Add preliminary powertrain model

BobLib/Controllers/VCU.mo

@@ -20,7 +20,7 @@ model VCU
     "Multiplier mapping sensed motor speed to drive-positive speed" annotation(
     Dialog(tab = "Controllers", group = "Electric Drive Mapping"));
   parameter Real finalDriveRatio = 1
-    "Final-drive ratio used to convert rear-axle torque command to motor torque" annotation(
+    "Fallback ratio used before the transmission publishes an engaged ratio" annotation(
     Dialog(tab = "Controllers", group = "Electric Drive Mapping"));
 
   // Longitudinal speed controller
@@ -90,6 +90,8 @@ protected
   SI.Voltage sens_hv_bus_voltage;
   SI.Current sens_hv_bus_current;
   SI.Velocity sens_vehicle_speed;
+  Real sens_gear_ratio "Engaged transmission ratio sensed from the transmission bus";
+  Real effectiveDriveRatio "Ratio used for axle/motor torque conversion";
 
   Modelica.Blocks.Interfaces.RealInput steeringAngleBusTap(
     quantity = "Angle",
@@ -132,6 +134,10 @@ protected
     "Vehicle speed from chassisBus" annotation(
       Placement(transformation(origin = {-100, 54}, extent = {{-6, -6}, {6, 6}})));
 
+  Modelica.Blocks.Interfaces.RealInput gearRatioBusTap
+    "Engaged transmission ratio from transmissionBus" annotation(
+      Placement(transformation(origin = {-100, 46}, extent = {{-6, -6}, {6, 6}})));
+
   Modelica.Blocks.Sources.RealExpression powerRequestBusSignal(
     y = P_req) "Power request published to electricMotorControlBus" annotation(
       Placement(transformation(origin = {54, 42}, extent = {{-8, -4}, {8, 4}})));
@@ -176,7 +182,7 @@ protected
       Placement(transformation(origin = {-70, -90}, extent = {{-10, -10}, {10, 10}})));
 
   Modelica.Blocks.Sources.RealExpression motorTorqueRequest(
-    y = driveTorqueCmd / max(finalDriveRatio, 1e-6)) annotation(
+    y = driveTorqueCmd / effectiveDriveRatio) annotation(
       Placement(transformation(origin = {-44, 16}, extent = {{-5, -2}, {5, 2}})));
 
   Modelica.Blocks.Sources.RealExpression regenLimitRequest(
@@ -200,10 +206,10 @@ protected
 
 equation
   rearAxleTorqueCapacity =
-    tau_max * max(finalDriveRatio, 1e-6);
+    tau_max * effectiveDriveRatio;
 
   rearAxleRegenTorqueCapacity =
-    regenTorqueLimit * max(finalDriveRatio, 1e-6);
+    regenTorqueLimit * effectiveDriveRatio;
 
   cmd_steering_angle = steeringAngleBusTap;
   cmd_accelerator_pedal = acceleratorPedalBusTap;
@@ -213,6 +219,11 @@ equation
   sens_hv_bus_voltage = hvBusVoltageBusTap;
   sens_hv_bus_current = hvBusCurrentBusTap;
   sens_vehicle_speed = vehicleSpeedBusTap;
+  sens_gear_ratio = gearRatioBusTap;
+  // Prefer the live engaged ratio published by the transmission; fall back to
+  // the fixed parameter only if the bus signal is not yet meaningful.
+  effectiveDriveRatio =
+    noEvent(if abs(sens_gear_ratio) > 1e-6 then sens_gear_ratio else max(finalDriveRatio, 1e-6));
 
   speedControlTorqueCmd =
     if enablePTNDriveSpeedControl or
@@ -306,6 +317,8 @@ equation
     Line(points = {{0, -100}, {-96, -100}, {-96, 20}}, color = {0, 0, 127}));
   connect(controlBus.chassisBus.vehicleSpeed, vehicleSpeedBusTap) annotation(
     Line(points = {{0, -100}, {-100, -100}, {-100, 54}}, color = {0, 0, 127}));
+  connect(controlBus.transmissionBus.gearRatio, gearRatioBusTap) annotation(
+    Line(points = {{0, -100}, {-100, -100}, {-100, 46}}, color = {0, 0, 127}));
 
   connect(powerRequestBusSignal.y, controlBus.electricMotorControlBus.powerRequest) annotation(
     Line(points = {{62.8, 42}, {94, 42}, {94, -100}, {0, -100}}, color = {0, 0, 127}));

BobLib/ElectricDrives/Internal/PowerLimitedMotor.mo

@@ -33,6 +33,10 @@ model PowerLimitedMotor
   parameter SI.Power P_cont_high = 75e3 "High end continuous power band [W]";
   parameter Real eta_mot = 0.96 "Constant motoring efficiency approximation";
   parameter Real eta_reg = 0.95 "Constant regen efficiency approximation";
+  parameter Boolean useTorqueTable = false
+    "Use a torque-vs-rpm curve as an additional peak-torque cap";
+  parameter Real torqueTable[:, 2] = [0.0, 1e9; 1.0, 1e9]
+    "Peak torque vs speed (rpm, Nm); applied as an extra cap when useTorqueTable";
   parameter Real lossTable[:, 2] = [
     0,    0;
     1000, 200;
@@ -77,6 +81,7 @@ protected
 
   Real peakFactor "1 -> allow peak, 0 -> only continuous";
   SI.Torque T_allow;
+  SI.Torque T_table_cap "Torque-vs-rpm curve cap (large when table disabled)";
   SI.Current I_allow;
 
   Real P_allow;
@@ -109,6 +114,11 @@ equation
   T_allow = peakFactor*T_peak + (1 - peakFactor)*T_cont;
   I_allow = peakFactor*I_peak_2min + (1 - peakFactor)*I_cont;
 
+  // Optional torque-vs-rpm curve, applied as an additional cap. Disabled by
+  // default (returns a large value) so scalar-only motors are unchanged.
+  T_table_cap =
+    if useTorqueTable then interp1(torqueTable, rpm) else Modelica.Constants.inf;
+
   // Continuous power envelope vs speed
   P_cont_env =
 
@@ -144,7 +154,7 @@ equation
 
   // Combined torque limit
   tau_lim =
-    noEvent(min(T_allow,
+    noEvent(min(min(T_allow, T_table_cap),
         min(tau_lim_from_power,
             tau_lim_from_current)));
 

BobLib/ElectricDrives/Motor.mo

@@ -39,6 +39,10 @@ model Motor
     "Select reverse torque direction when starting exactly from standstill";
   parameter SI.Inertia rotorJ = 0.02521
     "Motor rotor inertia";
+  parameter Boolean useTorqueTable = false
+    "Use a torque-vs-rpm curve as an additional peak-torque cap";
+  parameter Real torqueTable[:, 2] = [0.0, 1e9; 1.0, 1e9]
+    "Peak torque vs speed (rpm, Nm); applied as an extra cap when useTorqueTable";
 
   Modelica.Electrical.Analog.Interfaces.PositivePin pin_p
     "Motor-side DC positive pin" annotation(
@@ -64,6 +68,8 @@ model Motor
     P_cont_high = P_cont_high,
     eta_mot = eta_mot,
     eta_reg = eta_reg,
+    useTorqueTable = useTorqueTable,
+    torqueTable = torqueTable,
     w_eps = w_eps,
     reverseLaunch = reverseLaunch) annotation(
       Placement(transformation(origin = {-20, 0}, extent = {{-30, -30}, {30, 30}})));

BobLib/Experiments/Standards/FourPostSim.mo

@@ -2,7 +2,7 @@ within BobLib.Experiments.Standards;
 
 model FourPostSim
 
-  extends Templates.FourPost.FourPostSim_DWBCStabar_DWBCStabar;
+  extends Templates.FourPost.FourPostSim_EVBatInvMotDiff_DWBCStabar_DWBCStabar;
   extends BobLib.Icons.SimulationIcon;
 
   annotation(
@@ -13,12 +13,5 @@ model FourPostSim
       lv = "LOG_STDOUT,LOG_ASSERT,LOG_STATS",
       s = "dassl",
       variableFilter = ".*"),
-    Documentation(info = "<html>
-<p>
-Model <code>FourPostSim</code> is the front-facing standard four-post simulation entry point.
-</p>
-<p>
-It extends the selected four-post architecture template, applies the standard experiment setup, and is intended for suspension and chassis response studies.
-</p>
-</html>"));
+    Documentation(info = "<html><p>Generated standard four-post simulation entry point.</p></html>"));
 end FourPostSim;

BobLib/Experiments/Standards/Templates/FMI/BaseVehicleFMI.mo

@@ -115,13 +115,20 @@ partial model BaseVehicleFMI
     eta_reg = pVehicle.pMotor.eta_reg,
     w_eps = pVehicle.pMotor.w_eps,
     reverseLaunch = pVehicle.pMotor.reverseLaunch,
+    useTorqueTable = pVehicle.pMotor.useTorqueTable,
+    torqueTable = pVehicle.pMotor.torqueTable,
     rotorJ = pVehicle.pMotor.rotorJ) annotation(
     choicesAllMatching = true,
     Dialog(group = "Plant Models"),
     Placement(transformation(origin = {-79, -10.3334}, extent = {{-10, -10}, {10, 10}}, rotation = -180))) constrainedby VehicleInterfaces.ElectricDrives.Interfaces.Base "Traction motor subsystem";
 
-  replaceable BobLib.Transmissions.FixedRatioTransmission transmission(
-    gearRatio = pVehicle.pDriveline.finalDriveRatio) annotation(
+  replaceable BobLib.Transmissions.SpeedScheduledTransmission transmission(
+    nGears = pVehicle.pTransmission.nGears,
+    gearRatios = pVehicle.pTransmission.gearRatios,
+    upshiftSpeeds = pVehicle.pTransmission.upshiftSpeeds,
+    downshiftSpeeds = pVehicle.pTransmission.downshiftSpeeds,
+    initialGear = pVehicle.pTransmission.initialGear,
+    wheelRadius = pVehicle.pRrPartialWheel.R0) annotation(
     choicesAllMatching = true,
     Dialog(group = "Plant Models"),
     Placement(transformation(origin = {-40, -10}, extent = {{-10, -10}, {10, 10}}))) constrainedby VehicleInterfaces.Transmissions.Interfaces.Base "Transmission subsystem";

BobLib/Experiments/Standards/Templates/FourPost/FourPostSim_EVBatInvMotDiff_DWBCStabar_DWBCStabar.mo

@@ -0,0 +1,32 @@
+within BobLib.Experiments.Standards.Templates.FourPost;
+
+model FourPostSim_EVBatInvMotDiff_DWBCStabar_DWBCStabar
+
+  extends BaseFourPostSim(
+    redeclare record VehicleRecord = BobLib.Records.VehicleDefn.EVBatInvMotDiff_DWBCStabar_DWBCStabarRecord,
+    redeclare model FrAxleModel = BobLib.Chassis.Suspension.FrAxleDW_BC_Stabar,
+    redeclare model RrAxleModel = BobLib.Chassis.Suspension.RrAxleDW_BC_Stabar,
+    frAxleDW(
+      pStabar = pFrStabar
+    ),
+    pFrStabar(
+      leftArmEnd = pVehicle.pFrStabar.leftArmEnd,
+      leftBarEnd = pVehicle.pFrStabar.leftBarEnd,
+      barRate = 0
+    ),
+    rrAxleDW(
+      pStabar = pRrStabar
+    ),
+    pRrStabar(
+      leftArmEnd = pVehicle.pRrStabar.leftArmEnd,
+      leftBarEnd = pVehicle.pRrStabar.leftBarEnd,
+      barRate = 0
+    )
+  );
+  annotation(
+    Documentation(info = "<html>
+<p>
+Generated four-post template <code>FourPostSim_EVBatInvMotDiff_DWBCStabar_DWBCStabar</code> binds the selected vehicle record and axle architecture.
+</p>
+</html>"));
+end FourPostSim_EVBatInvMotDiff_DWBCStabar_DWBCStabar;

BobLib/Experiments/Standards/Templates/FourPost/package.order

@@ -8,3 +8,4 @@ FourPostSim_DWBC_DWBCStabar
 FourPostSim_DWBCStabar_DWDirect
 FourPostSim_DWBCStabar_DWBC
 FourPostSim_DWBCStabar_DWBCStabar
+FourPostSim_EVBatInvMotDiff_DWBCStabar_DWBCStabar

BobLib/Experiments/Standards/Templates/Vehicle/BaseVehicleSim.mo

@@ -199,12 +199,20 @@ partial model BaseVehicleSim
     eta_reg = pVehicle.pMotor.eta_reg,
     w_eps = pVehicle.pMotor.w_eps,
     reverseLaunch = pVehicle.pMotor.reverseLaunch,
+    useTorqueTable = pVehicle.pMotor.useTorqueTable,
+    torqueTable = pVehicle.pMotor.torqueTable,
     rotorJ = pVehicle.pMotor.rotorJ) annotation(
     choicesAllMatching = true,
     Dialog(tab = "Subsystems", group = "Plant Models"),
     Placement(transformation(origin = {-79, -10.3334}, extent = {{-10, -10}, {10, 10}}, rotation = -180))) constrainedby VehicleInterfaces.ElectricDrives.Interfaces.Base "Traction motor subsystem";
 
-  replaceable BobLib.Transmissions.FixedRatioTransmission transmission(gearRatio = pVehicle.pDriveline.finalDriveRatio) annotation(
+  replaceable BobLib.Transmissions.SpeedScheduledTransmission transmission(
+    nGears = pVehicle.pTransmission.nGears,
+    gearRatios = pVehicle.pTransmission.gearRatios,
+    upshiftSpeeds = pVehicle.pTransmission.upshiftSpeeds,
+    downshiftSpeeds = pVehicle.pTransmission.downshiftSpeeds,
+    initialGear = pVehicle.pTransmission.initialGear,
+    wheelRadius = pVehicle.pRrPartialWheel.R0) annotation(
     choicesAllMatching = true,
     Dialog(tab = "Subsystems", group = "Plant Models"),
     Placement(transformation(origin = {-40, -10}, extent = {{-10, -10}, {10, 10}}))) constrainedby VehicleInterfaces.Transmissions.Interfaces.Base "Transmission subsystem";

BobLib/Experiments/Standards/Templates/Vehicle/VehicleSim_EVBatInvMotDiff_DWBCStabar_DWBCStabar.mo

@@ -11,12 +11,16 @@ model VehicleSim_EVBatInvMotDiff_DWBCStabar_DWBCStabar
       pFrStabar(
         leftArmEnd = pVehicle.pFrStabar.leftArmEnd,
         leftBarEnd = pVehicle.pFrStabar.leftBarEnd,
-        barRate = pVehicle.pFrStabar.barRate),
+        barRate = pVehicle.pFrStabar.barRate
+      ),
       pRrStabar(
         leftArmEnd = pVehicle.pRrStabar.leftArmEnd,
         leftBarEnd = pVehicle.pRrStabar.leftBarEnd,
-        barRate = pVehicle.pRrStabar.barRate),
+        barRate = pVehicle.pRrStabar.barRate
+      ),
       headless = headless,
       initialLongitudinalVelocity = initialVel,
-      pVehicle = pVehicle));
+      pVehicle = pVehicle
+    )
+  );
 end VehicleSim_EVBatInvMotDiff_DWBCStabar_DWBCStabar;