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Commit fa5e5fba authored by Markus Quaritsch's avatar Markus Quaritsch
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refactoring code in hybrid strategy brake action: reduce complexity (invert if)

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VectoCore/VectoCore/Models/SimulationComponent/Strategies/HybridStrategy.cs
+ 320
− 263
View file @ fa5e5fba
......@@ -183,6 +183,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
TestPowertrain.HybridController.Initialize(Controller.PreviousState.OutTorque, Controller.PreviousState.OutAngularVelocity);
TestPowertrain.Brakes.BrakePower = DataBus.Brakes.BrakePower;
TestPowertrain.DCDCConverter?.UpdateFrom(DataBus.DCDCConverter);
if (nextGear.Engaged && !nextGear.Equals(TestPowertrain.Gearbox.Gear)) {
if (!AllowEmergencyShift && ModelData.GearboxData.Gears[nextGear.Gear].Ratio > ModelData.GearshiftParameters.RatioEarlyUpshiftFC) {
......@@ -863,21 +864,18 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
var vehiclespeedBelowThreshold = DataBus.VehicleInfo.VehicleSpeed.IsSmaller(disengageSpeedThreshold)
&& (DataBus.DriverInfo.NextBrakeTriggerSpeed?.IsEqual(0) ?? false);
if (ElectricMotorCanPropellDuringTractionInterruption || DataBus.GearboxInfo.GearEngaged(absTime)) {
if (vehiclespeedBelowThreshold && emPos.IsOneOf(PowertrainPosition.HybridP2, PowertrainPosition.HybridP1, PowertrainPosition.IHPC)) {
if (DataBus.GearboxInfo.GearboxType.AutomaticTransmission()) {
var firstgear = ResponseEmOff;
firstgear.Gear = GearList.First();
eval.Add(firstgear);
return;
} else {
if (!ElectricMotorCanPropellDuringTractionInterruption && !DataBus.GearboxInfo.GearEngaged(absTime)) {
var off = ResponseEmOff;
if (vehiclespeedBelowThreshold &&
(emPos == PowertrainPosition.HybridP2 || emPos == PowertrainPosition.HybridP1)) {
off.Setting.GearboxInNeutral = true;
} else {
off.Setting.GearboxInNeutral = PreviousState.Solution?.Setting.GearboxInNeutral ?? false;
}
eval.Add(off);
return;
}
}
GearshiftPosition nextGear;
if (!DataBus.GearboxInfo.GearEngaged(absTime)) {
......@@ -888,7 +886,41 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
nextGear = Controller.ShiftStrategy.NextGear;
}
if (vehiclespeedBelowThreshold && emPos.IsOneOf(PowertrainPosition.HybridP2,
PowertrainPosition.HybridP1, PowertrainPosition.IHPC)) {
if (DataBus.GearboxInfo.GearboxType.AutomaticTransmission()) {
var firstgear = ResponseEmOff;
firstgear.Gear = GearList.First();
eval.Add(firstgear);
return;
}
var testDisengage = new HybridStrategyResponse {
CombustionEngineOn = DataBus.EngineInfo.EngineOn, // AllowICEOff(absTime),
GearboxInNeutral = false,
NextGear = nextGear,
MechanicalAssistPower = ElectricMotorsOff
};
var testDisengageResponse = RequestDryRun(absTime, dt, outTorque, outAngularVelocity, nextGear,
testDisengage);
var off = ResponseEmOff;
if (testDisengageResponse.Clutch.PowerRequest.IsSmaller(0)) {
// only disengage if the torque at the clutch is negative - i.e. no propulsion needed
off.Setting.GearboxInNeutral = true;
}
eval.Add(off);
return;
}
if (!nextGear.IsLockedGear()) {
var off = ResponseEmOff;
var offResponse = RequestDryRun(absTime, dt, outTorque, outAngularVelocity, nextGear, off.Setting);
if (offResponse.Source is ATGearbox && offResponse is ResponseOverload && GearList.HasPredecessor(nextGear)) {
off.Gear = GearList.Predecessor(nextGear);
}
eval.Add(ResponseEmOff);
return;
}
......@@ -913,14 +945,18 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
var endSpeed = DataBus.VehicleInfo.VehicleSpeed +
DataBus.DriverInfo.DriverAcceleration * ModelData.GearboxData.TractionInterruption;
if (EngineSpeedTooLow(response)
&& (DataBus.GearboxInfo.GearboxType.ManualTransmission() || DataBus.GearboxInfo.GearboxType == GearboxType.IHPC)
&& (DataBus.GearboxInfo.GearboxType.ManualTransmission() ||
DataBus.GearboxInfo.GearboxType == GearboxType.IHPC)
&& endSpeed.IsSmallerOrEqual(disengageSpeedThreshold, 0.1.KMPHtoMeterPerSecond())) {
var responseEmOff = ResponseEmOff;
// if the engine speed is too low but the gear is engaged in this timestep, use the gear as calculated before.
