further improvements
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This commit is contained in:
Marius Eggert 2023-07-31 11:51:03 +02:00
parent 0bfd31bc7e
commit bc9bb06f2d
2 changed files with 67 additions and 19 deletions

View File

@ -43,6 +43,12 @@ ReturnValue_t PowerController::getParameter(uint8_t domainId, uint8_t parameterI
case 0x1:
parameterWrapper->set(batteryMaximumCapacity);
break;
case 0x2:
parameterWrapper->set(coulombCounterVoltageUpperThreshold);
break;
case 0x3:
parameterWrapper->set(maxAllowedTimeDiff);
break;
default:
return INVALID_IDENTIFIER_ID;
}
@ -119,7 +125,16 @@ void PowerController::calculateStateOfCharge() {
ReturnValue_t result = updateEpsData();
if (result != returnvalue::OK) {
triggerEvent(power::DATASET_READ_FAILED);
sif::info << "Power Controller::Reading of Datasets has failed" << std::endl;
sif::error << "Power Controller::Reading of Datasets has failed" << std::endl;
{
PoolReadGuard pg(&pwrCtrlCoreHk);
if (pg.getReadResult() == returnvalue::OK) {
pwrCtrlCoreHk.totalBatteryCurrent.value = INVALID_TOTAL_BATTERY_CURRENT;
pwrCtrlCoreHk.openCircuitVoltageCharge.value = INVALID_SOC;
pwrCtrlCoreHk.coulombCounterCharge.value = INVALID_SOC;
pwrCtrlCoreHk.setValidity(false, true);
}
}
return;
}
@ -127,7 +142,22 @@ void PowerController::calculateStateOfCharge() {
iBat = p60CoreHk.batteryCurrent.value + bpxBatteryHk.heaterCurrent.value +
bpxBatteryHk.dischargeCurrent.value;
calculateOpenCircuitVoltageCharge();
result = calculateOpenCircuitVoltageCharge();
if (result != returnvalue::OK) {
// notifying events have already been triggered
{
PoolReadGuard pg(&pwrCtrlCoreHk);
if (pg.getReadResult() == returnvalue::OK) {
pwrCtrlCoreHk.totalBatteryCurrent.value = iBat;
pwrCtrlCoreHk.totalBatteryCurrent.setValid(true);
pwrCtrlCoreHk.openCircuitVoltageCharge.value = INVALID_SOC;
pwrCtrlCoreHk.openCircuitVoltageCharge.setValid(false);
pwrCtrlCoreHk.coulombCounterCharge.value = INVALID_SOC;
pwrCtrlCoreHk.coulombCounterCharge.setValid(false);
}
}
return;
}
calculateCoulombCounterCharge();
// commit to dataset
@ -145,38 +175,35 @@ void PowerController::calculateStateOfCharge() {
oldTime = now;
}
void PowerController::calculateOpenCircuitVoltageCharge() {
ReturnValue_t PowerController::calculateOpenCircuitVoltageCharge() {
float vBatCorrected = p60CoreHk.batteryVoltage.value - iBat * batteryInternalResistance;
if (vBatCorrected >= lookUpTableOcv[1][100]) {
triggerEvent(power::VOLTAGE_OUT_OF_BOUNDS, 0);
sif::error << "Power Controller::Voltage is too high" << std::endl;
return;
} else if (vBatCorrected <= lookUpTableOcv[1][0]) {
triggerEvent(power::VOLTAGE_OUT_OF_BOUNDS, 1);
sif::error << "Power Controller::Voltage is too low" << std::endl;
return;
}
uint8_t lookUpTableIdx = 99;
while (lookUpTableOcv[1][lookUpTableIdx] > vBatCorrected) {
lookUpTableIdx--;
ReturnValue_t result = lookUpTableOcvIdxFinder(vBatCorrected, lookUpTableIdx);
if (result != returnvalue::OK) {
return result;
}
openCircuitVoltageCharge = linearInterpolation(
vBatCorrected, lookUpTableOcv[1][lookUpTableIdx], lookUpTableOcv[1][lookUpTableIdx + 1],
lookUpTableOcv[0][lookUpTableIdx], lookUpTableOcv[0][lookUpTableIdx + 1]);
return returnvalue::OK;
}
void PowerController::calculateCoulombCounterCharge() {
ReturnValue_t PowerController::calculateCoulombCounterCharge() {
if ((pwrCtrlCoreHk.coulombCounterCharge.value == 0) or
(p60CoreHk.batteryVoltage.value > coulombCounterVoltageUpperThreshold and
pwrCtrlCoreHk.coulombCounterCharge.value >= coulombCounterChargeUpperThreshold)) {
coulombCounterCharge = openCircuitVoltageCharge;
return returnvalue::OK;
}
else {
double timeDiff = timevalOperations::toDouble(now - oldTime);
if (timeDiff < maxAllowedTimeDiff) {
coulombCounterCharge = pwrCtrlCoreHk.coulombCounterCharge.value + iBat * timeDiff;
return returnvalue::OK;
}
}
return returnvalue::FAILED;
}
ReturnValue_t PowerController::updateEpsData() {
@ -216,3 +243,19 @@ float PowerController::charge2stateOfCharge(float capacity) {
float PowerController::linearInterpolation(float x, float x0, float x1, float y0, float y1) {
return y0 + (x - x0) * (y1 - y0) / (x1 - x0);
}
ReturnValue_t PowerController::lookUpTableOcvIdxFinder(float voltage, uint8_t &idx) {
if (voltage >= lookUpTableOcv[1][100]) {
triggerEvent(power::VOLTAGE_OUT_OF_BOUNDS, 0);
sif::error << "Power Controller::Voltage is too high" << std::endl;
return returnvalue::FAILED;
} else if (voltage <= lookUpTableOcv[1][0]) {
triggerEvent(power::VOLTAGE_OUT_OF_BOUNDS, 1);
sif::error << "Power Controller::Voltage is too low" << std::endl;
return returnvalue::FAILED;
}
while (lookUpTableOcv[1][idx] > voltage) {
idx--;
}
return returnvalue::OK;
}

