CIEngine.h

#pragma once
 
#include <string>
#include <fhsim/simobject/SimObject.h>
#include <fhsim/PrintDuringExec.h>
 
 
static const double gd_PI = 3.14159265358979323846;
 
//==================================================================================================
// Structs for model parameters that are read from xml file
//==================================================================================================
 
// GP
typedef struct
{
    double cp_air;  // Specific heat of air
    double cv_air;  // Specific heat of air
    double cp_ex;   // Specific heat of exhaust
    double cv_ex;   // Specific heat of exhaust
    double pAmb;    // Ambient pressure
    double TAmb;    // Ambient temperature
}GPModParType;
 
// CC
typedef struct
{
    double V_d;         // Displaced volume 1 cylinder
    double n_cyl;       // Number of cylinders
    double AFRStoich;   // Stoichiometric air to fuel ratio
    double Q_LHV;       // Fuel lower heating value
    double VolEff;      // Volumetric efficiency
    double CCEff;       // Combustion chamber efficiency
    double CR;          // Compression ratio
}CCModParType;
 
// InM
typedef struct
{
    double Vol;         // manifold volume
}InMModParType;
 
// ExM
typedef struct
{
    double Vol;         // manifold volume
}ExMModParType;
 
// CS
typedef struct
{
    double I_eng;       // Inertia of crankshaft and flywheel
    double M_fric_rps;  // Friction torque pr rps
}CSModParType;
 
// TC
typedef struct
{
    double Inertia;     // Inertia of TC and shaft
    double TrbEff;      // Turbine efficiency, should be implemented as map
    double CmpEff;      // Compressor efficiency, should be implemented as map
    double WGRef;       // Wastegate reference pressure
}TCModParType;
 
// IC
typedef struct
{
    double Eff;         // Intercooler efficiency
}ICModParType;
 
// Model parameters
typedef struct
{
    GPModParType    m_GP;   // Global Parameters
    CCModParType    m_CC;   // Combustion Chamber parameters
    InMModParType   m_InM;  // Intake manifold parameters
    ExMModParType   m_ExM;  // Exhaust manifold parameters
    CSModParType    m_CS;   // Crank shaft parameters
    TCModParType    m_TC;   // Turbo Charger parameters
    ICModParType    m_IC;   // Intercooler parameters
}ModParType;
 
//==================================================================================================
// Model input structs
//==================================================================================================
 
 
typedef struct
{
    ISignalPort* m_M_load;      // Torque load from prop shaft
    ISignalPort* m_N_eng_SP;    // Engine speed set-point
    ISignalPort* m_pInM_SP;     // Intake manifold pressure setpoint
    ISignalPort* m_MinLambda_SP;// Minimum allowed lambda setpoint
}ModelInType;
 
//==================================================================================================
// Model variables structs
//==================================================================================================
 
// CC
typedef struct CCMVT
{
    double IMEP;    // Indicated Mean Effective Pressure
    double IP;      // Indicated Power
    double M_CC;    // Torque to CS
    double W_InM;   // Mass flow intake manifold
    double T_ExP;   // Temperature flow exhaust port
    double X;       // Amount of exhaust gas
    double W_ExP;   // Mass flow exhaust port
    double W_fuel;  // Fuel mass flow
    double Lambda;  // Lambda
 
    CCMVT()
    {
        IMEP = IP = M_CC = W_InM = T_ExP = X = W_ExP = W_fuel = Lambda = 0;
    }
}CCModVarType;
 
// InM
typedef struct InMMVT
{
    double p;       // Pressure
    double T;       // Temperature
 
    InMMVT()
    {
        p = T = 0;
    }
}InMModVarType;
 
// ExM
typedef struct ExMMVT
{
    double p;       // Pressure
    double T;       // Temperature
 
    ExMMVT()
    {
        p = T = 0;
    }
}ExMModVarType;
 
