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cleaned up HEV controls
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@calbaker
calbaker committed Jan 17, 2025
1 parent cb097f0 commit 9d090e3
Showing 1 changed file with 166 additions and 85 deletions.
251 changes: 166 additions & 85 deletions fastsim-core/src/vehicle/hev.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -558,6 +558,15 @@ impl Init for HEVPowertrainControls {
}

impl HEVPowertrainControls {
/// Determines power split between engine and electric machine
///
/// # Arguments
/// - `pwr_out_req`: tractive power required
/// - `veh_state`: vehicle state
/// - `hev_state`: HEV powertrain state
/// - `fc`: fuel converter
/// - `em_state`: electric machine state
/// - `res`: reversible energy storage (e.g. high voltage battery)
fn get_pwr_fc_and_em(
&mut self,
pwr_out_req: si::Power,
Expand All @@ -569,7 +578,10 @@ impl HEVPowertrainControls {
) -> anyhow::Result<(si::Power, si::Power)> {
let fc_state = &fc.state;
if pwr_out_req >= si::Power::ZERO {
// positive net power *out of* the powertrain -- i.e. positive net
// power out of powertrain, aka regen
ensure!(
// `almost` is in case of negligible numerical precision discrepancies
almost_le_uom(
&pwr_out_req,
&(em_state.pwr_mech_fwd_out_max + fc_state.pwr_prop_max),
Expand All @@ -587,96 +599,45 @@ impl HEVPowertrainControls {

// positive net power out of the powertrain
let (fc_pwr, em_pwr) = match self {
HEVPowertrainControls::RGWDB(ref mut rgwdb) => {
match (
fc.temperature(),
fc.temp_prev(),
rgwdb.temp_fc_forced_on,
rgwdb.temp_fc_allowed_off,
) {
(None, None, None, None) => {}
(
Some(temperature),
Some(temp_prev),
Some(temp_fc_forced_on),
Some(temp_fc_allowed_off),
) => {
if
// temperature is currently below forced on threshold
temperature < temp_fc_forced_on ||
// temperature was below forced on threshold and still has not exceeded allowed off threshold
(temp_prev < temp_fc_forced_on && temperature < temp_fc_allowed_off)
{
hev_state.fc_on_causes.push(FCOnCause::FCTemperatureTooLow);
}
}
_ => {
bail!(
"{}\n`fc.temperature()`, `fc.temp_prev()`, `rgwdb.temp_fc_forced_on`, and
`rgwdb.temp_fc_allowed_off` must all be `None` or `Some` because these controls are necessary
for an HEV equipped with thermal models or superfluous otherwise",
format_dbg!((fc.temperature(), fc.temp_prev(), rgwdb.temp_fc_forced_on, rgwdb.temp_fc_allowed_off))
);
}
}
// cannot exceed ElectricMachine max output power. Excess demand will be handled by `fc`
let em_pwr = pwr_out_req.min(em_state.pwr_mech_fwd_out_max);
let frac_pwr_demand_fc_forced_on: si::Ratio = rgwdb
.frac_pwr_demand_fc_forced_on
.with_context(|| format_dbg!())?;
Self::RGWDB(ref mut rgwdb) => {
handle_fc_on_causes_for_temp(fc, rgwdb, hev_state)?;
handle_fc_on_causes_for_speed(veh_state, rgwdb, hev_state)?;
handle_fc_on_causes_for_low_soc(res, rgwdb, hev_state, veh_state)?;
handle_fc_on_causes_for_pwr_demand(
rgwdb,
pwr_out_req,
em_state,
fc_state,
hev_state,
)?;

let frac_of_most_eff_pwr_to_run_fc: si::Ratio = rgwdb
.frac_of_most_eff_pwr_to_run_fc
.with_context(|| format_dbg!())?;
// If the motor cannot produce more than the required power times a
// `fc_pwr_frac_demand_forced_on`, then the engine should be on
if pwr_out_req
> frac_pwr_demand_fc_forced_on
* (em_state.pwr_mech_fwd_out_max + fc_state.pwr_out_max)
{
hev_state
.fc_on_causes
.push(FCOnCause::PropulsionPowerDemandSoft);
}

