Fix Behavior.jl for using the time step method
Max Kannenberg
parent
fd05d25910
commit
9081b61903
388
src/Behavior.jl
388
src/Behavior.jl
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@ -3,8 +3,8 @@ module Behavior
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include("./DrivingDynamics.jl")
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include("./DrivingDynamics.jl")
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using .DrivingDynamics
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using .DrivingDynamics
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export addAccelerationSection!, addAccelerationSectionUntilBraking!, addCruisingSection!, addCoastingSectionUntilBraking!, addBrakingSection!, addBrakingSectionStepwise!, addStandstill!,
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export addAccelerationSection!, addAccelerationSectionUntilBraking!, addCruisingSection!, addCoastingSectionUntilBraking!, addBrakingSection!, addBrakingSectionInOneStep!, addStandstill!,
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# addBrakingSectionStepwise! is not used in the current version of the tool
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# addBrakingSectionInOneStep! is not used in the current version of the tool
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calculateForces!, createDataPoint,
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calculateForces!, createDataPoint,
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# export functions from DrivingDynamics
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# export functions from DrivingDynamics
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@ -109,29 +109,43 @@ function moveAStep(previousPoint::Dict, stepVariable::String, stepSize::Real, cs
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newPoint[:i] = previousPoint[:i]+1 # identifier
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newPoint[:i] = previousPoint[:i]+1 # identifier
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# calculate s, t, v, E
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# calculate s, t, v, E
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if previousPoint[:a] == 0.0 # TODO: or better stepVariable=="s_cruising in m" ?
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if stepVariable == "s in m" # distance step method
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newPoint[:Δs] = stepSize # step size (in m)
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newPoint[:Δt] = calc_Δt_with_constant_v(newPoint[:Δs], previousPoint[:v]) # step size (in s)
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newPoint[:Δv] = 0.0 # step size (in m/s)
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elseif stepVariable == "s in m" # distance step method
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newPoint[:Δs] = stepSize # step size (in m)
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newPoint[:Δs] = stepSize # step size (in m)
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if previousPoint[:a] < 0.0
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if previousPoint[:a] == 0.0
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if ((previousPoint[:v]/previousPoint[:a])^2+2*newPoint[:Δs]/previousPoint[:a])<0.0 || (previousPoint[:v]^2+2*newPoint[:Δs]*previousPoint[:a])<0.0 # checking if the parts of the following square roots will be <0.0
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if previousPoint[:v] == 0.0
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error("ERROR: The train tries to cruise at v=0.0 m/s at s=",previousPoint[:s]," in CS",csId,".")
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end
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newPoint[:Δt] = calc_Δt_with_constant_v(newPoint[:Δs], previousPoint[:v]) # step size (in s)
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newPoint[:Δv] = 0.0 # step size (in m/s)
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else
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if previousPoint[:a] < 0.0 && ((previousPoint[:v]/previousPoint[:a])^2+2*newPoint[:Δs]/previousPoint[:a])<0.0 || (previousPoint[:v]^2+2*newPoint[:Δs]*previousPoint[:a])<0.0 # checking if the parts of the following square roots will be <0.0
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error("ERROR: The train stops during the acceleration section in CS",csId," because the tractive effort is lower than the resistant forces.",
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error("ERROR: The train stops during the acceleration section in CS",csId," because the tractive effort is lower than the resistant forces.",
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" Before the stop the last point has the values s=",previousPoint[:s]," m, v=",previousPoint[:v]," m/s, a=",previousPoint[:a]," m/s^2,",
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" Before the stop the last point has the values s=",previousPoint[:s]," m, v=",previousPoint[:v]," m/s, a=",previousPoint[:a]," m/s^2,",
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" F_T=",previousPoint[:F_T]," N, R_traction=",previousPoint[:R_traction]," N, R_wagons=",previousPoint[:R_wagons]," N, R_path=",previousPoint[:R_path]," N.")
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" F_T=",previousPoint[:F_T]," N, R_traction=",previousPoint[:R_traction]," N, R_wagons=",previousPoint[:R_wagons]," N, R_path=",previousPoint[:R_path]," N.")
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end
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end
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newPoint[:Δt] = calc_Δt_with_Δs(newPoint[:Δs], previousPoint[:a], previousPoint[:v]) # step size (in s)
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newPoint[:Δv] = calc_Δv_with_Δs(newPoint[:Δs], previousPoint[:a], previousPoint[:v]) # step size (in m/s)
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end
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elseif stepVariable == "t in s" # time step method
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newPoint[:Δt] = stepSize # step size (in s)
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newPoint[:Δs] = calc_Δs_with_Δt(newPoint[:Δt], previousPoint[:a], previousPoint[:v]) # step size (in m)
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newPoint[:Δv] = calc_Δv_with_Δt(newPoint[:Δt], previousPoint[:a]) # step size (in m/s)
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elseif stepVariable == "v in m/s" # velocity step method
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if previousPoint[:a] == 0.0
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if previousPoint[:v] == 0.0
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error("ERROR: The train tries to cruise at v=0.0 m/s at s=",previousPoint[:s]," in CS",csId,".")
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end
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newPoint[:Δs] = stepSize # step size (in m)
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# TODO what is the best default step size for constant v? define Δs or Δt?
