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Code Issues 123 Wiki Activity

Rework of speed control algorithm for DieselEngine - functions for PESA-DMU

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This commit is contained in:
Królik Uszasty
2019-10-12 16:54:33 +02:00
parent 679e68dc00
commit 05c6f5d7c3
9 changed files with 520 additions and 56 deletions
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245
McZapkie/Mover.cpp
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@@ -1789,7 +1789,10 @@ bool TMoverParameters::IncMainCtrl(int CtrlSpeed)
++MainCtrlPos;
OK = true;
if ((EIMCtrlType == 0) && (SpeedCtrlAutoTurnOffFlag == 1) && (MainCtrlActualPos != MainCtrlPos))
{
DecScndCtrl(2);
SpeedCtrlUnit.IsActive = false;
}
}
break;
}
@@ -1952,8 +1955,10 @@ bool TMoverParameters::DecMainCtrl(int CtrlSpeed)
{
MainCtrlPos--;
OK = true;
if ((EIMCtrlType == 0) && (SpeedCtrlAutoTurnOffFlag == 1) && (MainCtrlActualPos != MainCtrlPos))
if ((EIMCtrlType == 0) && (SpeedCtrlAutoTurnOffFlag == 1) && (MainCtrlActualPos != MainCtrlPos)) {
DecScndCtrl(2);
SpeedCtrlUnit.IsActive = false;
}
}
else if (CtrlSpeed > 1)
OK = (DecMainCtrl(1) && DecMainCtrl(2)); // CtrlSpeed-1);
@@ -2099,14 +2104,22 @@ bool TMoverParameters::IncScndCtrl(int CtrlSpeed)
{
// NOTE: round() already adds 0.5, are the ones added here as well correct?
if ((Vmax < 250))
ScndCtrlActualPos = Round(Vel);
SpeedCtrlValue = Round(Vel);
else
ScndCtrlActualPos = Round(Vel * 0.5);
SpeedCtrlValue = Round(Vel * 0.5);
if ((EIMCtrlType == 0)&&(SpeedCtrlAutoTurnOffFlag == 1))
{
MainCtrlActualPos = MainCtrlPos;
}
SendCtrlToNext("SpeedCntrl", ScndCtrlActualPos, CabNo);
SpeedCtrlUnit.IsActive = true;
SendCtrlToNext("SpeedCntrl", SpeedCtrlValue, CabNo);
}
if ((OK) && (SpeedCtrl) && (ScndCtrlPos == 1) && (EngineType == TEngineType::DieselEngine))
{
// NOTE: round() already adds 0.5, are the ones added here as well correct?
SpeedCtrlValue = Round(Vel);
SpeedCtrlUnit.IsActive = true;
}
return OK;
@@ -2159,8 +2172,16 @@ bool TMoverParameters::DecScndCtrl(int CtrlSpeed)
if ((OK) && (EngineType == TEngineType::ElectricInductionMotor) && (ScndCtrlPosNo == 1))
{
ScndCtrlActualPos = 0;
SendCtrlToNext("SpeedCntrl", ScndCtrlActualPos, CabNo);
SpeedCtrlValue = 0;
SendCtrlToNext("SpeedCntrl", SpeedCtrlValue, CabNo);
SpeedCtrlUnit.IsActive = false;
}
if ((OK) && (SpeedCtrl) && (ScndCtrlPos == 0) && (EngineType == TEngineType::DieselEngine))
{
// NOTE: round() already adds 0.5, are the ones added here as well correct?