View File

@ -43,16 +43,18 @@ class PowerController : public ExtendedControllerBase, public ReceivesParameterM
void performControlOperation() override;
void calculateStateOfCharge();
void calculateOpenCircuitVoltageCharge();
void calculateCoulombCounterCharge();
ReturnValue_t calculateOpenCircuitVoltageCharge();
ReturnValue_t calculateCoulombCounterCharge();
ReturnValue_t updateEpsData();
float charge2stateOfCharge(float capacity);
ReturnValue_t lookUpTableOcvIdxFinder(float voltage, uint8_t& idx);
float linearInterpolation(float x, float x0, float x1, float y0, float y1);
// Parameters
float batteryInternalResistance = 70.0 / 2.0 / 1000.0; // [Ohm]
float batteryMaximumCapacity = 2.6 * 2; // [Ah]
float coulombCounterVoltageUpperThreshold = 16.2e3; // [mV]
double maxAllowedTimeDiff = 0.5; // [s]
// OCV Look-up-Table
float lookUpTableOcv[2][100] = {
@ -100,6 +102,9 @@ class PowerController : public ExtendedControllerBase, public ReceivesParameterM
float coulombCounterCharge = 0; // [mC]
float coulombCounterChargeUpperThreshold = 0.0; // [mC]
static constexpr float INVALID_TOTAL_BATTERY_CURRENT = 0;
static constexpr float INVALID_SOC = -1;
// HK Datasets for Calculation
BpxBatteryHk bpxBatteryHk = BpxBatteryHk(objects::BPX_BATT_HANDLER);
P60Dock::CoreHkSet p60CoreHk = P60Dock::CoreHkSet(objects::P60DOCK_HANDLER);