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newPoint[:Δt] = calc_Δt_with_constant_v(newPoint[:Δs], previousPoint[:v]) # step size (in s)
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newPoint[:Δv] = 0.0 # step size (in m/s)
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else
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newPoint[:Δv] = stepSize * sign(previousPoint[:a]) # step size (in m/s)
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newPoint[:Δs] = calc_Δs_with_Δv(newPoint[:Δv], previousPoint[:a], previousPoint[:v]) # step size (in m)
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newPoint[:Δt] = calc_Δt_with_Δv(newPoint[:Δv], previousPoint[:a]) # step size (in s)
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end
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end
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newPoint[:Δt] = calc_Δt_with_Δs(newPoint[:Δs], previousPoint[:a], previousPoint[:v]) # step size (in s)
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newPoint[:Δv] = calc_Δv_with_Δs(newPoint[:Δs], previousPoint[:a], previousPoint[:v]) # step size (in m/s)
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elseif stepVariable =="t in s" # time step method
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newPoint[:Δt] =stepSize # step size (in s)
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newPoint[:Δs] = calc_Δs_with_Δt(newPoint[:Δs], previousPoint[:a], previousPoint[:v]) # step size (in m)
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newPoint[:Δv] = calc_Δv_with_Δt(newPoint[:Δs], previousPoint[:a]) # step size (in m/s)
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elseif stepVariable =="v in m/s" # velocity step method
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newPoint[:Δv] = stepSize * sign(previousPoint[:a]) # step size (in m/s)
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newPoint[:Δs] = calc_Δs_with_Δv(newPoint[:Δs], previousPoint[:a], previousPoint[:v]) # step size (in m)
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newPoint[:Δt] = calc_Δt_with_Δv(newPoint[:Δs], previousPoint[:a]) # step size (in s)
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end #if
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end #if
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newPoint[:s] = previousPoint[:s] + newPoint[:Δs] # position (in m)
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newPoint[:s] = previousPoint[:s] + newPoint[:Δs] # position (in m)
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@ -227,6 +241,9 @@ end #function getNextPointOfInterest
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# Therefore it gets its first data point and the characteristic section and returns the characteristic section including the behavior section for breakFree if needed.
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# Therefore it gets its first data point and the characteristic section and returns the characteristic section including the behavior section for breakFree if needed.
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# Info: currently the values of the breakFree section will be calculated like in the acceleration section
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# Info: currently the values of the breakFree section will be calculated like in the acceleration section
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function addBreakFreeSection!(CS::Dict, drivingCourse::Vector{Dict}, settings::Dict, train::Dict, CSs::Vector{Dict})
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function addBreakFreeSection!(CS::Dict, drivingCourse::Vector{Dict}, settings::Dict, train::Dict, CSs::Vector{Dict})
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if settings[:stepVariable] == "v in m/s"
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println("WARNING: ! ! ! TrainRun doesn't work reliably for the step variable v. Therefore v should not be used ! ! !")
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end
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if drivingCourse[end][:v]==0.0 && drivingCourse[end][:s]<CS[:s_exit]
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if drivingCourse[end][:v]==0.0 && drivingCourse[end][:s]<CS[:s_exit]
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BS = createBehaviorSection("breakFree", drivingCourse[end][:s], drivingCourse[end][:v], drivingCourse[end][:i])
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BS = createBehaviorSection("breakFree", drivingCourse[end][:s], drivingCourse[end][:v], drivingCourse[end][:i])
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drivingCourse[end][:behavior] = BS[:type]
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drivingCourse[end][:behavior] = BS[:type]
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@ -247,8 +264,6 @@ function addBreakFreeSection!(CS::Dict, drivingCourse::Vector{Dict}, settings::D
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nextPointOfInterest = getNextPointOfInterest(CS[:pointsOfInterest], drivingCourse[end][:s])
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nextPointOfInterest = getNextPointOfInterest(CS[:pointsOfInterest], drivingCourse[end][:s])
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while !brokenFree
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while !brokenFree
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# create the next data point
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# create the next data point
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#TODO: instead of the while loop this two line would also be enough for stepVariale s: stepSize = min(settings[:stepSize], getNextPointOfInterest(CS[:pointsOfInterest], drivingCourse[end][:s])-BS[:s_entry])
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#push!(drivingCourse, moveAStep(drivingCourse[end], "s in m", stepSize, CS[:id]))
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push!(drivingCourse, moveAStep(drivingCourse[end], settings[:stepVariable], settings[:stepSize], CS[:id]))
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push!(drivingCourse, moveAStep(drivingCourse[end], settings[:stepVariable], settings[:stepSize], CS[:id]))
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drivingCourse[end][:behavior] = BS[:type]
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drivingCourse[end][:behavior] = BS[:type]
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push!(BS[:dataPoints], drivingCourse[end][:i])
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push!(BS[:dataPoints], drivingCourse[end][:i])
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@ -267,11 +282,19 @@ function addBreakFreeSection!(CS::Dict, drivingCourse::Vector{Dict}, settings::D
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pop!(drivingCourse)
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pop!(drivingCourse)
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pop!(BS[:dataPoints])
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pop!(BS[:dataPoints])
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else
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else
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drivingCourse[end][:s] = nextPointOfInterest # rounding s down to nextPointOfInterest
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drivingCourse[end][:s] = nextPointOfInterest # round s down to nextPointOfInterest
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brokenFree = true
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brokenFree = true
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break#free
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break#free
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end
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end
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else
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elseif drivingCourse[end][:v] > CS[:v_peak]
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if settings[:stepVariable] == "v in m/s"
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currentStepSize = CS[:v_peak]-drivingCourse[end-1][:v]
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else
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currentStepSize = settings[:stepSize] / 10.0^cycle
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end
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else #if drivingCourse[end][:s] == nextPointOfInterest || drivingCourse[end][:v] == CS[:v_peak]
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brokenFree = true
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brokenFree = true
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break#free
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break#free
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end #if
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end #if
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@ -403,7 +426,7 @@ function addAccelerationSection!(CS::Dict, drivingCourse::Vector{Dict}, settings
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pop!(BS[:dataPoints])
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pop!(BS[:dataPoints])
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elseif drivingCourse[end][:s] > nextPointOfInterest
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elseif drivingCourse[end][:s] > nextPointOfInterest
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drivingCourse[end][:s] = nextPointOfInterest # rounding s down to nextPointOfInterest
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drivingCourse[end][:s] = nextPointOfInterest # round s down to nextPointOfInterest
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elseif drivingCourse[end][:F_T] <= drivingCourse[end][:F_R]
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elseif drivingCourse[end][:F_T] <= drivingCourse[end][:F_R]
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tractionSurplus = false
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tractionSurplus = false
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@ -561,7 +584,7 @@ function addAccelerationSectionUntilBraking!(CS::Dict, drivingCourse::Vector{Dic
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pop!(BS[:dataPoints])
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pop!(BS[:dataPoints])
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elseif drivingCourse[end][:s] > nextPointOfInterest
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elseif drivingCourse[end][:s] > nextPointOfInterest
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drivingCourse[end][:s] = nextPointOfInterest # rounding s down to nextPointOfInterest
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drivingCourse[end][:s] = nextPointOfInterest # round s down to nextPointOfInterest
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elseif drivingCourse[end][:F_T] <= drivingCourse[end][:F_R]
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elseif drivingCourse[end][:F_T] <= drivingCourse[end][:F_R]
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tractionSurplus = false
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tractionSurplus = false
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@ -647,10 +670,16 @@ function addCruisingSection!(CS::Dict, drivingCourse::Vector{Dict}, s_cruising::
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drivingCourse[end][:a] = 0.0
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drivingCourse[end][:a] = 0.0
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# create the next data point
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# create the next data point
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if settings[:stepVariable]=="s in m"
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#= 02/18 old if settings[:stepVariable]=="s in m"
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push!(drivingCourse, moveAStep(drivingCourse[end], "s_cruising in m", currentStepSize, CS[:id]))
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push!(drivingCourse, moveAStep(drivingCourse[end], "s_cruising in m", currentStepSize, CS[:id]))
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else
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else
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push!(drivingCourse, moveAStep(drivingCourse[end], "s_cruising in m", train[:length]/(10.0^cycle), CS[:id])) # TODO which step size should be used?
