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Adjusting reported Latent Data fields for electrohydraulic PTO #162

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merged 6 commits into from
Sep 15, 2023
Merged

Adjusting reported Latent Data fields for electrohydraulic PTO #162

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1acea31
Added Shaft Mechanical Power to Latent Data
hamilton8415 Sep 13, 2023
721ce7e
Added additional loss terms to electrohydraulic latent data
hamilton8415 Sep 13, 2023
0f24cce
Resolved signs with supplied hydraulic power
hamilton8415 Sep 13, 2023
64a5198
Fixed bug in relief valve loss computation
hamilton8415 Sep 13, 2023
4cfbdb4
Adjusted fields
hamilton8415 Sep 14, 2023
da31486
Fixed formating for linters
hamilton8415 Sep 14, 2023
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63 changes: 0 additions & 63 deletions buoy_gazebo/src/ElectroHydraulicPTO/ElectroHydraulicLoss.hpp
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56 changes: 24 additions & 32 deletions buoy_gazebo/src/ElectroHydraulicPTO/ElectroHydraulicPTO.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,7 +44,6 @@

#include "ElectroHydraulicSoln.hpp"
#include "ElectroHydraulicState.hpp"
#include "ElectroHydraulicLoss.hpp"
#include "BatteryState.hpp"

#include <LatentData/LatentData.hpp>
Expand Down Expand Up @@ -265,18 +264,6 @@ void ElectroHydraulicPTO::PreUpdate(
pto_state = buoy_gazebo::ElectroHydraulicState(pto_state_comp->Data());
}

buoy_gazebo::ElectroHydraulicLoss pto_loss;
if (_ecm.EntityHasComponentType(
this->dataPtr->PrismaticJointEntity,
buoy_gazebo::components::ElectroHydraulicLoss().TypeId()))
{
auto pto_loss_comp =
_ecm.Component<buoy_gazebo::components::ElectroHydraulicLoss>(
this->dataPtr->PrismaticJointEntity);

pto_loss = buoy_gazebo::ElectroHydraulicLoss(pto_loss_comp->Data());
}

buoy_gazebo::LatentData latent_data;
if (_ecm.EntityHasComponentType(
this->dataPtr->model.Entity(),
Expand Down Expand Up @@ -421,26 +408,35 @@ void ElectroHydraulicPTO::PreUpdate(
pto_state.target_a = this->dataPtr->functor.I_Wind.I;


pto_loss.hydraulic_motor_loss += 1.0;
pto_loss.relief_valve_loss += 2.0;
pto_loss.motor_drive_i2r_loss =
this->dataPtr->functor.MotorDriveISquaredRLoss(this->dataPtr->functor.I_Wind.I);
pto_loss.motor_drive_switching_loss = this->dataPtr->functor.MotorDriveSwitchingLoss(VBus);
pto_loss.motor_drive_friction_loss = this->dataPtr->functor.MotorDriveFrictionLoss(N);
pto_loss.battery_i2r_loss = I_Batt * I_Batt * this->dataPtr->Ri;

double piston_force = -deltaP * this->dataPtr->PistonArea * buoy_utils::NEWTONS_PER_LB;