// CS
typedef struct CSMVT
{
    double M_eng;   // Engine torque
    double N_eng;   // Engine speed
    double P_eng;   // Engine power
 
    CSMVT()
    {
        M_eng = N_eng = P_eng = 0;
    }
}CSModVarType;
 
// TC
typedef struct TCMVT
{
    double W_trb;   // Turbine mass flow
    double T_cmp;   // Compressor temperature outlet flow
    double W_cmp;   // Mass flow compressor
    double M_trb;   // Turbine torque
    double M_cmp;   // Compressor torque
    double N_TC;    // TC speed
    double k;       // k in compressor map calc
    double PR_trb;  // Pressure ratio turbine
    double PR_cmp;  // Pressure ratio compressor
 
    TCMVT()
    {
        W_trb = T_cmp = W_cmp = M_trb = M_cmp = N_TC = k = PR_trb = PR_cmp = 1;
    }
}TCModVarType;
 
// IC
typedef struct ICMVT
{
    double T_IC;    // Temperature IC outlet
 
    ICMVT()
    {
        T_IC = 1;
    }
}ICModVarType;
 
// ECU
typedef struct ECUMVT
{
    double FuelPrCycle; // Injected fuel pr combustion cycle
    double WGOpening;   // Waste gate opening setpoint
    double MaxFuelPrCycle;  // Max allowed fuel pr cycle
 
    ECUMVT()
    {
        WGOpening = 1;
        MaxFuelPrCycle = FuelPrCycle = 1e-3;
    }
}ECUModVarType;
 
// Model variables
typedef struct
{
    CCModVarType    m_CC;
    InMModVarType   m_InM;
    ExMModVarType   m_ExM;
    CSModVarType    m_CS;
    TCModVarType    m_TC;
    ICModVarType    m_IC;
    ECUModVarType   m_ECU;
}ModVarType;
 
//==================================================================================================
// Integrator anti windup type
//==================================================================================================
typedef struct
{
    double Lower;   // Lower saturation limit
    double Upper;   // Upper saturation limit
}IAWSatLimitType;
 
//==================================================================================================
// State definition
//==================================================================================================
typedef struct
{
    int mI_SIndex;          // The index of the state
    IAWSatLimitType m_AWL;  // Integrator anti windup saturation limit
    //double *pd_VarPtr;    // Pointer to model variable for this state
}StateType;
 
//==================================================================================================
// PI controller definition
//==================================================================================================
typedef struct
{
    double e;                   // Deviation
    double Kp;                  // Proortional gain
    double Ti;                  // Integral time
    IAWSatLimitType PIOutSatLim;// PI controller output saturation limits
}PIType;
 
//==================================================================================================
// Class definition
//==================================================================================================
 
class CCIEngine : public SimObject
{
public:
    CCIEngine(const std::string& simobjectname, ISimObjectCreator* const creator);
 
    // CC
    const double* out_CC_IMEP(const double T, const double* const X);
    const double* out_CC_IP(const double T, const double* const X);
    const double* out_CC_Lambda(const double T, const double* const X);
    const double* out_CC_M_CC(const double T, const double* const X);
    const double* out_CC_T_ExP(const double T, const double* const X);
    const double* out_CC_W_ExP(const double T, const double* const X);
    const double* out_CC_W_fuel(const double T, const double* const X);
    const double* out_CC_W_InM(const double T, const double* const X);
    const double* out_CC_X(const double T, const double* const X);
 
    // InM
    const double* out_InM_p(const double T, const double* const X);
 
    // ExM
    const double* out_ExM_p(const double T, const double* const X);
 
    // CS
    const double* out_CS_M_eng(const double T, const double* const X);
    const double* out_CS_N_eng(const double T, const double* const X);
    const double* out_CS_P_eng(const double T, const double* const X);
 