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push!(drivingCourse, moveAStep(drivingCourse[end], "s_cruising in m", train[:length]/(10.0^cycle), CS[:id])) # TODO which step size should be used?
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end =#
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# create the next data point
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if settings[:stepVariable] =="s in m" || settings[:stepVariable] =="t in s"
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push!(drivingCourse, moveAStep(drivingCourse[end], settings[:stepVariable], currentStepSize, CS[:id]))
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else
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push!(drivingCourse, moveAStep(drivingCourse[end], "s in m", train[:length]/(10.0^cycle), CS[:id])) # TODO which step size should be used?
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end
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end
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drivingCourse[end][:behavior] = BS[:type]
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drivingCourse[end][:behavior] = BS[:type]
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push!(BS[:dataPoints], drivingCourse[end][:i])
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push!(BS[:dataPoints], drivingCourse[end][:i])
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@ -699,7 +728,7 @@ function addCruisingSection!(CS::Dict, drivingCourse::Vector{Dict}, s_cruising::
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else # if the level of approximation is reached
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else # if the level of approximation is reached
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if drivingCourse[end][:s] > nextPointOfInterest
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if drivingCourse[end][:s] > nextPointOfInterest
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drivingCourse[end][:s] = nextPointOfInterest # rounding s down to nextPointOfInterest
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drivingCourse[end][:s] = nextPointOfInterest # round s down to nextPointOfInterest
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elseif drivingCourse[end][:s] > BS[:s_entry]+s_cruising
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elseif drivingCourse[end][:s] > BS[:s_entry]+s_cruising
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trainAtEnd = true
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trainAtEnd = true
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if BS[:type] != "clearing"
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if BS[:type] != "clearing"
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@ -735,7 +764,8 @@ function addCruisingSection!(CS::Dict, drivingCourse::Vector{Dict}, s_cruising::
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s_cruisingRemaining = nextPointOfInterest - drivingCourse[end][:s]
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s_cruisingRemaining = nextPointOfInterest - drivingCourse[end][:s]
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# create the next data point
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# create the next data point
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push!(drivingCourse, moveAStep(drivingCourse[end], "s_cruising in m", s_cruisingRemaining, CS[:id]))
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# 02/18 old push!(drivingCourse, moveAStep(drivingCourse[end], "s_cruising in m", s_cruisingRemaining, CS[:id]))
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push!(drivingCourse, moveAStep(drivingCourse[end], "s in m", s_cruisingRemaining, CS[:id]))
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drivingCourse[end][:behavior] = BS[:type]
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drivingCourse[end][:behavior] = BS[:type]
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push!(BS[:dataPoints], drivingCourse[end][:i])
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push!(BS[:dataPoints], drivingCourse[end][:i])
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@ -794,9 +824,13 @@ function addDiminishingSection!(CS::Dict, drivingCourse::Vector{Dict}, settings:
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# check which limit was reached and adjust the currentStepSize for the next cycle
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# check which limit was reached and adjust the currentStepSize for the next cycle
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if cycle < approximationLevel+1
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if cycle < approximationLevel+1
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if drivingCourse[end][:v] <= 0.0
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if drivingCourse[end][:v] < 0.0
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currentStepSize = settings[:stepSize] / 10.0^cycle
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# 02/18 old: currentStepSize = settings[:stepSize] / 10.0^cycle
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if settings[:stepVariable] == "v in m/s"
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currentStepSize = drivingCourse[end-1][:v]
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else
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currentStepSize = settings[:stepSize] / 10.0^cycle
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end
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elseif drivingCourse[end][:F_T] > drivingCourse[end][:F_R]
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elseif drivingCourse[end][:F_T] > drivingCourse[end][:F_R]
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currentStepSize = settings[:stepSize] / 10.0^cycle
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currentStepSize = settings[:stepSize] / 10.0^cycle
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@ -817,6 +851,13 @@ function addDiminishingSection!(CS::Dict, drivingCourse::Vector{Dict}, settings:
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elseif drivingCourse[end][:s] == nextPointOfInterest
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elseif drivingCourse[end][:s] == nextPointOfInterest
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break
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break
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elseif drivingCourse[end][:v] == 0.0
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targetSpeedReached = true
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error("ERROR: The train stops during diminishing run in CS",CS[:id]," at position s=",drivingCourse[end][:s]," m because the maximum tractive effort is lower than the resistant forces.",
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" Before the stop the last point has the values s=",drivingCourse[end-1][:s]," m v=",drivingCourse[end-1][:v]," m/s a=",drivingCourse[end-1][:a]," m/s^2",
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" F_T=",drivingCourse[end-1][:F_T]," N R_traction=",drivingCourse[end-1][:R_traction]," N R_wagons=",drivingCourse[end-1][:R_wagons]," N R_path=",drivingCourse[end-1][:R_path]," N.")