// on re-engage the engine speed is checked and a lower gear is engaged. then the hybrid strategy is called again.
responseEmOff.Gear = (!PreviousState.GearboxEngaged && DataBus.GearboxInfo.GearEngaged(absTime)) ? currentGear : new GearshiftPosition(0);
responseEmOff.Gear = (!PreviousState.GearboxEngaged && DataBus.GearboxInfo.GearEngaged(absTime))
? currentGear
: new GearshiftPosition(0);
responseEmOff.Setting.GearboxEngaged = false;
responseEmOff.Setting.GearboxInNeutral = (!PreviousState.GearboxEngaged && DataBus.GearboxInfo.GearEngaged(absTime)) ? false : true;
responseEmOff.Setting.GearboxInNeutral =
(!PreviousState.GearboxEngaged && DataBus.GearboxInfo.GearEngaged(absTime)) ? false : true;
eval.Add(responseEmOff);
return;
}
......@@ -940,6 +976,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
eval.Add(downshift);
return;
}
do {
nextGear = GearList.Predecessor(nextGear);
response = RequestDryRun(absTime, dt, outTorque, outAngularVelocity, nextGear, tmp);
......@@ -957,7 +994,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
return;
}
if (DataBus.GearboxInfo.GearboxType.AutomaticTransmission() && response == null && nextGear.Equals(GearList.First())) {
if (DataBus.GearboxInfo.GearboxType.AutomaticTransmission() && response == null &&
nextGear.Equals(GearList.First())) {
var downshift = ResponseEmOff;
downshift.Gear = nextGear;
eval.Add(downshift);
......@@ -967,10 +1005,13 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
if (tmp.CombustionEngineOn) {
var firstEntry = new HybridResultEntry();
CalculateCosts(response, dt, firstEntry, AllowICEOff(absTime), dryRun);
var minimumShiftTimePassed = (DataBus.GearboxInfo.LastShift + ModelData.GearshiftParameters.TimeBetweenGearshifts).IsSmallerOrEqual(absTime);
var minimumShiftTimePassed =
(DataBus.GearboxInfo.LastShift + ModelData.GearshiftParameters.TimeBetweenGearshifts)
.IsSmallerOrEqual(absTime);
if (DataBus.GearboxInfo.GearEngaged(absTime) && !vehiclespeedBelowThreshold) {
var reEngaged = !PreviousState.GearboxEngaged && DataBus.GearboxInfo.GearEngaged(absTime);
if ((firstEntry.IgnoreReason.EngineSpeedBelowDownshift() && !firstEntry.IgnoreReason.EngineTorqueDemandTooHigh() ||
if ((firstEntry.IgnoreReason.EngineSpeedBelowDownshift() &&
!firstEntry.IgnoreReason.EngineTorqueDemandTooHigh() ||
firstEntry.IgnoreReason.EngineSpeedTooLow()) && !reEngaged) {
// ICE torque below FLD is OK as EM may regenerate and shift ICE operating point on drag line
// for negative torques the shift line is vertical anyway ;-)
......@@ -995,8 +1036,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
}
}
var deltaDragTqFirst = disengaged ?