if veh_state.speed_ach
> rgwdb.speed_fc_forced_on.with_context(|| format_dbg!())?
{
hev_state.fc_on_causes.push(FCOnCause::VehicleSpeedTooHigh);
}

rgwdb.state.soc_fc_on_buffer = {
let energy_delta_to_buffer_speed = 0.5
* veh_state.mass
* (rgwdb
.speed_soc_fc_on_buffer
.with_context(|| format_dbg!())?
.powi(typenum::P2::new())
- veh_state.speed_ach.powi(typenum::P2::new()));
energy_delta_to_buffer_speed.max(si::Energy::ZERO)
* rgwdb
.speed_soc_fc_on_buffer_coeff
.with_context(|| format_dbg!())?
} / res.energy_capacity_usable()
+ res.min_soc;

if res.state.soc < rgwdb.state.soc_fc_on_buffer {
hev_state.fc_on_causes.push(FCOnCause::ChargingForLowSOC)
}
if pwr_out_req - em_state.pwr_mech_fwd_out_max >= si::Power::ZERO {
hev_state
.fc_on_causes
.push(FCOnCause::PropulsionPowerDemand);
}

// Tractive power `em` must provide before deciding power
// split, cannot exceed ElectricMachine max output power.
// Excess demand will be handled by `fc`. Favors drawing
// power from `em` before engine
let em_pwr = pwr_out_req.min(em_state.pwr_mech_fwd_out_max);
let fc_pwr: si::Power = if hev_state.fc_on_causes.is_empty() {
// engine does not need to be on
si::Power::ZERO
} else {
let fc_pwr_req = pwr_out_req - em_pwr;
// if the engine is on, load it up to get closer to peak efficiency
fc_pwr_req
.max(fc.pwr_for_peak_eff * frac_of_most_eff_pwr_to_run_fc)
// engine has been forced on
// power demand from engine before adjusting for efficient operating point
let mut fc_pwr_req = pwr_out_req - em_pwr;
// if the engine is on, load it up to get closer to peak
// efficiency
fc_pwr_req = fc_pwr_req
// can't exceed fc power limit
.min(fc.state.pwr_out_max)
.max(pwr_out_req)
// operate for efficiency if demand is less than this
.max(fc.pwr_for_peak_eff * frac_of_most_eff_pwr_to_run_fc);
// don't over charge the battery
if fc_pwr_req - pwr_out_req > em_state.pwr_mech_bwd_out_max {
fc_pwr_req = pwr_out_req + em_state.pwr_mech_bwd_out_max;
}
fc_pwr_req
};
// recalculate `em_pwr` based on `fc_pwr`
let em_pwr = pwr_out_req - fc_pwr;
Expand All @@ -687,20 +648,140 @@ for an HEV equipped with thermal models or superfluous otherwise",
);
(fc_pwr, em_pwr)
}
HEVPowertrainControls::Placeholder => todo!(),
Self::Placeholder => todo!(),
};

Ok((fc_pwr, em_pwr))
} else {
match self {
Self::RGWDB(rgwdb) => {
handle_fc_on_causes_for_temp(fc, rgwdb, hev_state)?;
handle_fc_on_causes_for_speed(veh_state, rgwdb, hev_state)?;
handle_fc_on_causes_for_low_soc(res, rgwdb, hev_state, veh_state)?;
}
Self::Placeholder => todo!(),
}
// negative net power out of the powertrain -- i.e. positive net
// power _into_ powertrain, aka regen
// power *into* powertrain, aka regen
// if `em_pwr` is less than magnitude of `pwr_out_req`, friction brakes can handle excess
let em_pwr = -em_state.pwr_mech_bwd_out_max.min(-pwr_out_req);
Ok((0. * uc::W, em_pwr))
}
}
}