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else
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else
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error("ERROR during diminishing run: With the step variable ",settings[:stepVariable]," the while loop will be left although s+s_braking<s_exit && v>0.0 in CS",CS[:id]," with s=" ,drivingCourse[end][:s]," m and v=",drivingCourse[end][:v]," m/s")
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error("ERROR during diminishing run: With the step variable ",settings[:stepVariable]," the while loop will be left although s+s_braking<s_exit && v>0.0 in CS",CS[:id]," with s=" ,drivingCourse[end][:s]," m and v=",drivingCourse[end][:v]," m/s")
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end
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end
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@ -838,7 +879,7 @@ function addDiminishingSection!(CS::Dict, drivingCourse::Vector{Dict}, settings:
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pop!(BS[:dataPoints])
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pop!(BS[:dataPoints])
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elseif drivingCourse[end][:s] > nextPointOfInterest
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elseif drivingCourse[end][:s] > nextPointOfInterest
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drivingCourse[end][:s] = nextPointOfInterest # rounding s down to nextPointOfInterest
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drivingCourse[end][:s] = nextPointOfInterest # round s down to nextPointOfInterest
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elseif drivingCourse[end][:F_T] > drivingCourse[end][:F_R]
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elseif drivingCourse[end][:F_T] > drivingCourse[end][:F_R]
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tractionSurplus = true
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tractionSurplus = true
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@ -920,8 +961,11 @@ function addCoastingSectionUntilBraking!(CS::Dict, drivingCourse::Vector{Dict},
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end
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end
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elseif drivingCourse[end][:v] < CS[:v_exit] # TODO: if accelereation and coasting functions will be combined this case is only for coasting
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elseif drivingCourse[end][:v] < CS[:v_exit] # TODO: if accelereation and coasting functions will be combined this case is only for coasting
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currentStepSize = settings[:stepSize] / 10.0^cycle
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if settings[:stepVariable] == "v in m/s"
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currentStepSize = drivingCourse[end-1][:v] - CS[:v_exit]
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else
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currentStepSize = settings[:stepSize] / 10.0^cycle
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end
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elseif drivingCourse[end][:v] > CS[:v_peak]
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elseif drivingCourse[end][:v] > CS[:v_peak]
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if settings[:stepVariable]=="v in m/s"
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if settings[:stepVariable]=="v in m/s"
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currentStepSize = CS[:v_peak] - drivingCourse[end-1][:v]
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currentStepSize = CS[:v_peak] - drivingCourse[end-1][:v]
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@ -948,7 +992,7 @@ function addCoastingSectionUntilBraking!(CS::Dict, drivingCourse::Vector{Dict},
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pop!(BS[:dataPoints])
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pop!(BS[:dataPoints])
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else # if the level of approximation is reached
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else # if the level of approximation is reached
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if drivingCourse[end][:v]<=0.0
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if drivingCourse[end][:v] <= 0.0
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println("INFO: The train stops during the coasting section in CS",CS[:id]," ",
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println("INFO: The train stops during the coasting section in CS",CS[:id]," ",
|
||||||
" Before the stop the last point has the values s=",drivingCourse[end-1][:s]," m v=",drivingCourse[end-1][:v]," m/s a=",drivingCourse[end-1][:a]," m/s^2",
|
" Before the stop the last point has the values s=",drivingCourse[end-1][:s]," m v=",drivingCourse[end-1][:v]," m/s a=",drivingCourse[end-1][:a]," m/s^2",
|
||||||
" F_T=",drivingCourse[end-1][:F_T]," N R_traction=",drivingCourse[end-1][:R_traction]," N R_wagons=",drivingCourse[end-1][:R_wagons]," N R_path=",drivingCourse[end-1][:R_path]," N and s_braking=",s_braking,"m.")
|
" F_T=",drivingCourse[end-1][:F_T]," N R_traction=",drivingCourse[end-1][:R_traction]," N R_wagons=",drivingCourse[end-1][:R_wagons]," N R_path=",drivingCourse[end-1][:R_path]," N and s_braking=",s_braking,"m.")
|
||||||
|
|
@ -976,13 +1020,13 @@ function addCoastingSectionUntilBraking!(CS::Dict, drivingCourse::Vector{Dict},
|
||||||
push!(BS[:dataPoints], drivingCourse[end][:i])
|
push!(BS[:dataPoints], drivingCourse[end][:i])
|
||||||
|
|
||||||
elseif drivingCourse[end][:s] > nextPointOfInterest
|
elseif drivingCourse[end][:s] > nextPointOfInterest
|
||||||
drivingCourse[end][:s] = nextPointOfInterest # rounding s down to nextPointOfInterest
|
drivingCourse[end][:s] = nextPointOfInterest # round s down to nextPointOfInterest
|
||||||
else
|
else
|
||||||
|
|
||||||
end
|
end
|
||||||
end
|
end
|
||||||
end #for
|
end #for
|
||||||
end #while
|
end #while
|
||||||
|
|
||||||
# calculate the accumulated coasting section information
|
# calculate the accumulated coasting section information
|
||||||
merge!(BS, Dict(:length => drivingCourse[end][:s] - BS[:s_entry], # total length (in m)
|
merge!(BS, Dict(:length => drivingCourse[end][:s] - BS[:s_entry], # total length (in m)
|
||||||
|
|
@ -1077,11 +1121,6 @@ end #function addBrakingSectionInOneStep!