(response as ResponseDryRun).Gearbox.InputTorque //.DeltaDragLoadTorque
var deltaDragTqFirst = disengaged
? (response as ResponseDryRun).Gearbox.InputTorque //.DeltaDragLoadTorque
: response.Engine.TotalTorqueDemand - response.Engine.DragTorque;
if (!response.Engine.EngineOn && DataBus.GearboxInfo.GearboxType.AutomaticTransmission()) {
......@@ -1010,13 +1051,15 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
eval.AddRange(FindSolution(absTime, dt, outTorque, outAngularVelocity, dryRun));
} else {
EvaluateConfigsForGear(
absTime, dt, outTorque, outAngularVelocity, nextGear, AllowICEOff(absTime), eval, emPos, dryRun);
absTime, dt, outTorque, outAngularVelocity, nextGear, AllowICEOff(absTime), eval, emPos,
dryRun);
}
} else if (DataBus.GearboxInfo.GearEngaged(absTime)) {
eval.AddRange(FindSolution(absTime, dt, outTorque, outAngularVelocity, dryRun));
} else {
eval.Add(ResponseEmOff);
}
return;
}
......@@ -1038,10 +1081,15 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
GearboxInNeutral = false,
NextGear = nextGear,
MechanicalAssistPower = new Dictionary<PowertrainPosition, Tuple<PerSecond, NewtonMeter>> {
{ emPos, Tuple.Create(response.ElectricMotor.AngularVelocity, VectoMath.Max(response.ElectricMotor.MaxRecuperationTorque, 0.SI<NewtonMeter>())) }
{
emPos,
Tuple.Create(response.ElectricMotor.AngularVelocity,
VectoMath.Max(response.ElectricMotor.MaxRecuperationTorque, 0.SI<NewtonMeter>()))
}
}
};
var maxRecuperationResponse = RequestDryRun(absTime, dt, outTorque, outAngularVelocity, nextGear, maxRecuperation);
var maxRecuperationResponse =
RequestDryRun(absTime, dt, outTorque, outAngularVelocity, nextGear, maxRecuperation);
debug.Add("[AHS.HBA-2] DryRun maxRecuperationResponse", maxRecuperationResponse);
var deltaDragTqMaxRecuperation = disengaged
? (maxRecuperationResponse as ResponseDryRun).Gearbox.InputTorque //.DeltaDragLoadTorque
......@@ -1065,7 +1113,9 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
}
if (deltaDragTqMaxRecuperation.IsSmaller(0) &&
maxRecuperationResponse.ElectricSystem.RESSPowerDemand.IsBetween(maxRecuperationResponse.ElectricSystem.MaxPowerDrag, maxRecuperationResponse.ElectricSystem.MaxPowerDrive)) {
maxRecuperationResponse.ElectricSystem.RESSPowerDemand.IsBetween(
maxRecuperationResponse.ElectricSystem.MaxPowerDrag,
maxRecuperationResponse.ElectricSystem.MaxPowerDrive)) {
// even with full recuperation (and no braking) the operating point is below the drag curve (and the battery can handle it) - use full recuperation
eval.Add(
new HybridResultEntry {
......@@ -1075,8 +1125,13 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
CombustionEngineOn = DataBus.EngineInfo.EngineOn,
GearboxInNeutral = false,
NextGear = nextGear,
MechanicalAssistPower = new Dictionary<PowertrainPosition, Tuple<PerSecond, NewtonMeter>> {
{ emPos, Tuple.Create(response.ElectricMotor.AngularVelocity, response.ElectricMotor.MaxRecuperationTorque) }
MechanicalAssistPower =
new Dictionary<PowertrainPosition, Tuple<PerSecond, NewtonMeter>> {
{
emPos,
Tuple.Create(response.ElectricMotor.AngularVelocity,
response.ElectricMotor.MaxRecuperationTorque)
}
}
}
});
......@@ -1087,7 +1142,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
var emRecuperationTq = SearchAlgorithm.Search(
maxRecuperationResponse.ElectricMotor.ElectricMotorPowerMech /
maxRecuperationResponse.ElectricMotor.AngularVelocity,