SpeedCtrlValue = 0;
SpeedCtrlUnit.IsActive = false;
}
return OK;
@@ -3811,8 +3832,13 @@ void TMoverParameters::UpdatePipePressure(double dt)
if( BrakeCtrlPosNo > 1 ) {
if ((EngineType != TEngineType::ElectricInductionMotor))
dpLocalValve = LocHandle->GetPF(std::max(LocalBrakePosA, LocalBrakePosAEIM), Hamulec->GetBCP(), ScndPipePress, dt, 0);
if ((EngineType != TEngineType::ElectricInductionMotor)) {
double lbpa = LocalBrakePosA;
if (SpeedCtrlUnit.Parking) {
lbpa = std::max(lbpa, StopBrakeDecc);
}
dpLocalValve = LocHandle->GetPF(std::max(lbpa, LocalBrakePosAEIM), Hamulec->GetBCP(), ScndPipePress, dt, 0);
}
else
dpLocalValve = LocHandle->GetPF(LocalBrakePosAEIM, Hamulec->GetBCP(), ScndPipePress, dt, 0);
@@ -3841,7 +3867,15 @@ void TMoverParameters::UpdatePipePressure(double dt)
|| ( ( Handle->GetPos( bh_EB ) - 0.5 ) < BrakeCtrlPosR )
|| ( ( BrakeHandle != TBrakeHandle::MHZ_EN57 )
&& ( BrakeHandle != TBrakeHandle::MHZ_K8P ) ) ) {
dpMainValve = Handle->GetPF( BrakeCtrlPosR, PipePress, temp, dt, EqvtPipePress );
double pos = BrakeCtrlPosR;
if (SpeedCtrl && SpeedCtrlUnit.BrakeIntervention && !SpeedCtrlUnit.Standby) {
pos = Handle->GetPos(bh_NP);
if (SpeedCtrlUnit.BrakeInterventionBraking)
pos = Handle->GetPos(bh_FB);
if (SpeedCtrlUnit.BrakeInterventionUnbraking)
pos = Handle->GetPos(bh_RP);
}
dpMainValve = Handle->GetPF( pos, PipePress, temp, dt, EqvtPipePress );
}
else {
dpMainValve = Handle->GetPF( 0, PipePress, temp, dt, EqvtPipePress );
@@ -5383,7 +5417,7 @@ double TMoverParameters::TractionForce( double dt ) {
switch (ScndCtrlPos) {
case 0:
NewSpeed = 0;
ScndCtrlActualPos = 0;
SpeedCtrlValue = 0;
SpeedCtrlTimer = 10;
break;
case 1:
@@ -5397,7 +5431,7 @@ double TMoverParameters::TractionForce( double dt ) {
break;
case 2:
SpeedCtrlTimer = 10;
ScndCtrlActualPos = NewSpeed;
SpeedCtrlValue = NewSpeed;
break;
case 3:
if (SpeedCtrlTimer > SpeedCtrlDelay) {
@@ -5410,7 +5444,7 @@ double TMoverParameters::TractionForce( double dt ) {
break;
case 4:
NewSpeed = Vmax;
ScndCtrlActualPos = Vmax;
SpeedCtrlValue = Vmax;
SpeedCtrlTimer = 10;
break;
}
@@ -5429,10 +5463,10 @@ double TMoverParameters::TractionForce( double dt ) {
if (SpeedCtrlTimer > SpeedCtrlDelay)
{
int NewSCAP = (Vmax < 250 ? 1 : 0.5) * (float)ScndCtrlPos / (float)ScndCtrlPosNo * Vmax;
if (NewSCAP != ScndCtrlActualPos)
if (NewSCAP != SpeedCtrlValue)
{
ScndCtrlActualPos = NewSCAP;
// SendCtrlToNext("SpeedCntrl", ScndCtrlActualPos, CabNo);
SpeedCtrlValue = NewSCAP;
// SendCtrlToNext("SpeedCntrl", SpeedCtrlValue, CabNo);
}
}
}
@@ -5489,12 +5523,12 @@ double TMoverParameters::TractionForce( double dt ) {
eimv[eimv_Fzad] = PosRatio;
if ((Flat) && (eimc[eimc_p_F0] * eimv[eimv_Fful] > 0))
PosRatio = Min0R(PosRatio * eimc[eimc_p_F0] / eimv[eimv_Fful], 1);
/* if (ScndCtrlActualPos > 0) //speed control
/* if (SpeedCtrlValue > 0) //speed control
if (Vmax < 250)
PosRatio = Min0R(PosRatio, Max0R(-1, 0.5 * (ScndCtrlActualPos - Vel)));
PosRatio = Min0R(PosRatio, Max0R(-1, 0.5 * (SpeedCtrlValue - Vel)));
else
PosRatio =
Min0R(PosRatio, Max0R(-1, 0.5 * (ScndCtrlActualPos * 2 - Vel))); */
Min0R(PosRatio, Max0R(-1, 0.5 * (SpeedCtrlValue * 2 - Vel))); */
// PosRatio = 1.0 * (PosRatio * 0 + 1) * PosRatio; // 1 * 1 * PosRatio = PosRatio
Hamulec->SetED(0);
// (Hamulec as TLSt).SetLBP(LocBrakePress);
@@ -6475,15 +6509,106 @@ void TMoverParameters::CheckEIMIC(double dt)
eimic = clamp(eimic, -1.0, eimicpowerenabled ? 1.0 : 0.0);
}
void TMoverParameters::CheckSpeedCtrl()
void TMoverParameters::CheckSpeedCtrl(double dt)
{
if (ScndCtrlActualPos > 0) //speed control
if (Vmax < 250)
eimicSpeedCtrl = clamp(0.5 * (ScndCtrlActualPos - Vel), -1.0, 1.0);
else
eimicSpeedCtrl = clamp(0.5 * (ScndCtrlActualPos * 2 - Vel), -1.0, 1.0);