|
||||||
# Therefore it gets its first data point and the characteristic section and returns the characteristic section including the behavior section for braking if needed.
|
# Therefore it gets its first data point and the characteristic section and returns the characteristic section including the behavior section for braking if needed.
|
||||||
function addBrakingSection!(CS::Dict, drivingCourse::Vector{Dict}, settings::Dict, train::Dict, CSs::Vector{Dict})
|
function addBrakingSection!(CS::Dict, drivingCourse::Vector{Dict}, settings::Dict, train::Dict, CSs::Vector{Dict})
|
||||||
#function addBrakingSectionStepwise!(CS::Dict, drivingCourse::Vector{Dict}, settings::Dict, train::Dict, CSs::Vector{Dict})
|
#function addBrakingSectionStepwise!(CS::Dict, drivingCourse::Vector{Dict}, settings::Dict, train::Dict, CSs::Vector{Dict})
|
||||||
if settings[:stepVariable] != "s in m"
|
|
||||||
error("addBrakingSectionStepwise! does not work with other step variables than 's in m' right now.")
|
|
||||||
end
|
|
||||||
# TODO: add for loop to realize calculations with step variables t and v
|
|
||||||
|
|
||||||
# conditions for braking section
|
# conditions for braking section
|
||||||
targetSpeedReached = drivingCourse[end][:v] <= CS[:v_exit]
|
targetSpeedReached = drivingCourse[end][:v] <= CS[:v_exit]
|
||||||
trainAtEnd = drivingCourse[end][:s] >= CS[:s_exit]
|
trainAtEnd = drivingCourse[end][:s] >= CS[:s_exit]
|
||||||
|
|
@ -1095,95 +1134,194 @@ function addBrakingSection!(CS::Dict, drivingCourse::Vector{Dict}, settings::Dic
|
||||||
currentStepSize = settings[:stepSize] # initialize the step size that can be reduced near intersections
|
currentStepSize = settings[:stepSize] # initialize the step size that can be reduced near intersections
|
||||||
nextPointOfInterest = getNextPointOfInterest(CS[:pointsOfInterest], drivingCourse[end][:s])
|
nextPointOfInterest = getNextPointOfInterest(CS[:pointsOfInterest], drivingCourse[end][:s])
|
||||||
|
|
||||||
while drivingCourse[end][:v] > CS[:v_exit] && !targetSpeedReached && drivingCourse[end][:s] < CS[:s_exit] && drivingCourse[end][:s] < nextPointOfInterest
|
for cycle in 1:approximationLevel+1 # first cycle with normal step size followed by cycles with reduced step size depending on the level of approximation
|
||||||
# traction effort and resisting forces (in N):
|
while drivingCourse[end][:v] > CS[:v_exit] && !targetSpeedReached && drivingCourse[end][:s] < CS[:s_exit] && drivingCourse[end][:s] < nextPointOfInterest
|
||||||
calculateForces!(drivingCourse[end], CSs, CS[:id], BS[:type], train, settings[:massModel])
|
# traction effort and resisting forces (in N):
|
||||||
|
calculateForces!(drivingCourse[end], CSs, CS[:id], BS[:type], train, settings[:massModel])
|
||||||
|
|
||||||
# acceleration (in m/s^2):
|
# acceleration (in m/s^2):
|
||||||
drivingCourse[end][:a] = train[:a_braking]
|
drivingCourse[end][:a] = train[:a_braking]
|
||||||
# TODO or: drivingCourse[end][:a] = calcBrakingAcceleration(drivingCourse[end][:v], CS[:v_exit], CS[:s_exit]-drivingCourse[end][:s])
|
# TODO or: drivingCourse[end][:a] = calcBrakingAcceleration(drivingCourse[end][:v], CS[:v_exit], CS[:s_exit]-drivingCourse[end][:s])
|
||||||
|
|
||||||
# create the next data point
|
if settings[:stepVariable] == "s in m" && ((drivingCourse[end][:v]/drivingCourse[end][:a])^2+2*currentStepSize/drivingCourse[end][:a])<0.0 || (drivingCourse[end][:v]^2+2*currentStepSize*drivingCourse[end][:a])<0.0
|
||||||
#TODO moveAStep should give back true or false for success or failure e.g. with dropping below v=0 m/s
|
|
||||||
#at the moment it can only be used for stepVariable == "s in m"
|
|
||||||
if settings[:stepVariable] == "s in m"
|
|
||||||
if ((drivingCourse[end][:v]/drivingCourse[end][:a])^2+2*currentStepSize/drivingCourse[end][:a])<0.0 || (drivingCourse[end][:v]^2+2*currentStepSize*drivingCourse[end][:a])<0.0
|
|
||||||
targetSpeedReached = true
|
targetSpeedReached = true
|
||||||
|
|
||||||
# create empty data point for setting the values after the while loop
|
# create empty data point and set ist for the values of s_ext and v_exit
|
||||||
push!(drivingCourse, createDataPoint())
|
push!(drivingCourse, createDataPoint())
|
||||||
drivingCourse[end][:i] = drivingCourse[end-1][:i]+1
|
drivingCourse[end][:i] = drivingCourse[end-1][:i]+1
|
||||||
drivingCourse[end][:behavior] = BS[:type]
|
drivingCourse[end][:behavior] = BS[:type]
|
||||||
push!(BS[:dataPoints], drivingCourse[end][:i])
|
push!(BS[:dataPoints], drivingCourse[end][:i])
|
||||||
|
recalculateLastBrakingPoint!(drivingCourse, CS[:s_exit], CS[:v_exit])
|
||||||
break
|
break
|
||||||
end
|
end
|
||||||
else
|
|
||||||
error("Stepwise braking can currently be used with stepVariable=='s in m' only. Otherwise errors may not be detected.")