latent_data.electro_hydraulic.valid = true;
latent_data.electro_hydraulic.inst_power = VBus * (I_Batt + I_Load);
latent_data.electro_hydraulic.rpm = N;
latent_data.electro_hydraulic.upper_hydraulic_pressure =
pto_state.upper_hyd_press * buoy_utils::PASCAL_PER_PSI;
latent_data.electro_hydraulic.lower_hydraulic_pressure =
pto_state.lower_hyd_press * buoy_utils::PASCAL_PER_PSI;
latent_data.electro_hydraulic.force = piston_force;
latent_data.electro_hydraulic.motor_drive_i2r_loss = pto_loss.motor_drive_i2r_loss;
latent_data.electro_hydraulic.motor_drive_switching_loss = pto_loss.motor_drive_switching_loss;
latent_data.electro_hydraulic.motor_drive_friction_loss = pto_loss.motor_drive_friction_loss;
latent_data.electro_hydraulic.battery_i2r_loss = pto_loss.battery_i2r_loss;
latent_data.electro_hydraulic.eff_m = eff_m;
latent_data.electro_hydraulic.eff_v = eff_v;
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latent_data.electro_hydraulic.supplied_hydraulic_power =
-deltaP * this->dataPtr->functor.Q / buoy_utils::INLB_PER_NM;
latent_data.electro_hydraulic.hydraulic_motor_loss =
this->dataPtr->functor.HydraulicMotorLoss;
latent_data.electro_hydraulic.relief_valve_loss =
this->dataPtr->functor.ReliefValveLoss;
latent_data.electro_hydraulic.shaft_mech_power =
this->dataPtr->functor.ShaftMechPower;
latent_data.electro_hydraulic.motor_drive_i2r_loss =
this->dataPtr->functor.I2RLoss;
latent_data.electro_hydraulic.motor_drive_switching_loss =
this->dataPtr->functor.SwitchingLoss;
latent_data.electro_hydraulic.motor_drive_friction_loss =
this->dataPtr->functor.FrictionLoss;
latent_data.electro_hydraulic.load_dump_power =
I_Load * VBus;
latent_data.electro_hydraulic.battery_i2r_loss =
I_Batt * I_Batt * this->dataPtr->Ri;
latent_data.electro_hydraulic.battery_storage_power =
I_Batt * VBus - latent_data.electro_hydraulic.battery_i2r_loss;

_ecm.SetComponentData<buoy_gazebo::components::BatteryState>(
this->dataPtr->PrismaticJointEntity,
Expand All @@ -452,10 +448,6 @@ void ElectroHydraulicPTO::PreUpdate(

auto stampMsg = gz::sim::convert<gz::msgs::Time>(_info.simTime);

_ecm.SetComponentData<buoy_gazebo::components::ElectroHydraulicLoss>(
this->dataPtr->PrismaticJointEntity,
pto_loss);

_ecm.SetComponentData<buoy_gazebo::components::LatentData>(
this->dataPtr->model.Entity(),
latent_data);
Expand Down
29 changes: 20 additions & 9 deletions buoy_gazebo/src/ElectroHydraulicPTO/ElectroHydraulicSoln.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -110,6 +110,13 @@ struct ElectroHydraulicSoln : Functor<double>
mutable double BusPower;
double Q;

mutable double ShaftMechPower;
mutable double FrictionLoss;
mutable double SwitchingLoss;
mutable double I2RLoss;
mutable double ReliefValveLoss;
mutable double HydraulicMotorLoss;

private:
static const std::vector<double> Peff; // psi
static const std::vector<double> Neff; // rpm
Expand Down Expand Up @@ -170,28 +177,32 @@ struct ElectroHydraulicSoln : Functor<double>
const double T_applied =
1.375 * this->I_Wind.TorqueConstantInLbPerAmp * WindCurr;

double ShaftMechPower = T_applied * buoy_utils::NM_PER_INLB *
ShaftMechPower = -T_applied * buoy_utils::NM_PER_INLB *
x[0U] * buoy_utils::RPM_TO_RAD_PER_SEC;
BusPower = -ShaftMechPower - (
MotorDriveFrictionLoss(x[0U]) +
MotorDriveSwitchingLoss(x[2U]) +
MotorDriveISquaredRLoss(WindCurr));
FrictionLoss = MotorDriveFrictionLoss(x[0U]);
SwitchingLoss = MotorDriveSwitchingLoss(x[2U]);
I2RLoss = MotorDriveISquaredRLoss(WindCurr);
BusPower = ShaftMechPower - (FrictionLoss + SwitchingLoss + I2RLoss);
double Q_Relief = 0;
if (x[1U] < -PressReliefSetPoint) { // Pressure relief is a one wave valve,
// relieves when lower pressure is higher
// than upper (resisting extension)
Q_Relief = (x[1U] + PressReliefSetPoint) * ReliefValveFlowPerPSI *
buoy_utils::CubicInchesPerGallon / buoy_utils::SecondsPerMinute;
}
// Q_Relief = 0;
ReliefValveLoss = Q_Relief * x[1U] / buoy_utils::INLB_PER_NM; // Result is Watts

