def ConservativeLaw(self, flux_variables, output_variable):
if output_variable == self.variable:
v1 = Variable(hidden='True')
b1 = WeightedSum(flux_variables, v1, [1] * len(flux_variables),
-self.friction)
b2 = ODE(v1, self.variable, [1], [self.SCx, self.mass])
return [b1, b2]
else:
v1 = Variable(hidden='True')
b1 = ODE(self.variable, v1, [self.SCx, self.mass], [1])
b2 = WeightedSum([v1] + flux_variables, output_variable,
[1] + [-1] * len(flux_variables), self.friction)
return [b1, b2]
def partial_dynamic_system(self, ieq, variable):
"""
returns dynamical system blocks associated to output variable
"""
if ieq == 0:
# Soc determination
# soc=1-UI/CP
v1 = Variable('UI', hidden=True) # UI
v2 = Variable('UI/CP', hidden=True) # UI/CP
v3 = Variable('soc0-UI/CP', hidden=True) # soc0-UI/CP
b1 = Product(self.u, self.variables[0], v1)
b2 = ODE(v1, v2, [1], [1, self.c])
b3 = WeightedSum([v2], v3, [-1], self.initial_soc)
b4 = Saturation(v3, self.soc, 0, 1)
b5 = WeightedSum([self.soc], self.u, [self.u_max - self.u_min],
self.u_min)
blocks = [b1, b2, b3, b4, b5]
# U2-U1=U+Ri1
# U=soc(Umax-Umin)+Umin
if variable == self.physical_nodes[0].variable:
print('Bat0#1')
# U1 is output
# U1=-U-Ri1+U2
blocks.append(
WeightedSum([
self.u, self.variables[0], self.physical_nodes[1].variable
], variable, [-1, -self.r, 1]))
elif variable == self.physical_nodes[1].variable:
print('Bat0#2')
# U2 is output
# U2=U1+Ri1+U
blocks.append(
WeightedSum([
self.physical_nodes[0].variable, self.variables[0], self.u
], variable, [1, self.r, 1]))
elif variable == self.variables[0]:
print('Bat0#3')
# i1 is output
# i1=(-U1+U2-U)/R
blocks.append(
WeightedSum([
self.physical_nodes[0].variable,
self.physical_nodes[1].variable, self.u
], variable, [-1 / self.r, 1 / self.r, -1 / self.r]))
return blocks
def __init__(self,
node1,
wmin,
wmax,
Tmax_map,
fuel_flow_map,
name='Thermal engine'):
occurence_matrix = np.array([[0, 1]])
command = Variable('Requested engine throttle')
self.wmin = wmin
self.wmax = wmax
self.Tmax = Tmax_map
self.fuel_flow_map = fuel_flow_map
self.max_torque = Variable('max torque')
self.throttle = Variable('Engine throttle')
PhysicalBlock.__init__(self, [node1], [0], occurence_matrix, [command],
name)
def PartialDynamicSystem(self, ieq, variable):
"""
returns dynamical system blocks associated to output variable
"""
if ieq == 0:
if variable == self.physical_nodes[0].variable:
print('1')
# U1 is output
# U1=i1/pC+U2
Uc = Variable(hidden=True)
block1 = ODE(self.variables[0], Uc, [1], [0, self.C])
sub1 = Sum([self.physical_nodes[1].variable, Uc], variable)
return [block1, sub1]
elif variable == self.physical_nodes[1].variable:
print('2')
# U2 is output
# U2=U1-i1/pC
Uc = Variable(hidden=True)
block1 = ODE(self.variables[0], Uc, [-1], [0, self.C])
sum1 = Sum([self.physical_nodes[0].variable, Uc], variable)
return [block1, sum1]
# elif variable==self.variables[0]:
# print('3')
# # i1 is output
# # i1=pC(U1-U2)
# ic=Variable(hidden=True)
# subs1=Subtraction(self.physical_nodes[0].variable,self.physical_nodes[1].variable,ic)
# block1=ODE(ic,variable,[0,self.C],[1])
# return [block1,subs1]
elif ieq == 1:
# i1=-i2
if variable == self.variables[0]:
# i1 as output
# print('Bat1#0')
return [Gain(self.variables[1], self.variables[0], -1)]
elif variable == self.variables[1]:
# i2 as output
# print('Bat1#1')
return [Gain(self.variables[0], self.variables[1], -1)]
def __init__(self,
node1,
node2,
u_min,
u_max,
c,
initial_soc,
r,
name='Battery'):
# 1st eq: U2=signal, U1=0
occurrence_matrix = np.array([[1, 1, 1, 0], [0, 1, 0, 1]])
# occurrence_matrix=np.array([[1,1,1,0]]) # 1st eq: U2=signal, U1=0
PhysicalBlock.__init__(self, [node1, node2], [0, 1], occurrence_matrix,
[], name)
self.u_max = u_max
self.u_min = u_min
self.c = c
self.r = r
self.initial_soc = initial_soc
self.soc = Variable('Battery SoC', [initial_soc])
self.u = Variable('Battery voltage')
def PartialDynamicSystem(self, ieq, variable):
"""
returns dynamical system blocks associated to output variable
"""
if ieq == 0:
# C1=-f*Tmax*sign(w1-w2)
if variable == self.variables[0]:
ut = Variable('unsigned clutch friction torque', hidden=True)
b1 = Gain(self.commands[0], ut, self.Tmax)
dw = Variable('Delta rotationnal speed', hidden=True)
sdw = Variable('Sign of delta rotationnal speed')
b2 = WeightedSum([
self.physical_nodes[0].variable,
self.physical_nodes[1].variable
], dw, [-1, 1])
b3 = Sign(dw, sdw)
b4 = Product(ut, sdw, variable)
return [b1, b2, b3, b4]
elif ieq == 1:
# C1=-C2
if variable == self.variables[0]:
return [Gain(self.variables[1], variable, -1)]
if variable == self.variables[1]:
return [Gain(self.variables[0], variable, -1)]
def partial_dynamic_system(self, ieq, variable):
"""
returns dynamical system blocks associated to output variable
"""
if ieq == 0:
# if variable==self.physical_nodes[0].variable:
# print('1')
# # U1 is output
# # U1=i1/pC+U2
# Uc=Variable(hidden=True)
# block1=ODE(self.variables[0],Uc,[1],[0,self.C])
# sub1=Sum([self.physical_nodes[1].variable,Uc],variable)
# return [block1,sub1]
# elif variable==self.physical_nodes[1].variable:
# print('2')
# # U2 is output
# # U2=U1-i1/pC
# Uc=Variable(hidden=True)
# block1=ODE(self.variables[0],Uc,[-1],[0,self.C])
# sum1=Sum([self.physical_nodes[0].variable,Uc],variable)
# return [block1,sum1]
if variable == self.variables[0]: # i1=(u1-u2)/Lp
print('3')
# i1 is output
# i1=pC(U1-U2)
uc = Variable(hidden=True)
subs1 = Subtraction(
self.physical_nodes[0].variable, self.physical_nodes[1].variable, uc)
block1 = ODE(uc, variable, [1], [0, self.L])
return [block1, subs1]
elif ieq == 1:
# i1=-i2
if variable == self.variables[0]:
# i1 as output
return [Gain(self.variables[1], self.variables[0], -1)]
elif variable == self.variables[1]:
# i2 as output
return [Gain(self.variables[0], self.variables[1], -1)]
def __init__(self, node1, Tmax, name='Brake'):
occurence_matrix = np.array([[0, 1]])
command = Variable('Brake command')
self.Tmax = Tmax
PhysicalBlock.__init__(self, [node1], [0], occurence_matrix, [command],
name)
def __init__(self, node1, node2, Tmax, name='Clutch'):
occurence_matrix = np.array([[0, 1, 0, 0], [0, 1, 0, 1]])
command = Variable('Clutch command')
self.Tmax = Tmax
PhysicalBlock.__init__(self, [node1, node2], [0, 1], occurence_matrix,
[command], name)