TrainRun.jl/src/calc.jl

326 lines
17 KiB
Julia

#!/usr/bin/env julia
# -*- coding: UTF-8 -*-
# __author__ = "Max Kannenberg"
# __copyright__ = "2020-2022"
# __license__ = "ISC"
# Calculate the running time of a train run on a path with special settings with information from the corresponding YAML files with the file paths `trainDirectory`, `pathDirectory`, `settingsDirectory`.
# calculate a train run focussing on using the minimum possible running time
function calculateMinimumRunningTime!(movingSection::Dict, settings::Settings, train::Train)
CSs::Vector{Dict} = movingSection[:characteristicSections]
if settings.massModel == :homogeneous_strip && settings.stepVariable == speed
println("WARNING: ! ! ! TrainRuns.jl doesn't work reliably for the mass model homogeneous strip with step size v in m/s. The calculation time can be extremely high when calcutlating paths with steep gradients ! ! !")
end
startingPoint = SupportPoint()
startingPoint[:i] = 1
startingPoint[:s] = CSs[1][:s_entry]
calculateForces!(startingPoint, CSs, 1, "default", train, settings.massModel) # traction effort and resisting forces (in N)
drivingCourse::Vector{Dict} = [startingPoint] # List of support points
for csId in 1:length(CSs)
CS = CSs[csId]
# for testing
if drivingCourse[end][:s] != CS[:s_entry]
println("ERROR: In CS", csId," the train run starts at s=",drivingCourse[end][:s]," and not s_entry=",CS[:s_entry])
end
if drivingCourse[end][:v] > CS[:v_entry]
println("ERROR: In CS", csId," the train run ends with v=",drivingCourse[end][:v]," and not with v_entry=",CS[:v_entry])
end
# determine the different flags for switching between the states for creating moving phases
s_braking = brakingDistance(drivingCourse[end][:v], CS[:v_exit], train.a_braking, settings.approxLevel)
calculateForces!(drivingCourse[end], CSs, CS[:id], "default", train, settings.massModel) # tractive effort and resisting forces (in N)
previousSpeedLimitReached = false
stateFlags = Dict(:endOfCSReached => drivingCourse[end][:s] > CS[:s_exit],
:brakingStartReached => drivingCourse[end][:s] + s_braking == CS[:s_exit],
:tractionDeficit => drivingCourse[end][:F_T] < drivingCourse[end][:F_R], # or add another flag for equal forces?
:resistingForceNegative => drivingCourse[end][:F_R] < 0.0,
:previousSpeedLimitReached => false, #speedLimitReached, # check already at this position?
:speedLimitReached => drivingCourse[end][:v] > CS[:v_limit],
:error => false)
# determine the behavior sections for this characteristic section. It has to be at least one of those BS: "breakFree", "clearing", "accelerating", "cruising", "diminishing", "coasting", "braking" or "halt")
while !stateFlags[:endOfCSReached] # s < s_exit
if !stateFlags[:brakingStartReached] # s+s_braking < s_exit
if !stateFlags[:tractionDeficit]
if drivingCourse[end][:F_T] > drivingCourse[end][:F_R] && drivingCourse[end][:v] == 0.0
(CS, drivingCourse, stateFlags) = addBreakFreeSection!(CS, drivingCourse, stateFlags, settings, train, CSs)
elseif stateFlags[:previousSpeedLimitReached]
(CS, drivingCourse, stateFlags) = addClearingSection!(CS, drivingCourse, stateFlags, settings, train, CSs)
elseif drivingCourse[end][:F_T] > drivingCourse[end][:F_R] && !stateFlags[:speedLimitReached]
(CS, drivingCourse, stateFlags) = addAcceleratingSection!(CS, drivingCourse, stateFlags, settings, train, CSs)
elseif drivingCourse[end][:F_T] == drivingCourse[end][:F_R] && !stateFlags[:speedLimitReached]
# cruise only one step
if settings.stepVariable == :distance
s_cruising = settings.stepSize
elseif settings.stepVariable == time
s_cruising = Δs_with_Δt(settings.stepSize, drivingCourse[end][:a], drivingCourse[end][:v])
elseif settings.stepVariable == velocity
s_cruising = train.length/(10.0) # TODO which step size should be used?
