectoCore.Tests.Integration.Hybrid
@" 0, 0, 0, 3
700, {0}, 0, 0", vmax);
var cycle = SimpleDrivingCycles.CreateCycleData(cycleData);
+ RunHybridSimulation(vmax, initialSoC, electricTorque, cycle);
+ }
+ public void RunHybridSimulation(double vmax, double initialSoC, double electricTorque, DrivingCycleData cycle)
+ {
const bool largeMotor = true;
var run = CreateEngineeringRun(
cycle, string.Format("SimpleParallelHybrid_acc_{0}_{2}-{1}.vmod", vmax, initialSoC, electricTorque), initialSoC,
@@ -65,16 +69,37 @@ namespace TUGraz.VectoCore.Tests.Integration.Hybrid
var modData = ((ModalDataContainer)((VehicleContainer)run.GetContainer()).ModData).Data;
- strategy.RequestFunc = (a, b, c, d, e) => new HybridStrategyResponse {
- MechanicalAssistPower = new Dictionary<PowertrainPosition, NewtonMeter>()
- { { PowertrainPosition.HybridP2, 0.SI<NewtonMeter>() } },
- ShiftRequired = run.GetContainer().EngineSpeed > 1600.RPMtoRad() || run.GetContainer().EngineSpeed < 680.RPMtoRad(),
- NextGear = (uint)(run.GetContainer().Gear + (run.GetContainer().EngineSpeed > 1600.RPMtoRad() ? 1 : (run.GetContainer().EngineSpeed < 680.RPMtoRad() ? -1 : 0)))
+ var nextState = new StrategyState();
+ var currentState = new StrategyState();
+ strategy.RequestFunc = (absTime, b, c, d, dryRun) => {
+ var shiftAllowed = absTime > currentState.lastGearShift + 2.SI<Second>();
+ var triggerGearshift = shiftAllowed && ( run.GetContainer().EngineSpeed > 1600.RPMtoRad() ||
+ run.GetContainer().EngineSpeed < 625.RPMtoRad());
+ //var nextGear = run.GetContainer().Gear;
+ if (!dryRun && triggerGearshift) {
+ nextState.lastGearShift = absTime;
+ nextState.nextGear = (uint)(run.GetContainer().Gear + (run.GetContainer().EngineSpeed > 1600.RPMtoRad()
+ ? 1
+ : (run.GetContainer().EngineSpeed < 625.RPMtoRad() ? -1 : 0)));
+ }
+ return new HybridStrategyResponse {
+ MechanicalAssistPower = new Dictionary<PowertrainPosition, NewtonMeter>()
+ { { PowertrainPosition.HybridP2, 0.SI<NewtonMeter>() } },
+ ShiftRequired = triggerGearshift,
+ NextGear = nextState.nextGear
+ };
};
strategy.InitializeFunc = (a, b) => new HybridStrategyResponse {
MechanicalAssistPower = new Dictionary<PowertrainPosition, NewtonMeter>()
{ { PowertrainPosition.HybridP2, 0.SI<NewtonMeter>() } }
};
+ strategy.CommitFunc = () => {
+ currentState = nextState;
+ nextState = new StrategyState() {
+ lastGearShift = currentState.lastGearShift,
+ nextGear = currentState.nextGear,
+ };
+ };
run.Run();
Assert.IsTrue(run.FinishedWithoutErrors);
@@ -82,6 +107,13 @@ namespace TUGraz.VectoCore.Tests.Integration.Hybrid
Assert.IsTrue(modData.Rows.Count > 0);
}
+ public class StrategyState
+ {
+ public Second lastGearShift = -double.MaxValue.SI<Second>();
+ public Second requestTstmp = -double.MaxValue.SI<Second>();
+ public uint nextGear = 0u;
+ }
+
// =================================================
public static VectoRun CreateEngineeringRun(DrivingCycleData cycleData, string modFileName, double initialSoc, IHybridControlStrategy hybridStrategy, PowertrainPosition pos, bool largeMotor = false, SummaryDataContainer sumData = null, double pAuxEl = 0)
--
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