double Q_Motor = this->Q - Q_Relief;
double Q = x[0U] * this->HydMotorDisp / buoy_utils::SecondsPerMinute;
double Q_Leak = (1.0 - eff_v) * std::max(fabs(Q_Motor), fabs(Q)) * sgn(x[1]);
double Q_Ideal = x[0U] * this->HydMotorDisp / buoy_utils::SecondsPerMinute;
double Q_Leak = (1.0 - eff_v) * std::max(fabs(Q_Motor), fabs(Q_Ideal)) * sgn(x[1]);

double T_Fluid = x[1U] * this->HydMotorDisp / (2.0 * M_PI);
double T_Friction = -(1.0 - eff_m) * std::max(fabs(T_applied), fabs(T_Fluid)) * sgn(x[0]);

fvec[0U] = Q_Motor - Q_Leak - Q;
HydraulicMotorLoss = Q_Leak * x[1U] / buoy_utils::INLB_PER_NM - // Result is Watts
T_Friction * x[0U] * 2.0 * M_PI / (buoy_utils::INLB_PER_NM * buoy_utils::SecondsPerMinute);

fvec[0U] = Q_Motor - Q_Leak - Q_Ideal;
fvec[1U] = T_applied + T_Friction + T_Fluid;
fvec[2U] = BusPower - (x[2U] - VBattEMF) * x[2U] / this->Ri;

Expand Down
27 changes: 19 additions & 8 deletions buoy_gazebo/src/LatentData/LatentData/LatentData.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -107,27 +107,38 @@ struct AirSpring
struct ElectroHydraulic
{
bool valid{false};
double inst_power{0.0}; // Watts
double rpm{0.0};
double upper_hydraulic_pressure{0.0}; // Pa
double lower_hydraulic_pressure{0.0}; // Pa
double force{0.0}; // Newtons
double supplied_hydraulic_power{0.0}; // Watts
double hydraulic_motor_loss{0.0}; // Watts
double relief_valve_loss{0.0}; // Watts
double shaft_mech_power{0.0}; // Watts
double motor_drive_i2r_loss{0.0}; // Watts
double motor_drive_friction_loss{0.0}; // Watts
double motor_drive_switching_loss{0.0}; // Watts
double motor_drive_friction_loss{0.0}; // Watts
double load_dump_power{0.0}; // Watts
double battery_i2r_loss{0.0}; // Watts
double eff_m{0.0}; // mechanical efficiency
double eff_v{0.0}; // volumetric efficiency
double battery_storage_power{0.0}; // Watts

