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Commit c8bf75a9 authored by Michael KRISPER's avatar Michael KRISPER
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updated Gear ShiftStrategy to calculate gear with torqueReserve and initial... 

updated Gear ShiftStrategy to calculate gear with torqueReserve and initial gear with startTorqueReserve (Tests: F54/S8/P96)
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VectoCore/Models/SimulationComponent/IShiftStrategy.cs
+ 43
− 3
View file @ c8bf75a9
......@@ -5,10 +5,50 @@ namespace TUGraz.VectoCore.Models.SimulationComponent
{
public interface IShiftStrategy
{
/// <summary>
/// Checks if a shift operation is required.
/// </summary>
/// <param name="gear">The current gear.</param>
/// <param name="torque">The torque.</param>
/// <param name="angularSpeed">The angular speed.</param>
/// <returns></returns>
bool ShiftRequired(uint gear, NewtonMeter torque, PerSecond angularSpeed);
uint InitGear(NewtonMeter torque, PerSecond angularSpeed);
uint Engage(NewtonMeter outTorque, PerSecond outEngineSpeed, bool skipGears);
void Disengage(NewtonMeter outTorque, PerSecond outEngineSpeed);
/// <summary>
/// Returns an appropriate starting gear.
/// </summary>
/// <param name="absTime">The abs time.</param>
/// <param name="dt">The dt.</param>
/// <param name="torque">The torque.</param>
/// <param name="outEngineSpeed">The angular speed.</param>
/// <returns></returns>
uint InitGear(Second absTime, Second dt, NewtonMeter torque, PerSecond outEngineSpeed);
/// <summary>
/// Engages a gear
/// </summary>
/// <param name="absTime">The abs time.</param>
/// <param name="dt">The dt.</param>
/// <param name="outTorque">The out torque.</param>
/// <param name="outEngineSpeed">The out engine speed.</param>
/// <returns></returns>
uint Engage(Second absTime, Second dt, NewtonMeter outTorque, PerSecond outEngineSpeed);
/// <summary>
/// Disengages a gear.
/// </summary>
/// <param name="absTime">The abs time.</param>
/// <param name="dt">The dt.</param>
/// <param name="outTorque">The out torque.</param>
/// <param name="outEngineSpeed">The out engine speed.</param>
void Disengage(Second absTime, Second dt, NewtonMeter outTorque, PerSecond outEngineSpeed);
/// <summary>
/// Gets or sets the gearbox.
/// </summary>
/// <value>
/// The gearbox.
/// </value>
Gearbox Gearbox { get; set; }
}
}
\ No newline at end of file
VectoCore/Models/SimulationComponent/Impl/Gearbox.cs
+ 18
− 18
View file @ c8bf75a9
......@@ -8,10 +8,6 @@ using TUGraz.VectoCore.Models.Simulation.DataBus;
using TUGraz.VectoCore.Models.SimulationComponent.Data;
using TUGraz.VectoCore.Utils;
// TODO:
// * EarlyUpshift (shift before outside of up-shift curve if outTorque reserve for the next higher gear is fullfilled)
// * SkipGears (when already shifting to next gear, check if outTorque reserve is fullfilled for the overnext gear and eventually shift to it)
namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
{
public class Gearbox : VectoSimulationComponent, IGearbox, ITnOutPort, ITnInPort, IClutchInfo
......@@ -36,7 +32,6 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
/// </summary>
private Second _shiftTime = double.NegativeInfinity.SI<Second>();
/// <summary>
/// True if gearbox is disengaged (no gear is set).