|
|
||||||
end
|
|
||||||
|
|
||||||
push!(drivingCourse, moveAStep(drivingCourse[end], settings[:stepVariable], currentStepSize, CS[:id]))
|
# create the next data point
|
||||||
drivingCourse[end][:behavior] = BS[:type]
|
push!(drivingCourse, moveAStep(drivingCourse[end], settings[:stepVariable], currentStepSize, CS[:id]))
|
||||||
push!(BS[:dataPoints], drivingCourse[end][:i])
|
drivingCourse[end][:behavior] = BS[:type]
|
||||||
end # while
|
push!(BS[:dataPoints], drivingCourse[end][:i])
|
||||||
|
end # while
|
||||||
|
|
||||||
if drivingCourse[end][:v] < CS[:v_exit] || targetSpeedReached
|
# check which limit was reached and adjust the currentStepSize for the next cycle
|
||||||
# reset last point with setting v=v_exit
|
# TODO: is there a better way than rounding like in the following?
|
||||||
targetSpeedReached = true
|
if cycle < approximationLevel+1 && !targetSpeedReached
|
||||||
trainAtEnd = true
|
if drivingCourse[end][:v] < CS[:v_exit]
|
||||||
|
if settings[:stepVariable] == "v in m/s"
|
||||||
|
currentStepSize = drivingCourse[end-1][:v] - CS[:v_exit]
|
||||||
|
else
|
||||||
|
currentStepSize = settings[:stepSize] / 10.0^cycle
|
||||||
|
end
|
||||||
|
#=elseif drivingCourse[end][:s] > CS[:s_exit]
|
||||||
|
if settings[:stepVariable] == "s in m"
|
||||||
|
currentStepSize = CS[:s_exit] - drivingCourse[end-1][:s]
|
||||||
|
else
|
||||||
|
currentStepSize = settings[:stepSize] / 10.0^cycle
|
||||||
|
end=#
|
||||||
|
elseif drivingCourse[end][:s] > nextPointOfInterest
|
||||||
|
# reset last point with lowering s to the nextPointOfInterest
|
||||||
|
if settings[:stepVariable] == "s in m"
|
||||||
|
currentStepSize = nextPointOfInterest - drivingCourse[end-1][:s]
|
||||||
|
else
|
||||||
|
currentStepSize = settings[:stepSize] / 10.0^cycle
|
||||||
|
end
|
||||||
|
elseif drivingCourse[end][:v] == CS[:v_exit] && drivingCourse[end][:s] == CS[:s_exit]
|
||||||
|
targetSpeedReached = true
|
||||||
|
trainAtEnd = true
|
||||||
|
break
|
||||||
|
elseif drivingCourse[end][:v] == CS[:v_exit]
|
||||||
|
targetSpeedReached = true
|
||||||
|
trainAtEnd = true
|
||||||
|
# println("during braking section in CS",CS[:id],": rounding s up from ", drivingCourse[end][:s] ," to ", CS[:s_exit]) # for testing
|
||||||
|
recalculateLastBrakingPoint!(drivingCourse, CS[:s_exit], CS[:v_exit])
|
||||||
|
# println(" with a=", drivingCourse[end-1][:a]) # for testing
|
||||||
|
break
|
||||||
|
elseif drivingCourse[end][:s] == CS[:s_exit]
|
||||||
|
targetSpeedReached = true
|
||||||
|
trainAtEnd = true
|
||||||
|
# println("during braking section in CS",CS[:id],": rounding v down from ", drivingCourse[end][:v] ," to ", CS[:v_exit]) # for testing
|
||||||
|
recalculateLastBrakingPoint!(drivingCourse, CS[:s_exit], CS[:v_exit])
|
||||||
|
# println(" with a=", drivingCourse[end-1][:a]) # for testing
|
||||||
|
break
|
||||||
|
elseif drivingCourse[end][:s] == nextPointOfInterest
|
||||||
|
break
|
||||||
|
end
|
||||||
|
|
||||||
# calculate s, t, v
|
# delete last data point for recalculating the last step with reduced step size
|
||||||
drivingCourse[end][:s] = CS[:s_exit] # position (in m)
|
pop!(drivingCourse)
|
||||||
drivingCourse[end][:v] = CS[:v_exit] # velocity (in m/s)
|
pop!(BS[:dataPoints])
|
||||||
drivingCourse[end][:Δs] = drivingCourse[end][:s] - drivingCourse[end-1][:s] # step size (in m)
|
|
||||||
drivingCourse[end][:Δv] = drivingCourse[end][:v] - drivingCourse[end-1][:v] # step size (in m/s)
|
|
||||||
|
|
||||||
drivingCourse[end-1][:a] = calcBrakingAcceleration(drivingCourse[end-1][:v], drivingCourse[end][:v], drivingCourse[end][:Δs])
|
else # if the level of approximation is reached
|
||||||
if drivingCourse[end-1][:a]<train[:a_braking] || drivingCourse[end-1][:a]>=0.0
|
if drivingCourse[end][:v] < 0.0
|
||||||
println("Warning: a_braking gets to high in CS ",CS[:id], " with a=",drivingCourse[end-1][:a] ," > ",train[:a_braking])
|
# reset last point with setting v=v_exit
|
||||||
end
|
targetSpeedReached = true
|
||||||
drivingCourse[end][:Δt] = calc_Δt_with_Δv(drivingCourse[end][:Δv], drivingCourse[end-1][:a]) # step size (in s)
|
trainAtEnd = true
|
||||||
drivingCourse[end][:t] = drivingCourse[end-1][:t] + drivingCourse[end][:Δt] # point in time (in s)
|
# println("during braking section in CS",CS[:id],": rounding v up from ", drivingCourse[end][:v] ," to ", CS[:v_exit]) # for testing
|
||||||
|
recalculateLastBrakingPoint!(drivingCourse, CS[:s_exit], 0.0)
|
||||||
drivingCourse[end][:ΔW] = 0.0 # mechanical work in this step (in Ws)
|
# println(" with a=", drivingCourse[end-1][:a]) # for testing
|
||||||
drivingCourse[end][:W] = drivingCourse[end-1][:W] + drivingCourse[end][:ΔW] # mechanical work (in Ws)
|
break