bool operator==(const ElectroHydraulic & that) const
{
bool equal = (this->valid == that.valid);
equal &= fabs(this->inst_power - that.inst_power) < 1e-7F;
equal &= fabs(this->rpm - that.rpm) < 1e-7F;
equal &= fabs(this->upper_hydraulic_pressure - that.upper_hydraulic_pressure) < 1e-7F;
equal &= fabs(this->lower_hydraulic_pressure - that.lower_hydraulic_pressure) < 1e-7F;
equal &= fabs(this->force - that.force) < 1e-7F;
equal &= fabs(this->supplied_hydraulic_power - that.supplied_hydraulic_power) < 1e-7F;
equal &= fabs(this->hydraulic_motor_loss - that.hydraulic_motor_loss) < 1e-7F;
equal &= fabs(this->relief_valve_loss - that.relief_valve_loss) < 1e-7F;
equal &= fabs(this->shaft_mech_power - that.shaft_mech_power) < 1e-7F;
equal &= fabs(this->motor_drive_i2r_loss - that.motor_drive_i2r_loss) < 1e-7F;
equal &= fabs(this->motor_drive_friction_loss - that.motor_drive_friction_loss) < 1e-7F;
equal &= fabs(this->motor_drive_switching_loss - that.motor_drive_switching_loss) < 1e-7F;
equal &= fabs(this->motor_drive_friction_loss - that.motor_drive_friction_loss) < 1e-7F;
equal &= fabs(this->load_dump_power - that.load_dump_power) < 1e-7F;
equal &= fabs(this->battery_i2r_loss - that.battery_i2r_loss) < 1e-7F;
equal &= fabs(this->eff_m - that.eff_m) < 1e-7F;
equal &= fabs(this->eff_v - that.eff_v) < 1e-7F;
equal &= fabs(this->battery_storage_power - that.battery_storage_power) < 1e-7F;

return equal;
}
Expand Down
22 changes: 16 additions & 6 deletions buoy_gazebo/src/LatentData/LatentData/LatentDataPublisher.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -265,24 +265,34 @@ void LatentDataPublisher::PostUpdate(
this->dataPtr->latent_data_.lower_spring.piston_velocity =
latent_data.lower_spring.piston_velocity;

this->dataPtr->latent_data_.electro_hydraulic.inst_power =
latent_data.electro_hydraulic.inst_power;
this->dataPtr->latent_data_.electro_hydraulic.rpm =
latent_data.electro_hydraulic.rpm;
this->dataPtr->latent_data_.electro_hydraulic.upper_hydraulic_pressure =
latent_data.electro_hydraulic.upper_hydraulic_pressure;
this->dataPtr->latent_data_.electro_hydraulic.lower_hydraulic_pressure =
latent_data.electro_hydraulic.lower_hydraulic_pressure;
this->dataPtr->latent_data_.electro_hydraulic.force =
latent_data.electro_hydraulic.force;
this->dataPtr->latent_data_.electro_hydraulic.supplied_hydraulic_power =
latent_data.electro_hydraulic.supplied_hydraulic_power;
this->dataPtr->latent_data_.electro_hydraulic.hydraulic_motor_loss =
latent_data.electro_hydraulic.hydraulic_motor_loss;
this->dataPtr->latent_data_.electro_hydraulic.relief_valve_loss =
latent_data.electro_hydraulic.relief_valve_loss;
this->dataPtr->latent_data_.electro_hydraulic.shaft_mech_power =
latent_data.electro_hydraulic.shaft_mech_power;
this->dataPtr->latent_data_.electro_hydraulic.motor_drive_i2r_loss =
latent_data.electro_hydraulic.motor_drive_i2r_loss;
this->dataPtr->latent_data_.electro_hydraulic.motor_drive_switching_loss =
latent_data.electro_hydraulic.motor_drive_switching_loss;
this->dataPtr->latent_data_.electro_hydraulic.motor_drive_friction_loss =
latent_data.electro_hydraulic.motor_drive_friction_loss;
this->dataPtr->latent_data_.electro_hydraulic.load_dump_power =
latent_data.electro_hydraulic.load_dump_power;
this->dataPtr->latent_data_.electro_hydraulic.battery_i2r_loss =
latent_data.electro_hydraulic.battery_i2r_loss;
this->dataPtr->latent_data_.electro_hydraulic.eff_m =
latent_data.electro_hydraulic.eff_m;
this->dataPtr->latent_data_.electro_hydraulic.eff_v =
latent_data.electro_hydraulic.eff_v;
this->dataPtr->latent_data_.electro_hydraulic.battery_storage_power =
latent_data.electro_hydraulic.battery_storage_power;

this->dataPtr->latent_data_.wave_body.buoyancy.force.x =
latent_data.wave_body.buoyant_force.X();
Expand Down
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