/// </summary>
......@@ -57,7 +52,6 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
/// </summary>
private PerSecond _previousInEnginespeed = 0.SI<PerSecond>();
public bool ClutchClosed(Second absTime)
{
return _shiftTime.IsSmaller(absTime);
......@@ -106,10 +100,13 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
public IResponse Initialize(NewtonMeter torque, PerSecond engineSpeed)
{
var response = NextComponent.Initialize(torque, engineSpeed);
_shiftTime = double.NegativeInfinity.SI<Second>();
Gear = _strategy.InitGear(torque, engineSpeed);
_disengaged = false;
return NextComponent.Initialize(torque, engineSpeed);
Gear = 0; //_strategy.InitGear(torque, engineSpeed);
_disengaged = true;
return response;
}
/// <summary>
......@@ -180,9 +177,9 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
};
}
if (DataBus.VehicleSpeed.IsEqual(0)) {
Gear = _strategy.Engage(outTorque, outEngineSpeed, Data.SkipGears);
}
//if (DataBus.VehicleSpeed.IsEqual(0)) {
// Gear = _strategy.Engage(outTorque, outEngineSpeed, Data.SkipGears);
//}
var response = NextComponent.Request(absTime, dt, 0.SI<NewtonMeter>(), null);
response.GearboxPowerRequest = outTorque * outEngineSpeed;
......@@ -204,8 +201,11 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
{
// Set a Gear if no gear was set
if (_disengaged) {
Gear = _strategy.Engage(outTorque, outEngineSpeed, Data.SkipGears);
_disengaged = false;
Gear = DataBus.VehicleSpeed.IsEqual(0)
? _strategy.InitGear(absTime, dt, outTorque, outEngineSpeed) // initGear if speed was 0
: _strategy.Engage(absTime, dt, outTorque, outEngineSpeed);
Log.Debug("Gearbox engaged gear {0}", Gear);
}
......@@ -233,13 +233,13 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
if (isShiftAllowed && _strategy.ShiftRequired(Gear, inTorque, inEngineSpeed)) {
_shiftTime = absTime + Data.TractionInterruption;
Log.Debug("Gearbox is shifting. absTime: {0}, dt: {1}, shiftTime: {2}, out: ({3}, {4}), in: ({5}, {6})", absTime, dt,
_shiftTime, outTorque, outEngineSpeed, inTorque, inEngineSpeed);
_disengaged = true;
_strategy.Disengage(outTorque, outEngineSpeed);
_strategy.Disengage(absTime, dt, outTorque, outEngineSpeed);
Log.Info("Gearbox disengaged");
Log.Debug("Gearbox is shifting. absTime: {0}, shiftTime: {1}, outTorque:{2}, outEngineSpeed: {3}",
absTime, _shiftTime, outTorque, outEngineSpeed);
return new ResponseGearShift {
Source = this,
SimulationInterval = Data.TractionInterruption,
......
VectoCore/Models/SimulationComponent/Impl/ShiftStrategy.cs
+ 43
− 40
View file @ c8bf75a9
using TUGraz.VectoCore.Exceptions;
using System;
using TUGraz.VectoCore.Models.Connector.Ports.Impl;
using TUGraz.VectoCore.Models.SimulationComponent.Data;
using TUGraz.VectoCore.Models.SimulationComponent.Data.Gearbox;
using TUGraz.VectoCore.Utils;
namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
{
// TODO:
// * EarlyUpshift (shift before outside of up-shift curve if outTorque reserve for the next higher gear is fullfilled)
public abstract class ShiftStrategy : IShiftStrategy
{
public abstract uint Engage(NewtonMeter torque, PerSecond angularSpeed, bool skipGears);
public abstract void Disengage(NewtonMeter outTorque, PerSecond outEngineSpeed);
public abstract uint Engage(Second absTime, Second dt, NewtonMeter outTorque, PerSecond outEngineSpeed);
public abstract void Disengage(Second absTime, Second dt, NewtonMeter outTorque, PerSecond outEngineSpeed);
public abstract bool ShiftRequired(uint gear, NewtonMeter torque, PerSecond angularSpeed);
public abstract uint InitGear(NewtonMeter torque, PerSecond angularSpeed);
public abstract uint InitGear(Second absTime, Second dt, NewtonMeter outTorque, PerSecond outEngineSpeed);
protected GearboxData Data;
public Gearbox Gearbox { get; set; }
......@@ -24,7 +28,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
/// <summary>
/// Tests if the gearbox should shift down.
/// </summary>
protected bool ShouldShiftDown(uint gear, NewtonMeter inTorque, PerSecond inEngineSpeed)
protected virtual bool IsBelowDownShiftCurve(uint gear, NewtonMeter inTorque, PerSecond inEngineSpeed)
{
if (gear <= 1) {
return false;
......@@ -37,7 +41,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
/// <summary>
/// Tests if the gearbox should shift up.