|
||||||
drivingCourse[end][:ΔE] = drivingCourse[end][:ΔW] # energy consumption in this step (in Ws)
|
elseif drivingCourse[end][:s] > CS[:s_exit]
|
||||||
drivingCourse[end][:E] = drivingCourse[end-1][:E] + drivingCourse[end][:ΔE] # energy consumption (in Ws)
|
targetSpeedReached = true
|
||||||
|
trainAtEnd = true
|
||||||
|
# println("during braking section in CS",CS[:id],": rounding s down from ", drivingCourse[end][:s] ," to ", CS[:s_exit]) # for testing
|
||||||
|
# recalculateLastBrakingPoint!(drivingCourse, CS[:s_exit], CS[:v_exit])
|
||||||
elseif drivingCourse[end][:s] > CS[:s_exit]
|
drivingCourse[end][:s] = CS[:s_exit]
|
||||||
trainAtEnd = true
|
break
|
||||||
error("At the end of braking: s>s_exit but v>v_exit")
|
elseif drivingCourse[end][:s] > nextPointOfInterest
|
||||||
elseif drivingCourse[end][:s] > nextPointOfInterest
|
drivingCourse[end][:s] = nextPointOfInterest # round s down to nextPointOfInterest
|
||||||
# reset last point with lowering s to the nextPointOfInterest
|
break
|
||||||
|
elseif drivingCourse[end][:v] == CS[:v_exit] && drivingCourse[end][:s] == CS[:s_exit]
|
||||||
# calculate s, t, v
|
targetSpeedReached = true
|
||||||
if settings[:stepVariable] == "s in m"
|
trainAtEnd = true
|
||||||
currentStepSize = nextPointOfInterest - drivingCourse[end-1][:s] # step size (in m)
|
break
|
||||||
else
|
elseif drivingCourse[end][:v] < CS[:v_exit]
|
||||||
# TODO
|
# reset last point with setting v=v_exit
|
||||||
|
targetSpeedReached = true
|
||||||
|
trainAtEnd = true
|
||||||
|
# println("during braking section in CS",CS[:id],": rounding s up from ", drivingCourse[end][:s] ," to ", CS[:s_exit]) # for testing
|
||||||
|
recalculateLastBrakingPoint!(drivingCourse, CS[:s_exit], CS[:v_exit])
|
||||||
|
# println(" with a=", drivingCourse[end-1][:a]) # for testing
|
||||||
|
break
|
||||||
|
elseif drivingCourse[end][:v] == CS[:v_exit]
|
||||||
|
targetSpeedReached = true
|
||||||
|
trainAtEnd = true
|
||||||
|
# println("during braking section in CS",CS[:id],": rounding s up from ", drivingCourse[end][:s] ," to ", CS[:s_exit]) # for testing
|
||||||
|
recalculateLastBrakingPoint!(drivingCourse, CS[:s_exit], CS[:v_exit])
|
||||||
|
# println(" with a=", drivingCourse[end-1][:a]) # for testing
|
||||||
|
break
|
||||||
|
elseif drivingCourse[end][:s] == CS[:s_exit]
|
||||||
|
targetSpeedReached = true
|
||||||
|
trainAtEnd = true
|
||||||
|
# println("during braking section in CS",CS[:id],": rounding v down from ", drivingCourse[end][:v] ," to ", CS[:v_exit]) # for testing
|
||||||
|
recalculateLastBrakingPoint!(drivingCourse, CS[:s_exit], CS[:v_exit])
|
||||||
|
# println(" with a=", drivingCourse[end-1][:a]) # for testing
|
||||||
|
break
|
||||||
|
else
|
||||||
|
# do nothing for example for drivingCourse[end][:s]==nextPointOfInterest
|
||||||
|
end
|
||||||
end
|
end
|
||||||
pop!(drivingCourse)
|
|
||||||
pop!(BS[:dataPoints])
|
|
||||||
|
|
||||||
# create the next data point
|
#=
|
||||||
push!(drivingCourse, moveAStep(drivingCourse[end], settings[:stepVariable], currentStepSize, CS[:id]))
|
if drivingCourse[end][:v] < CS[:v_exit] || targetSpeedReached
|
||||||
drivingCourse[end][:behavior] = BS[:type]
|
# reset last point with setting v=v_exit
|
||||||
push!(BS[:dataPoints], drivingCourse[end][:i])
|
targetSpeedReached = true
|
||||||
|
trainAtEnd = true
|
||||||
|
|
||||||
elseif drivingCourse[end][:v] == CS[:v_exit] && drivingCourse[end][:s] == CS[:s_exit]
|
# calculate s, t, v
|
||||||
targetSpeedReached = true
|
drivingCourse[end][:s] = CS[:s_exit] # position (in m)
|
||||||
trainAtEnd = true
|
drivingCourse[end][:v] = CS[:v_exit] # velocity (in m/s)
|
||||||
elseif drivingCourse[end][:v] == CS[:v_exit]
|
drivingCourse[end][:Δs] = drivingCourse[end][:s] - drivingCourse[end-1][:s] # step size (in m)
|
||||||
targetSpeedReached = true
|
drivingCourse[end][:Δv] = drivingCourse[end][:v] - drivingCourse[end-1][:v] # step size (in m/s)
|
||||||
error("At the end of braking: s<s_exit but v=v_exit")
|
|
||||||
elseif drivingCourse[end][:s] == CS[:s_exit]
|
drivingCourse[end-1][:a] = calcBrakingAcceleration(drivingCourse[end-1][:v], drivingCourse[end][:v], drivingCourse[end][:Δs])
|
||||||
trainAtEnd = true
|
# TODO: just for testing
|
||||||
error("At the end of braking: s=s_exit but v>v_exit")
|
if drivingCourse[end-1][:a]<train[:a_braking] || drivingCourse[end-1][:a]>=0.0
|
||||||
else
|
println("Warning: a_braking gets to high in CS ",CS[:id], " with a=",drivingCourse[end-1][:a] ," > ",train[:a_braking])
|
||||||
# do nothing for example for drivingCourse[end][:s]==nextPointOfInterest
|
|
||||||
end
|
end
|
||||||
end
|
drivingCourse[end][:Δt] = calc_Δt_with_Δv(drivingCourse[end][:Δv], drivingCourse[end-1][:a]) # step size (in s)