    // TC
    const double* out_TC_K_cmp(const double T, const double* const X);
    const double* out_TC_M_trb(const double T, const double* const X);
    const double* out_TC_M_cmp(const double T, const double* const X);
    const double* out_TC_PR_cmp(const double T, const double* const X);
    const double* out_TC_PR_trb(const double T, const double* const X);
    const double* out_TC_T_cmp(const double T, const double* const X);
    const double* out_TC_W_cmp(const double T, const double* const X);
    const double* out_TC_W_trb(const double T, const double* const X);
    const double* out_TC_N_TC(const double T, const double* const X);
 
    // IC
    const double* out_IC_T_IC(const double T, const double* const X);
 
    // ECU
    const double* out_ECU_FuelPrCyc(const double T, const double* const X);
    const double* out_ECU_MaxFuelPrCyc(const double T, const double* const X);
    const double* out_ECU_WGOpening(const double T, const double* const X);
 
    void OdeFcn(const double T, const double *const X, double *const XDot) const;
 
#ifdef FH_VISUALIZATION
 
    virtual void RenderInit(Ogre::Root* const ogreRoot, ISimObjectCreator* const creator);
 
    virtual void RenderUpdate(const double T, const double* const X);
#endif
 
protected:
    struct StateDerivatives
    {
        double p_InM = 0, p_ExM = 0, N_eng = 0, N_TC = 0, PI_N_eng = 0, PI_Lambda = 0, PI_WG = 0;
    };
 
    void EvaluateModel(const double T, const double* const X, StateDerivatives& derivatives) const;
 
    void Compute(const double T, const double* const X) const { EvaluateModel(T,X,m_Derivatives); }
 
    void EvaluateModelAt(const double T, const double* const X) const { m_compute->ComputeFunction(T,X); }
 
    bool LoadParameterFile(ISimObjectCreator* creator);
 
    // Integrator anti windup
    double IntegratorAntiWindup(const double* const adX, const StateType *p_StateInfo, double Dot) const;
 
    double CalcInM() const; // Inlet manifold calculations
    void CalcCC() const;        // Combustion chamber calculations
    double CalcExM() const; // Exhaust manifold calculations
    void CalcCompressor() const;    // Turbo charger compressor calculations
    void CalcTurbine() const;   // Turbo charger turbine calculations
    double CalcTC() const;  // Turbo charger shaft: N_TC_dot
    double CalcCS(const double T, const double* const X) const; // Crank shaft calculations
    void CalcIC() const;        // Intercooler calculations
    double CalcECUWG(const double T, const double* const X) const;  // ECU wastegate control
    double CalcECUMaxFuelPrCycle(const double T, const double* const X) const; // ECU Max allowed fuel pr cycle control
    double CalcECUFuelPrCycle(const double T, const double* const X) const;    // ECU fuel pr cycle controller
 
    // PI controller
    double PIController(PIType *p_PI, StateType *p_State, const double* const adX) const;
 
    ModParType m_ModPar;
 
    StateType mS_p_InM; // Pressure intake manifold
    StateType mS_p_ExM; // Pressure Exhaust manifold
    StateType mS_N_eng; // Engine speed
    StateType mS_N_TC;  // Turbo charger speed
 
    mutable StateType mS_PI_N_eng;  // Integrator for ECU PI speed controller
    mutable StateType mS_PI_Lambda; // Integrator for ECU Lambda controller
    mutable StateType mS_PI_WG;     // Integrator for ECU Wastegate opening controller
 
    ModelInType m_InMod;
 
    mutable ModVarType m_Var{}; // intermediate values of the last Compute
    mutable StateDerivatives m_Derivatives{}; // state derivatives of the last Compute
 
    ICommonComputation* m_compute = nullptr; // runs Compute once per (T, X)
 
    PrintDuringExec* m_Print; // Pointer to PrintDuringExec
 
#ifdef FH_VISUALIZATION
    Ogre::SceneNode*        m_RenderNode;   
#endif
};