/// </summary>
protected bool ShouldShiftUp(uint gear, NewtonMeter inTorque, PerSecond inEngineSpeed)
protected virtual bool IsAboveUpShiftCurve(uint gear, NewtonMeter inTorque, PerSecond inEngineSpeed)
{
if (gear >= Data.Gears.Count) {
return false;
......@@ -72,56 +76,55 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
public class AMTShiftStrategy : ShiftStrategy
{
protected uint LastGear;
protected uint PreviousGear;
public AMTShiftStrategy(GearboxData data) : base(data)
{
LastGear = 1;
PreviousGear = 1;
}
public uint GetGear(uint gear, NewtonMeter outTorque, PerSecond outEngineSpeed, bool skipGears)
private uint GetGear(Second absTime, Second dt, NewtonMeter outTorque, PerSecond outEngineSpeed, bool skipGears,
double torqueReserve)
{
var loopCount = Data.Gears.Count; // protection against infinite loops
do {
var inEngineSpeed = outEngineSpeed * Data.Gears[gear].Ratio;
var inTorque = Data.Gears[gear].LossMap.GearboxInTorque(inEngineSpeed, outTorque);
if (ShouldShiftUp(gear, inTorque, inEngineSpeed)) {
gear++;
continue;
}
var maxGear = (uint)(skipGears ? Data.Gears.Count : Math.Min(PreviousGear + 1, Data.Gears.Count));
var minGear = skipGears ? 1 : Math.Max(PreviousGear - 1, 1);
if (ShouldShiftDown(gear, inTorque, inEngineSpeed)) {
gear--;
continue;
}
break;
} while (skipGears && loopCount-- > 0);
for (var gear = maxGear; gear > minGear; gear--) {
Gearbox.Gear = gear;
var response = (ResponseDryRun)Gearbox.Request(absTime, dt, outTorque, outEngineSpeed, true);
var currentPower = response.EnginePowerRequest;
if (gear == 0) {
throw new VectoSimulationException("Could not find gear! outTorque: {0}, outEngineSpeed: {1}, skipGears: {2}",
outTorque, outEngineSpeed, skipGears);
var fullLoadPower = currentPower - response.DeltaFullLoad;
var reserve = 1 - (currentPower / fullLoadPower).Cast<Scalar>();
var inAngularSpeed = outEngineSpeed * Data.Gears[gear].Ratio;
var inTorque = currentPower / inAngularSpeed;
if (!IsBelowDownShiftCurve(gear, inTorque, inAngularSpeed) && reserve >= torqueReserve) {
return gear;
}
}
return gear;
return minGear;
}
public override uint Engage(NewtonMeter outTorque, PerSecond outEngineSpeed, bool skipGears)
public override uint Engage(Second absTime, Second dt, NewtonMeter outTorque, PerSecond outEngineSpeed)
{
return GetGear(LastGear, outTorque, outEngineSpeed, skipGears);
return GetGear(absTime, dt, outTorque, outEngineSpeed, Data.SkipGears, Data.TorqueReserve);
}
public override void Disengage(NewtonMeter outTorque, PerSecond outEngineSpeed)
public override void Disengage(Second absTime, Second dt, NewtonMeter outTorque, PerSecond outEngineSpeed)
{
LastGear = GetGear(Gearbox.Gear, outTorque, outEngineSpeed, Data.SkipGears);
PreviousGear = GetGear(absTime, dt, outTorque, outEngineSpeed, Data.SkipGears, Data.TorqueReserve);
}
public override bool ShiftRequired(uint gear, NewtonMeter torque, PerSecond angularSpeed)
{
return ShouldShiftDown(gear, torque, angularSpeed) || ShouldShiftUp(gear, torque, angularSpeed);
return IsBelowDownShiftCurve(gear, torque, angularSpeed) || IsAboveUpShiftCurve(gear, torque, angularSpeed);
}
public override uint InitGear(NewtonMeter torque, PerSecond angularSpeed)
public override uint InitGear(Second absTime, Second dt, NewtonMeter outTorque, PerSecond outEngineSpeed)
{
return Engage(torque, angularSpeed, true);
return GetGear(absTime, dt, outTorque, outEngineSpeed, true, Data.StartTorqueReserve);
}
}
......@@ -130,12 +133,12 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
{
public MTShiftStrategy(GearboxData data) : base(data) {}
public override uint Engage(NewtonMeter torque, PerSecond angularSpeed, bool skipGears)
public override uint Engage(Second absTime, Second dt, NewtonMeter outTorque, PerSecond outEngineSpeed)
{
throw new System.NotImplementedException();
}
public override void Disengage(NewtonMeter outTorque, PerSecond outEngineSpeed)
public override void Disengage(Second absTime, Second dt, NewtonMeter outTorque, PerSecond outEngineSpeed)
{
throw new System.NotImplementedException();
}
......@@ -145,7 +148,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
throw new System.NotImplementedException();
}
public override uint InitGear(NewtonMeter torque, PerSecond angularSpeed)
public override uint InitGear(Second absTime, Second dt, NewtonMeter outTorque, PerSecond outEngineSpeed)
{
throw new System.NotImplementedException();
}
......@@ -156,12 +159,12 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
{
public ATShiftStrategy(GearboxData data) : base(data) {}
public override uint Engage(NewtonMeter torque, PerSecond angularSpeed, bool skipGears)
public override uint Engage(Second absTime, Second dt, NewtonMeter outTorque, PerSecond outEngineSpeed)
{
throw new System.NotImplementedException();
}
public override void Disengage(NewtonMeter outTorque, PerSecond outEngineSpeed)
public override void Disengage(Second absTime, Second dt, NewtonMeter outTorque, PerSecond outEngineSpeed)
{
throw new System.NotImplementedException();
}
......@@ -171,7 +174,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Impl
throw new System.NotImplementedException();
}
public override uint InitGear(NewtonMeter torque, PerSecond angularSpeed)
public override uint InitGear(Second absTime, Second dt, NewtonMeter outTorque, PerSecond outEngineSpeed)
{
throw new System.NotImplementedException();
}
......
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