else
if (MainCtrlPos < MainCtrlPosNo - 2) {
SpeedCtrlUnit.Standby = true;
}
if (MainCtrlPos > MainCtrlPosNo - 1) {
SpeedCtrlUnit.Standby = false;
}
if (SpeedCtrlUnit.IsActive) {//speed control
if (EngineType == TEngineType::DieselEngine) {
if ((!SpeedCtrlUnit.Standby)) {
if (SpeedCtrlUnit.ManualStateOverride) {
if (MainCtrlPos < MainCtrlPosNo - 1) {
eimic = std::min(eimic, 0.0);
eimicSpeedCtrlIntegral = 0.0;
}
else if (eimic > 0.009) eimic = 1.0;
}
double error = (std::max(SpeedCtrlValue + SpeedCtrlUnit.Offset, 0.0) - Vel);
double factorP = error > 0 ? SpeedCtrlUnit.FactorPpos : SpeedCtrlUnit.FactorPneg;
double eSCP = clamp(factorP * error, -1.2, 1.0); //P module
if (eSCP < -1.0)
{
SpeedCtrlUnit.BrakeInterventionBraking = (eSCP < -1.1) && (Vel < hydro_TC_UnlockSpeed);
eSCP = -1.0;
}
SpeedCtrlUnit.BrakeInterventionUnbraking = (eSCP > 0.0) || (Vel == 0.0);
if (abs(eSCP) < 0.999) {
//TODO: check how to disable integral part when braking in smart way
//double factorI = eimicSpeedCtrlIntegral >= 0 ? SpeedCtrlUnit.FactorIpos : SpeedCtrlUnit.FactorIneg;
double factorI = eimicSpeedCtrlIntegral >= 0 ? SpeedCtrlUnit.FactorIpos : SpeedCtrlUnit.FactorIneg;
eimicSpeedCtrlIntegral = clamp(eimicSpeedCtrlIntegral + factorI * eSCP * dt, -1.0 + eSCP, 1.0 - eSCP);
}
else {
eimicSpeedCtrlIntegral = 0;
}
eimicSpeedCtrl = clamp(eimicSpeedCtrlIntegral + eSCP, -SpeedCtrlUnit.DesiredPower, SpeedCtrlUnit.DesiredPower);
if (Vel < SpeedCtrlUnit.FullPowerVelocity) {
eimicSpeedCtrl = std::min(eimicSpeedCtrl, SpeedCtrlUnit.InitialPower);
}
if ((Vel < SpeedCtrlUnit.StartVelocity) && (MainCtrlPos < MainCtrlPosNo)) {
eimicSpeedCtrl = 0;
eimic = 0;
}
}
else {
eimicSpeedCtrl = 1;
eimicSpeedCtrlIntegral = 0;
}
SpeedCtrlUnit.Parking = (Vel == 0.0) & (eimic <= 0);
SendCtrlToNext("SpeedCtrlUnit.Parking", SpeedCtrlUnit.Parking, CabNo);
}
else {
if (Vmax < 250)
eimicSpeedCtrl = clamp(0.5 * (SpeedCtrlValue - Vel), -1.0, 1.0);
else
eimicSpeedCtrl = clamp(0.5 * (SpeedCtrlValue * 2 - Vel), -1.0, 1.0);
}
}
else {
eimicSpeedCtrl = 1;
eimicSpeedCtrlIntegral = 0;
SpeedCtrlUnit.Parking = false;
}
}
void TMoverParameters::SpeedCtrlButton(int button)
{
if ((SpeedCtrl) && (ScndCtrlPos > 0)) {
SpeedCtrlValue = SpeedCtrlButtons[button];
}
}
void TMoverParameters::SpeedCtrlInc()
{
if ((SpeedCtrl) && (ScndCtrlPos > 0)) {
SpeedCtrlValue = std::min(SpeedCtrlValue + SpeedCtrlUnit.VelocityStep, SpeedCtrlUnit.MaxVelocity);
}
}
void TMoverParameters::SpeedCtrlDec()
{
if ((SpeedCtrl) && (ScndCtrlPos > 0)) {
SpeedCtrlValue = std::max(SpeedCtrlValue - SpeedCtrlUnit.VelocityStep, SpeedCtrlUnit.MinVelocity);
}
}
void TMoverParameters::SpeedCtrlPowerInc()
{
if ((SpeedCtrl) && (ScndCtrlPos > 0)) {
SpeedCtrlUnit.DesiredPower = std::min(SpeedCtrlUnit.DesiredPower + SpeedCtrlUnit.PowerStep, SpeedCtrlUnit.MaxPower);
}
}
void TMoverParameters::SpeedCtrlPowerDec()
{
if ((SpeedCtrl) && (ScndCtrlPos > 0)) {
SpeedCtrlUnit.DesiredPower = std::max(SpeedCtrlUnit.DesiredPower - SpeedCtrlUnit.PowerStep, SpeedCtrlUnit.MinPower);
}
}
// *************************************************************************************************
@@ -8489,6 +8614,14 @@ bool TMoverParameters::LoadFIZ(std::string chkpath)
continue;
}
if (issection("SpeedControl:", inputline))
{
startBPT = false;
fizlines.emplace("SpeedControl", inputline);
LoadFIZ_SpeedControl(inputline);
continue;
}
if( issection( "Engine:", inputline ) )
{
startBPT = false;
@@ -9240,14 +9373,6 @@ void TMoverParameters::LoadFIZ_Cntrl( std::string const &line ) {
extract_value( StopBrakeDecc, "SBD", line, "" );
// speed control
extract_value( SpeedCtrlDelay, "SpeedCtrlDelay", line, "" );
SpeedCtrlTypeTime =
(extract_value("SpeedCtrlType", line) == "Time") ?
