Line data Source code
1 : /****************************************************************************/
2 : // Eclipse SUMO, Simulation of Urban MObility; see https://eclipse.dev/sumo
3 : // Copyright (C) 2001-2024 German Aerospace Center (DLR) and others.
4 : // This program and the accompanying materials are made available under the
5 : // terms of the Eclipse Public License 2.0 which is available at
6 : // https://www.eclipse.org/legal/epl-2.0/
7 : // This Source Code may also be made available under the following Secondary
8 : // Licenses when the conditions for such availability set forth in the Eclipse
9 : // Public License 2.0 are satisfied: GNU General Public License, version 2
10 : // or later which is available at
11 : // https://www.gnu.org/licenses/old-licenses/gpl-2.0-standalone.html
12 : // SPDX-License-Identifier: EPL-2.0 OR GPL-2.0-or-later
13 : /****************************************************************************/
14 : /// @file EngineParameters.cpp
15 : /// @author Michele Segata
16 : /// @date 4 Feb 2015
17 : ///
18 : /****************************************************************************/
19 :
20 : #include <config.h>
21 :
22 : #include <cmath>
23 : #include <utils/geom/GeomHelper.h> // for M_PI
24 : #include "EngineParameters.h"
25 :
26 :
27 0 : EngineParameters::EngineParameters() : nGears(5), differentialRatio(3.714), wheelDiameter_m(0.94),
28 0 : mass_kg(1300), cAir(0.3), a_m2(2.7), rho_kgpm3(1.2), cr1(0.0136), cr2(5.18e-7),
29 0 : slope(0.), tiresFrictionCoefficient(0.7), engineEfficiency(0.8),
30 0 : massFactor(1.089), cylinders(4), dt(0.01), minRpm(1000), maxRpm(7000),
31 0 : brakesTau_s(0.2), tauEx_s(0.1), tauBurn_s(-1), fixedTauBurn(false) {
32 0 : id = "";
33 : //set default gear ratios
34 0 : gearRatios = new double[nGears];
35 0 : gearRatios[0] = 3.909;//4.5;
36 0 : gearRatios[1] = 2.238;//3.5;//2.6;
37 0 : gearRatios[2] = 1.520;//2.5;//1.5;
38 0 : gearRatios[3] = 1.156;//1.5;//1.0;
39 0 : gearRatios[4] = 0.971;//1.0;//0.8;
40 : //default engine mapping
41 0 : engineMapping.degree = 1;
42 0 : engineMapping.x[0] = -7.50084;
43 0 : engineMapping.x[1] = 0.02045;
44 : //default shifting rule
45 0 : shiftingRule.rpm = 6000;
46 0 : shiftingRule.deltaRpm = 100;
47 : //initialize precomputed coefficients
48 0 : computeCoefficients();
49 :
50 0 : }
51 :
52 0 : EngineParameters::EngineParameters(const EngineParameters& other) :
53 0 : nGears(other.nGears), differentialRatio(other.differentialRatio), wheelDiameter_m(other.wheelDiameter_m),
54 0 : mass_kg(other.mass_kg), cAir(other.cAir), a_m2(other.a_m2), rho_kgpm3(other.rho_kgpm3), cr1(other.cr1), cr2(other.cr2),
55 0 : slope(other.slope), tiresFrictionCoefficient(other.tiresFrictionCoefficient), engineEfficiency(other.engineEfficiency),
56 0 : massFactor(other.massFactor), cylinders(other.cylinders), dt(other.dt), minRpm(other.minRpm), maxRpm(other.maxRpm),
57 0 : brakesTau_s(other.brakesTau_s), tauEx_s(other.tauEx_s), tauBurn_s(other.tauBurn_s), fixedTauBurn(other.fixedTauBurn) {
58 0 : id = other.id;
59 0 : gearRatios = new double[nGears];
60 0 : for (int i = 0; i < nGears; i++) {
61 0 : gearRatios[i] = other.gearRatios[i];
62 : }
63 0 : engineMapping.degree = other.engineMapping.degree;
64 0 : for (int i = 0; i < engineMapping.degree; i++) {
65 0 : engineMapping.x[i] = other.engineMapping.x[i];
66 : }
67 0 : shiftingRule.rpm = other.shiftingRule.rpm;
68 0 : shiftingRule.deltaRpm = other.shiftingRule.deltaRpm;
69 0 : computeCoefficients();
70 0 : }
71 0 : EngineParameters& EngineParameters::operator =(const EngineParameters& other) {
72 0 : id = other.id;
73 0 : nGears = other.nGears;
74 0 : differentialRatio = other.differentialRatio;
75 0 : wheelDiameter_m = other.wheelDiameter_m;
76 0 : mass_kg = other.mass_kg;
77 0 : cAir = other.cAir;
78 0 : a_m2 = other.a_m2;
79 0 : rho_kgpm3 = other.rho_kgpm3;
80 0 : cr1 = other.cr1;
81 0 : cr2 = other.cr2;
82 0 : slope = other.slope;
83 0 : tiresFrictionCoefficient = other.tiresFrictionCoefficient;
84 0 : engineEfficiency = other.engineEfficiency;
85 0 : massFactor = other.massFactor;
86 0 : cylinders = other.cylinders;
87 0 : dt = other.dt;