end
(CS, drivingCourse, stateFlags) = addCruisingSection!(CS, drivingCourse, stateFlags, s_cruising, settings, train, CSs, "cruising")
elseif drivingCourse[end][:F_R] < 0 && stateFlags[:speedLimitReached]
s_braking = brakingDistance(drivingCourse[end][:v], CS[:v_exit], train.a_braking, settings.approxLevel)
s_cruising = CS[:s_exit] - drivingCourse[end][:s] - s_braking
if s_cruising > 0.0
(CS, drivingCourse, stateFlags) = addCruisingSection!(CS, drivingCourse, stateFlags, s_cruising, settings, train, CSs, "downhillBraking")
else
stateFlags[:brakingStartReached] = true
end
elseif drivingCourse[end][:F_T] == drivingCourse[end][:F_R] || stateFlags[:speedLimitReached]
s_braking = brakingDistance(drivingCourse[end][:v], CS[:v_exit], train.a_braking, settings.approxLevel)
s_cruising = CS[:s_exit] - drivingCourse[end][:s] - s_braking
if s_cruising > 0.0 # TODO: define a minimum cruising length?
(CS, drivingCourse, stateFlags) = addCruisingSection!(CS, drivingCourse, stateFlags, s_cruising, settings, train, CSs, "cruising")
else
stateFlags[:brakingStartReached] = true
end
else
error()
end
elseif stateFlags[:tractionDeficit]
(CS, drivingCourse, stateFlags) = addDiminishingSection!(CS, drivingCourse, stateFlags, settings, train, CSs)
else
error()
end
else#if !stateFlags[:endOfCSReached] # s < s_exit
(CS, drivingCourse, stateFlags) = addBrakingSection!(CS, drivingCourse, stateFlags, settings, train, CSs)
#else
# error()
end
end
#if s == s_exit
# halt
#end
# for testing:
if drivingCourse[end][:s] != CS[:s_exit]
println("ERROR: In CS", csId," the train run ends at s=",drivingCourse[end][:s]," and not s_exit=",CS[:s_exit])
end
if drivingCourse[end][:v] > CS[:v_exit]
println("ERROR: In CS", csId," the train run ends with v=",drivingCourse[end][:v]," and not with v_exit=",CS[:v_exit])
end
end #for
(CSs[end], drivingCourse) = addHalt!(CSs[end], drivingCourse, settings, train, CSs)
movingSection[:t] = drivingCourse[end][:t] # total running time (in s)
return (movingSection, drivingCourse)
end #function calculateMinimumRunningTime
"""
calculateTractiveEffort(v, tractiveEffortVelocityPairs)
Calculate the trains tractive effort with the `tractiveEffortVelocityPairs` dependend on the velocity `v`.
...
# Arguments
- `v::AbstractFloat`: the current velocity in m/s.
- `tractiveEffortVelocityPairs::Array{}`: the trains pairs for velocity in m/s and tractive effort in N as one array containing an array for each pair.
...
# Examples
```julia-repl
julia> calculateTractiveEffort(20.0, [(0.0, 180000), (20.0, 100000), (40.0, 60000), (60.0, 40000), (80.0, 30000)])
100000
julia> calculateTractiveEffort(30.0, [(0.0, 180000), (20.0, 100000), (40.0, 60000), (60.0, 40000), (80.0, 30000)])
80000
```
"""
function calculateTractiveEffort(v::AbstractFloat, tractiveEffortVelocityPairs::Array{})
if v < 0.0
#println("v=",v)
return 0.0
end
for row in 1:length(tractiveEffortVelocityPairs)
nextPair = tractiveEffortVelocityPairs[row]
if nextPair[1] == v
return nextPair[2]
elseif nextPair[1] > v
# interpolate for a straight line between the two surrounding points with the formula: F=(v-v_(row-1))*(F_row-F_(row-1))/(v_row-v_(row-1))+F_(row-1)
previousPair = tractiveEffortVelocityPairs[row-1]
F_T_interpolation = (v-previousPair[1]) * (nextPair[2]-previousPair[2]) / (nextPair[1]-previousPair[1]) + previousPair[2]
return F_T_interpolation
end #if
end #for
# if v gets higher than the velocities in tractiveEffortVelocityPairs the last tractive effort will be used
# TODO: also an extrapolation could be used
return tractiveEffortVelocityPairs[end][2]
end #function calculateTractiveEffort
"""
calculate and return the path resistance dependend on the trains position and mass model
"""
function calculatePathResistance(CSs::Vector{Dict}, csId::Integer, s::Real, massModel, train::Train)
if massModel == :mass_point
pathResistance = forceFromCoefficient(CSs[csId][:r_path], train.m_train_full)
elseif massModel == :homogeneous_strip
pathResistance = 0.0
s_rear = s - train.length # position of the rear of the train
while csId > 0 && s_rear < CSs[csId][:s_exit]
pathResistance = pathResistance + (min(s, CSs[csId][:s_exit]) - max(s_rear, CSs[csId][:s_entry])) / train.length * forceFromCoefficient(CSs[csId][:r_path], train.m_train_full)
csId = csId-1
if csId == 0
# TODO: currently for values < movingSection[:s_entry] the values of movingSection[:s_entry] will be used
return pathResistance + (CSs[1][:s_entry] - s_rear) / train.length * forceFromCoefficient(CSs[1][:r_path], train.m_train_full)
end #if
end #while
end #if
return pathResistance
end #function calculatePathResistance
"""
calculate and return tractive and resisting forces for a support point
"""
function calculateForces!(supportPoint::Dict, CSs::Vector{Dict}, csId::Integer, bsType::String, train::Train, massModel)
# calculate resisting forces
supportPoint[:R_traction] = tractionUnitResistance(supportPoint[:v], train)
if train.transportType == :freight
supportPoint[:R_wagons] = freightWagonsResistance(supportPoint[:v], train)
elseif train.transportType == :passenger
supportPoint[:R_wagons] = passengerWagonsResistance(supportPoint[:v], train)
end
supportPoint[:R_train] = supportPoint[:R_traction] + supportPoint[:R_wagons]
supportPoint[:R_path] = calculatePathResistance(CSs, csId, supportPoint[:s], massModel, train)
supportPoint[:F_R] = supportPoint[:R_train] + supportPoint[:R_path]
# calculate tractive effort
if bsType == "braking" || bsType == "coasting" || bsType == "halt"
supportPoint[:F_T] = 0.0
elseif bsType == "cruising"
supportPoint[:F_T] = min(max(0.0, supportPoint[:F_R]), calculateTractiveEffort(supportPoint[:v], train.tractiveEffort))
else # bsType == "accelerating" || bsType == "diminishing" || 'default'
supportPoint[:F_T] = calculateTractiveEffort(supportPoint[:v], train.tractiveEffort)
end
return supportPoint
end #function calculateForces!
"""
TODO
"""
function moveAStep(previousPoint::Dict, stepVariable::Symbol, stepSize::Real, csId::Integer)
# stepSize is the currentStepSize depending on the accessing function
# TODO: csId is only for error messages. Should it be removed?
#= 08/31 TODO: How to check if the train stopps during this step? I should throw an error myself that I catch in higher hierarchies. =#
# create the next support point
newPoint = SupportPoint()
newPoint[:i] = previousPoint[:i]+1 # identifier
# calculate s, t, v, E
if stepVariable == :distance # distance step method
Δs = stepSize # step size (in m)
if previousPoint[:a] == 0.0
if previousPoint[:v] == 0.0
error("ERROR: The train tries to cruise at v=0.0 m/s at s=",previousPoint[:s]," in CS",csId,".")
end
Δt = Δt_with_constant_v(Δs, previousPoint[:v]) # step size (in s)
Δv = 0.0 # step size (in m/s)
else
# check if the parts of the following square roots will be <0.0 in the functions Δt_with_Δs and Δv_with_Δs
squareRootPartIsNegative = (previousPoint[:v]/previousPoint[:a])^2+2*Δs/previousPoint[:a] < 0.0 || previousPoint[:v]^2+2*Δs*previousPoint[:a] < 0.0
if previousPoint[:a] < 0.0 && squareRootPartIsNegative
error("ERROR: The train stops during the accelerating section in CS",csId," because the tractive effort is lower than the resistant forces.",
" Before the stop the last point has the values s=",previousPoint[:s]," m, v=",previousPoint[:v]," m/s, a=",previousPoint[:a]," m/s^2,",
" F_T=",previousPoint[:F_T]," N, R_traction=",previousPoint[:R_traction]," N, R_wagons=",previousPoint[:R_wagons]," N, R_path=",previousPoint[:R_path]," N.")
end
Δt = Δt_with_Δs(Δs, previousPoint[:a], previousPoint[:v]) # step size (in s)
Δv = Δv_with_Δs(Δs, previousPoint[:a], previousPoint[:v]) # step size (in m/s)
end
elseif stepVariable == :time # time step method
Δt = stepSize # step size (in s)
Δs = Δs_with_Δt(Δt, previousPoint[:a], previousPoint[:v]) # step size (in m)
Δv = Δv_with_Δt(Δt, previousPoint[:a]) # step size (in m/s)
elseif stepVariable == :velocity # velocity step method
if previousPoint[:a] == 0.0
if previousPoint[:v] == 0.0
error("ERROR: The train tries to cruise at v=0.0 m/s at s=",previousPoint[:s]," in CS",csId,".")
end
Δs = stepSize # step size (in m)
# TODO what is the best default step size for constant v? define Δs or Δt?
Δt = Δt_with_constant_v(Δs, previousPoint[:v]) # step size (in s)
Δv = 0.0 # step size (in m/s)
else
Δv = stepSize * sign(previousPoint[:a]) # step size (in m/s)
Δs = Δs_with_Δv(Δv, previousPoint[:a], previousPoint[:v]) # step size (in m)
Δt = Δt_with_Δv(Δv, previousPoint[:a]) # step size (in s)
end
end #if
newPoint[:s] = previousPoint[:s] + Δs # position (in m)
newPoint[:t] = previousPoint[:t] + Δt # point in time (in s)
newPoint[:v] = previousPoint[:v] + Δv # velocity (in m/s)
return newPoint
end #function moveAStep
"""
# if the rear of the train is still located in a former characteristic section it has to be checked if its speed limit can be kept
"""
function getCurrentSpeedLimit(CSs::Vector{Dict}, csWithTrainHeadId::Integer, s::Real, trainLength::Real)
v_limit = CSs[csWithTrainHeadId][:v_limit]
s_exit = CSs[csWithTrainHeadId][:s_exit]
if csWithTrainHeadId > 1 && s -trainLength < CSs[csWithTrainHeadId][:s_entry]
formerCsId = csWithTrainHeadId-1
while formerCsId > 0 && s -trainLength < CSs[formerCsId][:s_exit]
if CSs[formerCsId][:v_limit] < v_limit # TODO: is the position of the train's rear < movingSection[:s_entry], v_limit of the first CS is used
v_limit = CSs[formerCsId][:v_limit]
s_exit = CSs[formerCsId][:s_exit]
end
formerCsId = formerCsId -1
end
end
currentSpeedLimit = Dict(:v => v_limit, :s_end => s_exit + trainLength)
return currentSpeedLimit
end #function getCurrentSpeedLimit
"""
TODO
"""
function getNextPointOfInterest(pointsOfInterest::Vector{Tuple}, s::Real)
for POI in pointsOfInterest
if POI[1] > s
return POI
end
end
error("ERROR in getNextPointOfInterest: There is no POI higher than s=",s," m.")
end #function getNextPointOfInterest
## create a moving section and its containing characteristic sections with secured braking, accelerating and cruising behavior
function determineCharacteristics(path::Path, train::Train, settings::Settings)
movingSection = MovingSection(path, train.v_limit, train.length)
movingSection = secureBrakingBehavior!(movingSection, train.a_braking, settings.approxLevel)
movingSection = secureAcceleratingBehavior!(movingSection, settings, train)
#movingSection = secureCruisingBehavior!(movingSection, settings, train)
return movingSection
end #function determineCharacteristics