true :
false;
extract_value(SpeedCtrlAutoTurnOffFlag, "SpeedCtrlATOF", line, "");
// converter
{
std::map<std::string, start_t> starts {
@@ -9426,6 +9551,51 @@ void TMoverParameters::LoadFIZ_Power( std::string const &Line ) {
LoadFIZ_PowerParamsDecode( SystemPowerSource, "", Line );
}
void TMoverParameters::LoadFIZ_SpeedControl(std::string const &Line) {
// speed control
SpeedCtrl = extract_value("SpeedCtrl", Line) == "Yes";
if ((!SpeedCtrl) && (EngineType == TEngineType::ElectricInductionMotor) && (ScndCtrlPosNo > 0)) //backward compatibility
SpeedCtrl = true;
extract_value(SpeedCtrlDelay, "SpeedCtrlDelay", Line, "");
SpeedCtrlTypeTime =
(extract_value("SpeedCtrlType", Line) == "Time") ?
true :
false;
extract_value(SpeedCtrlAutoTurnOffFlag, "SpeedCtrlATOF", Line, "");
auto speedpresets = Split(extract_value("SpeedButtons", Line), '|');
int speed_no = 0;
for (auto const &speed : speedpresets) {
SpeedCtrlButtons[speed_no++] = std::stod(speed);
if (speed_no > 9) break;
}
SpeedCtrlUnit.ManualStateOverride =
(extract_value("OverrideManual", Line) == "Yes") ?
true :
false;
SpeedCtrlUnit.BrakeIntervention =
(extract_value("BrakeIntervention", Line) == "Yes") ?
true :
false;
extract_value(SpeedCtrlUnit.InitialPower, "InitPwr", Line, "");
extract_value(SpeedCtrlUnit.FullPowerVelocity, "MaxPwrVel", Line, "");
extract_value(SpeedCtrlUnit.StartVelocity, "StartVel", Line, "");
extract_value(SpeedCtrlUnit.VelocityStep, "VelStep", Line, "");
extract_value(SpeedCtrlUnit.PowerStep, "PwrStep", Line, "");
extract_value(SpeedCtrlUnit.MinPower, "MinPwr", Line, "");
extract_value(SpeedCtrlUnit.MaxPower, "MaxPwr", Line, "");
extract_value(SpeedCtrlUnit.MinVelocity, "MinVel", Line, "");
extract_value(SpeedCtrlUnit.MaxVelocity, "MaxVel", Line, "");
extract_value(SpeedCtrlUnit.Offset, "Offset", Line, "");
extract_value(SpeedCtrlUnit.FactorPpos, "kPpos", Line, "");
extract_value(SpeedCtrlUnit.FactorPneg, "kPneg", Line, "");
extract_value(SpeedCtrlUnit.FactorIpos, "kIpos", Line, "");
extract_value(SpeedCtrlUnit.FactorIneg, "kIneg", Line, "");
}
void TMoverParameters::LoadFIZ_Engine( std::string const &Input ) {
EngineType = LoadFIZ_EngineDecode( extract_value( "EngineType", Input ) );
@@ -10879,8 +11049,13 @@ bool TMoverParameters::RunCommand( std::string Command, double CValue1, double C
}
else if (Command == "SpeedCntrl")
{
if ((EngineType == TEngineType::ElectricInductionMotor))
ScndCtrlActualPos = static_cast<int>(round(CValue1));
if ((EngineType == TEngineType::ElectricInductionMotor)||(SpeedCtrl))
SpeedCtrlValue = static_cast<int>(round(CValue1));
OK = SendCtrlToNext(Command, CValue1, CValue2, Couplertype);
}
else if (Command == "SpeedCtrlUnit.Parking")
{
SpeedCtrlUnit.Parking = static_cast<bool>(CValue1);
OK = SendCtrlToNext(Command, CValue1, CValue2, Couplertype);
}
else if (Command == "SpringBrakeActivate")