/// Determines whether power demand requires engine to be on. Not needed during
/// negative traction.
fn handle_fc_on_causes_for_pwr_demand(
rgwdb: &mut Box<RESGreedyWithDynamicBuffers>,
pwr_out_req: si::Power,
em_state: &ElectricMachineState,
fc_state: &FuelConverterState,
hev_state: &mut HEVState,
) -> Result<(), anyhow::Error> {
let frac_pwr_demand_fc_forced_on: si::Ratio = rgwdb
.frac_pwr_demand_fc_forced_on
.with_context(|| format_dbg!())?;
if pwr_out_req
> frac_pwr_demand_fc_forced_on * (em_state.pwr_mech_fwd_out_max + fc_state.pwr_out_max)
{
hev_state
.fc_on_causes
.push(FCOnCause::PropulsionPowerDemandSoft);
}
if pwr_out_req - em_state.pwr_mech_fwd_out_max >= si::Power::ZERO {
hev_state
.fc_on_causes
.push(FCOnCause::PropulsionPowerDemand);
}
Ok(())
}

/// Detemrines whether engine must be on to charge battery
fn handle_fc_on_causes_for_low_soc(
res: &ReversibleEnergyStorage,
rgwdb: &mut Box<RESGreedyWithDynamicBuffers>,
hev_state: &mut HEVState,
veh_state: VehicleState,
) -> anyhow::Result<()> {
rgwdb.state.soc_fc_on_buffer = {
let energy_delta_to_buffer_speed = 0.5
* veh_state.mass
* (rgwdb
.speed_soc_fc_on_buffer
.with_context(|| format_dbg!())?
.powi(typenum::P2::new())
- veh_state.speed_ach.powi(typenum::P2::new()));
energy_delta_to_buffer_speed.max(si::Energy::ZERO)
* rgwdb
.speed_soc_fc_on_buffer_coeff
.with_context(|| format_dbg!())?
} / res.energy_capacity_usable()
+ res.min_soc;
if res.state.soc < rgwdb.state.soc_fc_on_buffer {
hev_state.fc_on_causes.push(FCOnCause::ChargingForLowSOC)
}
Ok(())
}

/// Determines whether enigne must be on for high speed
fn handle_fc_on_causes_for_speed(
veh_state: VehicleState,
rgwdb: &mut Box<RESGreedyWithDynamicBuffers>,
hev_state: &mut HEVState,
) -> anyhow::Result<()> {
if veh_state.speed_ach > rgwdb.speed_fc_forced_on.with_context(|| format_dbg!())? {
hev_state.fc_on_causes.push(FCOnCause::VehicleSpeedTooHigh);
}
Ok(())
}

/// Determines whether engine needs to be on due to low temperature and pushes
/// appropriate variant to `fc_on_causes`
fn handle_fc_on_causes_for_temp(
fc: &FuelConverter,
rgwdb: &mut Box<RESGreedyWithDynamicBuffers>,
hev_state: &mut HEVState,
) -> anyhow::Result<()> {
match (
fc.temperature(),
fc.temp_prev(),
rgwdb.temp_fc_forced_on,
rgwdb.temp_fc_allowed_off,
) {
(None, None, None, None) => {}
(
Some(temperature),
Some(temp_prev),
Some(temp_fc_forced_on),
Some(temp_fc_allowed_off),
) => {
if
// temperature is currently below forced on threshold
temperature < temp_fc_forced_on ||
// temperature was below forced on threshold and still has not exceeded allowed off threshold
(temp_prev < temp_fc_forced_on && temperature < temp_fc_allowed_off)
{
hev_state.fc_on_causes.push(FCOnCause::FCTemperatureTooLow);
}
}
_ => {
bail!(
"{}\n`fc.temperature()`, `fc.temp_prev()`, `rgwdb.temp_fc_forced_on`, and
`rgwdb.temp_fc_allowed_off` must all be `None` or `Some` because these controls are necessary
for an HEV equipped with thermal models or superfluous otherwise",
format_dbg!((
fc.temperature(),
fc.temp_prev(),
rgwdb.temp_fc_forced_on,
rgwdb.temp_fc_allowed_off
))
);
}
}
Ok(())
}

/// Greedily uses [ReversibleEnergyStorage] with buffers that derate charge
/// and discharge power inside of static min and max SOC range. Also, includes
/// buffer for forcing [FuelConverter] to be active/on. See [Self::init] for
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