88 0 : minRpm = other.minRpm;
89 0 : maxRpm = other.maxRpm;
90 0 : delete [] gearRatios;
91 0 : gearRatios = new double[nGears];
92 0 : for (int i = 0; i < nGears; i++) {
93 0 : gearRatios[i] = other.gearRatios[i];
94 : }
95 0 : engineMapping.degree = other.engineMapping.degree;
96 0 : for (int i = 0; i < engineMapping.degree; i++) {
97 0 : engineMapping.x[i] = other.engineMapping.x[i];
98 : }
99 0 : shiftingRule.rpm = other.shiftingRule.rpm;
100 0 : shiftingRule.deltaRpm = other.shiftingRule.deltaRpm;
101 0 : brakesTau_s = other.brakesTau_s;
102 0 : tauBurn_s = other.tauBurn_s;
103 0 : tauEx_s = other.tauEx_s;
104 0 : fixedTauBurn = other.fixedTauBurn;
105 0 : computeCoefficients();
106 0 : return *this;
107 : }
108 :
109 0 : EngineParameters::~EngineParameters() {
110 0 : delete [] gearRatios;
111 0 : }
112 :
113 0 : void EngineParameters::computeCoefficients() {
114 0 : __airFrictionCoefficient = 0.5 * cAir * a_m2 * rho_kgpm3;
115 0 : __cr1 = mass_kg * massFactor * GRAVITY_MPS2 * cr1;
116 0 : __cr2 = mass_kg * massFactor * GRAVITY_MPS2 * cr2;
117 0 : __gravity = mass_kg * massFactor * GRAVITY_MPS2 * sin(slope / 180 * M_PI);
118 0 : __maxNoSlipAcceleration = tiresFrictionCoefficient * GRAVITY_MPS2 * cos(slope / 180 * M_PI);
119 0 : __rpmToSpeedCoefficient = wheelDiameter_m * M_PI / (differentialRatio * 60);
120 0 : __speedToRpmCoefficient = differentialRatio * 60 / (wheelDiameter_m * M_PI);
121 0 : __speedToThrustCoefficient = engineEfficiency * HP_TO_W;
122 0 : __maxAccelerationCoefficient = mass_kg * massFactor;
123 0 : __brakesAlpha = dt / (brakesTau_s + dt);
124 0 : __brakesOneMinusAlpha = 1 - __brakesAlpha;
125 0 : __engineTau1 = (420.0 * cylinders - 240.0) / (2.0 * cylinders);
126 0 : __engineTau2 = (120.0 * cylinders - 120.0) / cylinders;
127 0 : __engineTauDe_s = tauBurn_s + tauEx_s;
128 0 : }
129 :
130 0 : void EngineParameters::dumpParameters(std::ostream& out) {
131 0 : out << "ID: " << id.c_str() << std::endl;
132 :
133 0 : out << "Gearbox:\n";
134 0 : out << "\tGears number: " << (int)nGears << std::endl;
135 0 : for (int i = 0; i < nGears; i++) {
136 0 : out << std::setprecision(4) << "\tRatio of gear " << (i + 1) << ": " << gearRatios[i] << std::endl;
137 : }
138 0 : out << std::setprecision(4) << "\tFinal drive ratio: " << differentialRatio << std::endl;
139 :
140 0 : out << "Wheels:\n";
141 0 : out << std::setprecision(3) << "\tDiameter: " << wheelDiameter_m << " m\n";
142 0 : out << std::setprecision(3) << "\tFriction coefficient: " << tiresFrictionCoefficient << std::endl;
143 0 : out << std::setprecision(10) << "\tcr1: " << cr1 << std::endl;
144 0 : out << std::setprecision(10) << "\tcr2: " << cr2 << std::endl;
145 :
146 0 : out << "Mass:\n";
147 0 : out << std::setprecision(2) << "\tMass: " << mass_kg << " kg\n";
148 0 : out << std::setprecision(4) << "\tMass factor: " << massFactor << std::endl;
149 :
150 0 : out << "Air drag:\n";
151 0 : out << std::setprecision(4) << "\tDrag coefficient: " << cAir << std::endl;
152 0 : out << std::setprecision(3) << "\tMax section: " << a_m2 << " m^2\n";
153 :
154 0 : out << "Engine:\n";
155 0 : out << "\tEfficiency: " << engineEfficiency << std::endl;
156 0 : out << "\tCylinders: " << cylinders << std::endl;
157 0 : out << "\tMinimum rpm: " << minRpm << std::endl;
158 0 : out << "\tMaximum rpm: " << maxRpm << std::endl;
159 0 : out << "\tMapping (rpm to hp) degree: " << engineMapping.degree << std::endl;
160 0 : for (int i = 0; i < engineMapping.degree; i++) {
161 0 : out << "\t\tMapping coefficient x" << i << ": " << engineMapping.x[i] << std::endl;
162 : }
163 0 : out << "\tShifting rpm: " << shiftingRule.rpm << std::endl;
164 0 : out << "\tShifting delta: " << shiftingRule.deltaRpm << std::endl;
165 :
166 0 : out << "Brakes:\n";
167 0 : out << "\tTime constant (s): " << brakesTau_s << std::endl;
168 :
169 0 : out << "Vehicle unrelated parameters:\n";
170 0 : out << std::setprecision(4) << "\tAir density: " << rho_kgpm3 << " kg/m^3\n";
171 0 : out << "\tRoad slope: " << slope << " degrees\n";
172 0 : out << std::setprecision(3) << "\tSimulation sampling time: " << dt << " s\n";
173 0 : }
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