maxRecuperationResponse.Engine.TorqueOutDemand, maxRecuperationResponse.ElectricMotor.MaxRecuperationTorque * 0.1,
maxRecuperationResponse.Engine.TorqueOutDemand,
maxRecuperationResponse.ElectricMotor.MaxRecuperationTorque * 0.1,
getYValue: resp => {
var r = resp as IResponse;
var deltaDragLoad = disengaged
......@@ -1096,6 +1152,7 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
if (!r.Engine.EngineOn && isAPTWithTorqueConverter) {
deltaDragLoad = r.Gearbox.InputTorque;
}
return deltaDragLoad;
},
evaluateFunction: emTq => {
......@@ -1107,7 +1164,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
{ emPos, Tuple.Create(response.ElectricMotor.AngularVelocity, emTq) }
}
};
return RequestDryRun(absTime, dt, outTorque, outAngularVelocity, DataBus.GearboxInfo.GearEngaged(absTime) ? nextGear : new GearshiftPosition(0), cfg);
return RequestDryRun(absTime, dt, outTorque, outAngularVelocity,
DataBus.GearboxInfo.GearEngaged(absTime) ? nextGear : new GearshiftPosition(0), cfg);
},
criterion: resp => {
var r = resp as IResponse;
......@@ -1117,12 +1175,14 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
if (!r.Engine.EngineOn && isAPTWithTorqueConverter) {
deltaDragLoad = r.Gearbox.InputTorque;
}
return deltaDragLoad.Value();
},
searcher: this
);
if (emRecuperationTq.IsBetween(
response.ElectricMotor.MaxDriveTorque ?? 0.SI<NewtonMeter>(), response.ElectricMotor.MaxRecuperationTorque ?? 0.SI<NewtonMeter>())) {
response.ElectricMotor.MaxDriveTorque ?? 0.SI<NewtonMeter>(),
response.ElectricMotor.MaxRecuperationTorque ?? 0.SI<NewtonMeter>())) {
var entry = new HybridResultEntry {
ICEOff = !DataBus.EngineInfo.EngineOn,
Gear = nextGear,
......@@ -1141,7 +1201,8 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
} else {
// for the found operating point, although recuperating no electric energy is generated. leave EM off
var off = ResponseEmOff;
if (vehiclespeedBelowThreshold && (emPos == PowertrainPosition.HybridP2 || emPos == PowertrainPosition.HybridP1)) {
if (vehiclespeedBelowThreshold &&
(emPos == PowertrainPosition.HybridP2 || emPos == PowertrainPosition.HybridP1)) {
off.Setting.GearboxInNeutral = true;
} else {
off.Setting.GearboxInNeutral = PreviousState.Solution?.Setting.GearboxInNeutral ?? false;
......@@ -1163,8 +1224,14 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
CombustionEngineOn = DataBus.EngineInfo.EngineOn,
GearboxInNeutral = false,
NextGear = nextGear,
MechanicalAssistPower = new Dictionary<PowertrainPosition, Tuple<PerSecond, NewtonMeter>> {
{ emPos, Tuple.Create(response.ElectricMotor.AngularVelocity, VectoMath.Min(maxbatDragTq, response.ElectricMotor.MaxRecuperationTorque)) }
MechanicalAssistPower =
new Dictionary<PowertrainPosition, Tuple<PerSecond, NewtonMeter>> {
{
emPos,
Tuple.Create(response.ElectricMotor.AngularVelocity,
VectoMath.Min(maxbatDragTq,
response.ElectricMotor.MaxRecuperationTorque))
}
}
}
});
......@@ -1172,16 +1239,6 @@ namespace TUGraz.VectoCore.Models.SimulationComponent.Strategies
eval.Add(ResponseEmOff);
}
}
} else {
var off = ResponseEmOff;
if (vehiclespeedBelowThreshold && (emPos == PowertrainPosition.HybridP2 || emPos == PowertrainPosition.HybridP1)) {
off.Setting.GearboxInNeutral = true;
} else {
off.Setting.GearboxInNeutral = PreviousState.Solution?.Setting.GearboxInNeutral ?? false;
}
eval.Add(off);
}
}
private bool EngineSpeedTooLow(IResponse firstResponse)
......
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