|
||||||
|
drivingCourse[end][:t] = drivingCourse[end-1][:t] + drivingCourse[end][:Δt] # point in time (in s)
|
||||||
|
|
||||||
|
drivingCourse[end][:ΔW] = 0.0 # mechanical work in this step (in Ws)
|
||||||
|
drivingCourse[end][:W] = drivingCourse[end-1][:W] + drivingCourse[end][:ΔW] # mechanical work (in Ws)
|
||||||
|
drivingCourse[end][:ΔE] = drivingCourse[end][:ΔW] # energy consumption in this step (in Ws)
|
||||||
|
drivingCourse[end][:E] = drivingCourse[end-1][:E] + drivingCourse[end][:ΔE] # energy consumption (in Ws)
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
elseif drivingCourse[end][:s] > CS[:s_exit]
|
||||||
|
trainAtEnd = true
|
||||||
|
error("At the end of braking: s>s_exit but v>v_exit")
|
||||||
|
elseif drivingCourse[end][:s] > nextPointOfInterest
|
||||||
|
# reset last point with lowering s to the nextPointOfInterest
|
||||||
|
|
||||||
|
# calculate s, t, v
|
||||||
|
if settings[:stepVariable] == "s in m"
|
||||||
|
currentStepSize = nextPointOfInterest - drivingCourse[end-1][:s] # step size (in m)
|
||||||
|
else
|
||||||
|
# TODO
|
||||||
|
end
|
||||||
|
pop!(drivingCourse)
|
||||||
|
pop!(BS[:dataPoints])
|
||||||
|
|
||||||
|
# create the next data point
|
||||||
|
push!(drivingCourse, moveAStep(drivingCourse[end], settings[:stepVariable], currentStepSize, CS[:id]))
|
||||||
|
drivingCourse[end][:behavior] = BS[:type]
|
||||||
|
push!(BS[:dataPoints], drivingCourse[end][:i])
|
||||||
|
|
||||||
|
elseif drivingCourse[end][:v] == CS[:v_exit] && drivingCourse[end][:s] == CS[:s_exit]
|
||||||
|
targetSpeedReached = true
|
||||||
|
trainAtEnd = true
|
||||||
|
elseif drivingCourse[end][:v] == CS[:v_exit]
|
||||||
|
targetSpeedReached = true
|
||||||
|
error("At the end of braking: s<s_exit but v=v_exit")
|
||||||
|
elseif drivingCourse[end][:s] == CS[:s_exit]
|
||||||
|
trainAtEnd = true
|
||||||
|
error("At the end of braking: s=s_exit but v>v_exit")
|
||||||
|
else
|
||||||
|
# do nothing for example for drivingCourse[end][:s]==nextPointOfInterest
|
||||||
|
end
|
||||||
|
|
||||||
|
=#
|
||||||
|
end #for
|
||||||
|
end #while
|
||||||
|
|
||||||
# calculate the accumulated coasting section information
|
# calculate the accumulated coasting section information
|
||||||
merge!(BS, Dict(:length => drivingCourse[end][:s] - BS[:s_entry], # total length (in m)
|
merge!(BS, Dict(:length => drivingCourse[end][:s] - BS[:s_entry], # total length (in m)
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||||||
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|
@ -1263,4 +1401,28 @@ function createDataPoint()
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return dataPoint
|
return dataPoint
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end #function createDataPoint
|
end #function createDataPoint
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|
|
||||||
|
function recalculateLastBrakingPoint!(drivingCourse, s_target, v_target)
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|
currentPoint = drivingCourse[end]
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|
previousPoint = drivingCourse[end-1]
|
||||||
|
# set s and v
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|
currentPoint[:s] = s_target # position (in m)
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||||||
|
currentPoint[:v] = v_target # velocity (in m/s)
|
||||||
|
currentPoint[:Δs] = currentPoint[:s] - previousPoint[:s] # step size (in m)
|
||||||
|
currentPoint[:Δv] = currentPoint[:v] - previousPoint[:v] # step size (in m/s)
|
||||||
|
|
||||||
|
# calculate other values
|
||||||
|
previousPoint[:a] = calcBrakingAcceleration(previousPoint[:v], currentPoint[:v], currentPoint[:Δs])
|
||||||
|
# # TODO: just for testing
|
||||||
|
# if previousPoint[:a]<train[:a_braking] || previousPoint[:a]>=0.0
|
||||||
|
# println("Warning: a_braking gets to high in CS ",CS[:id], " with a=",previousPoint[:a] ," > ",train[:a_braking])
|
||||||
|
# end
|
||||||
|
currentPoint[:Δt] = calc_Δt_with_Δv(currentPoint[:Δv], previousPoint[:a]) # step size (in s)
|
||||||
|
currentPoint[:t] = previousPoint[:t] + currentPoint[:Δt] # point in time (in s)
|
||||||
|
|
||||||
|
currentPoint[:ΔW] = 0.0 # mechanical work in this step (in Ws)
|
||||||
|
currentPoint[:W] = previousPoint[:W] + currentPoint[:ΔW] # mechanical work (in Ws)
|
||||||
|
currentPoint[:ΔE] = currentPoint[:ΔW] # energy consumption in this step (in Ws)
|
||||||
|
currentPoint[:E] = previousPoint[:E] + currentPoint[:ΔE] # energy consumption (in Ws)
|
||||||
|
end #function recalculateLastBrakingPoint
|
||||||
|
|
||||||
end #module Behavior
|
end #module Behavior
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue