SUMOReal MSDevice_Battery::getPropEnergy(SUMOVehicle& veh) {
// calculate current kinetic energy
SUMOReal height_cur = veh.getPositionOnLane() / veh.getLane()->getLength() * (veh.getLane()->getShape().back().z() - veh.getLane()->getShape().front().z());
// kinetic energy of vehicle with current velocity
SUMOReal currentEnergy = 0.5 * getMass() * veh.getSpeed() * veh.getSpeed();
// add current potential energy of vehicle at current position
currentEnergy += getMass() * 9.81 * height_cur;
// Calculate the radius of the vehicle's current path if is distintc (r = ds / dphi)
SUMOReal radius = 0;
// If angle of vehicle was changed
if (getLastAngle() != veh.getAngle()) {
// Compute new radio
radius = SPEED2DIST(veh.getSpeed()) / fabs(GeomHelper::angleDiff(getLastAngle(), veh.getAngle()));
// Check if radius is in the interval [0.0001 - 10000] (To avoid overflow and division by zero)
if (radius < 0.0001) {
radius = 0.0001;
} else if (radius > 10000) {
radius = 10000;
}
}
// add current rotational energy of internal rotating elements
currentEnergy += getInternalMomentOfInertia() * veh.getSpeed() * veh.getSpeed();
// kinetic + potential + rotational energy gain [Ws] (MODIFICATED LAST ANGLE)
SUMOReal EnergyLoss = (currentEnergy - getLastEnergy());
// save current total energy for next time step
setLastEnergy(currentEnergy);
// Calculate energy losses:
// EnergyLoss,Air = 1/2 * rho_air [kg/m^3] * FrontSurfaceArea [m^2] * AirDragCoefficient [-] * v_Veh^2 [m/s] * s [m]
// ... with rho_air [kg/m^3] = 1,2041 kg/m^3 (at T = 20°C)
// ... with s [m] = v_Veh [m/s] * 1 [s]
EnergyLoss += 0.5 * 1.2041 * getFrontSurfaceArea() * getAirDragCoefficient() * fabs(veh.getSpeed() * veh.getSpeed() * veh.getSpeed());
// Energy loss through Air resistance [Ws]
// EnergyLoss,Tire = c_R [-] * F_N [N] * s [m]
// ... with c_R = ~0.012 (car tire on asphalt)
// ... with F_N [N] = Mass [kg] * g [m/s^2]
EnergyLoss += getRollDragCoefficient() * 9.81 * getMass() * fabs(veh.getSpeed());
// Energy loss through Roll resistance [Ws]
// ... (fabs(veh.getSpeed())>=0.01) = 0, if vehicle isn't moving
// EnergyLoss,internalFrictionRadialForce = c [m] * F_rad [N];
if (getLastAngle() != veh.getAngle()) {
// Energy loss through friction by radial force [Ws]
EnergyLoss += getRadialDragCoefficient() * getMass() * veh.getSpeed() * veh.getSpeed() / radius;
}
// EnergyLoss,constantConsumers
// Energy loss through constant loads (e.g. A/C) [Ws]
EnergyLoss += getConstantPowerIntake();
//E_Bat = E_kin_pot + EnergyLoss;
if (EnergyLoss > 0) {
// Assumption: Efficiency of PropulsionEfficiency when accelerating
EnergyLoss = EnergyLoss / getPropulsionEfficiency();
} else {
// Assumption: Efficiency of RecuperationEfficiency when recuperating
EnergyLoss = EnergyLoss * getRecuperationEfficiency();
}
// convert from [Ws] to [kWh] (3600s / 1h):
EnergyLoss = EnergyLoss / 3600 ; // EnergyLoss[Ws] * 1[h]/3600[s] * 1[k]/1000
// Return calculated energy
return(EnergyLoss);
}
bool MSDevice_Battery::notifyMove(SUMOVehicle& veh, SUMOReal /* oldPos */, SUMOReal /* newPos */, SUMOReal /* newSpeed */) {
// Start vehicleStoppedTimer if the vehicle is stopped (that's mean, speed is < 0.2). In other case reset timer
if (veh.getSpeed() < 0.2) {
// Increase vehicle stopped timer
increaseVehicleStoppedTimer();
} else {
// Reset vehicle Stopped
resetVehicleStoppedTimer();
}
// Update Energy from the battery
if (getMaximumBatteryCapacity() != 0) {
Consum = getPropEnergy(veh);
// Energy lost/gained from vehicle movement (via vehicle energy model) [kWh]
setActualBatteryCapacity(getActualBatteryCapacity() - Consum);
// saturate between 0 and MaxBatKap [kWh]
if (getActualBatteryCapacity() < 0) {
setActualBatteryCapacity(0);
if (getMaximumBatteryCapacity() > 0) {
WRITE_WARNING("Battery of vehicle '" + veh.getID() + "' is depleted.");
}
} else if (getActualBatteryCapacity() > getMaximumBatteryCapacity()) {
setActualBatteryCapacity(getMaximumBatteryCapacity());
}
setLastAngle(veh.getAngle());
}
// Check if vehicle has under their position one charge Station
std::string ChargingStationID = MSNet::getInstance()->getChargingStationID(veh.getLane(), veh.getPositionOnLane());
// If vehicle is over a charging station
if (ChargingStationID != "") {
// Declare a pointer to the charging station
MSChargingStation* ChargingStationPointer = MSNet::getInstance()->getChargingStation(ChargingStationID);
// if the vehicle is almost stopped, or charge in transit is enabled, then charge vehicle
if ((veh.getSpeed() < 0.2) || (ChargingStationPointer->getChargeInTransit() == 1)) {
// Set Flags Stopped/intransit to
if (veh.getSpeed() < 0.2) {
// vehicle ist almost stopped, then is charging stopped
ItsChargingStopped = true;
// therefore isn't charging in transit
ItsChargingInTransit = false;
} else {
// vehicle is moving, and the Charging station allow charge in transit
ItsChargingStopped = false;
// Therefore charge in transit
ItsChargingInTransit = true;
}
// Set actChargingStation parameter
actChargingStation = ChargingStationID;
// Only update charging start time if vehicle allow charge in transit, or in other case
// if the vehicle not allow charge in transit but it's stopped.
if (ChargingStationPointer->getChargeInTransit() == 1 || veh.getSpeed() < 0.2) {
// Update Charging start time
increaseChargingStartTime();
}
// time it takes the vehicle at the station < charging station time delay?
if (getChargingStartTime() > ChargingStationPointer->getChargeDelay()) {
// Calulate energy charged (Fix);
energyCharged = ChargingStationPointer->getChrgPower() * ChargingStationPointer->getEfficency();
// Convert from [kWs] to [kWh] (3600s / 1h):
energyCharged /= 3600;
// Update Battery charge
if ((energyCharged + getActualBatteryCapacity()) > getMaximumBatteryCapacity()) {
setActualBatteryCapacity(getMaximumBatteryCapacity());
} else {
setActualBatteryCapacity(getActualBatteryCapacity() + energyCharged);
}
}
}
}
// In other case, vehicle will be not charged
else {
// Disable flags
ItsChargingInTransit = false;
ItsChargingStopped = false;
// Disable charging station
actChargingStation = "NULL";
// Set energy charged to 0
energyCharged = 0.00;
// Reset timer
resetChargingStartTime();
}
// Always return true.
return true;
}