andreika-git
/
rusefi
mirror of https://github.com/andreika-git/rusefi.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Jammed ETB detection (#4873) 

* jammed ETB detection

* autoscale

* comment

* cleanup

* implement test, cleanup
This commit is contained in:
Matthew Kennedy 2023-01-10 12:31:04 -08:00 committed by GitHub
parent cd189c6450
commit 1eca0ca1bd
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
7 changed files with 102 additions and 34 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

45
firmware/controllers/actuators/electronic_throttle.cpp
View File

@ -269,7 +269,7 @@ expected<percent_t> EtbController::getSetpoint() {
expected<percent_t> EtbController::getSetpointIdleValve() const {
// VW ETB idle mode uses an ETB only for idle (a mini-ETB sets the lower stop, and a normal cable
// can pull the throttle up off the stop.), so we directly control the throttle with the idle position.
#if EFI_TUNER_STUDIO
#if EFI_TUNER_STUDIO && (EFI_PROD_CODE || EFI_SIMULATOR)
engine->outputChannels.etbTarget = m_idlePosition;
#endif // EFI_TUNER_STUDIO
return clampF(0, m_idlePosition, 100);
@ -637,20 +637,41 @@ void EtbController::update() {
m_pid.iTermMin = engineConfiguration->etb_iTermMin;
m_pid.iTermMax = engineConfiguration->etb_iTermMax;
ClosedLoopController::update();
auto output = ClosedLoopController::update();
if (!output) {
return;
}
checkOutput(output.Value);
}
expected<percent_t> EtbController::getOutput() {
// total open + closed loop parts
expected<percent_t> output = ClosedLoopController::getOutput();
if (!output) {
return output;
}
etbDutyAverage = m_dutyAverage.average(absF(output.Value));
void EtbController::checkOutput(percent_t output) {
etbDutyAverage = m_dutyAverage.average(absF(output));
etbDutyRateOfChange = m_dutyRocAverage.average(absF(output.Value - prevOutput));
prevOutput = output.Value;
return output;
etbDutyRateOfChange = m_dutyRocAverage.average(absF(output - prevOutput));
prevOutput = output;
float integrator = absF(m_pid.getIntegration());
auto integratorLimit = engineConfiguration->etbJamIntegratorLimit;
if (integratorLimit != 0) {
auto nowNt = getTimeNowNt();
if (integrator > integratorLimit) {
if (m_jamDetectTimer.hasElapsedSec(engineConfiguration->etbJamTimeout)) {
// ETB is jammed!
jamDetected = true;
// TODO: do something about it!
}
} else {
m_jamDetectTimer.reset(getTimeNowNt());
jamDetected = false;
}
jamTimer = m_jamDetectTimer.getElapsedSeconds(nowNt);
}
}
void EtbController::autoCalibrateTps() {

3
firmware/controllers/actuators/electronic_throttle.h
View File

@ -53,10 +53,9 @@ public:
virtual void setIdlePosition(percent_t pos) = 0;
virtual void setWastegatePosition(percent_t pos) = 0;
virtual void update() = 0;
virtual expected<percent_t> getOutput() = 0;
virtual void autoCalibrateTps() = 0;
virtual const pid_state_s* getPidState() const = 0;
virtual const pid_state_s& getPidState() const = 0;
virtual void setLuaAdjustment(percent_t adjustment) = 0;
};

4
firmware/controllers/actuators/electronic_throttle.txt
View File

@ -12,6 +12,8 @@ float luaAdjustment;"ETB: luaAdjustment"
float etbCurrentAdjustedTarget;;"%", 1, 0, -10000, 10000, 3
bit etbRevLimitActive
bit jamDetected
float etbDutyRateOfChange
float etbDutyAverage
uint16_t etbTpsErrorCounter;"ETB TPS error counter"
@ -19,4 +21,6 @@ float luaAdjustment;"ETB: luaAdjustment"
int8_t etbErrorCode
uint16_t autoscale jamTimer;ETB jam timer;"sec", 0.01, 0, 0, 100, 2
end_struct

7
firmware/controllers/actuators/electronic_throttle_impl.h
View File

@ -34,7 +34,6 @@ public:
// Update the controller's state: read sensors, send output, etc
void update() override;
expected<percent_t> getOutput() override;
// Called when the configuration may have changed. Controller will
// reset if necessary.
@ -57,8 +56,10 @@ public:
void setOutput(expected<percent_t> outputValue) override;
void checkOutput(percent_t output);
// Used to inspect the internal PID controller's state
const pid_state_s* getPidState() const override { return &m_pid; };
const pid_state_s& getPidState() const override { return m_pid; };
// Use the throttle to automatically calibrate the relevant throttle position sensor(s).
void autoCalibrateTps() override;
@ -96,6 +97,8 @@ private:
ExpAverage m_dutyRocAverage;
ExpAverage m_dutyAverage;
Timer m_jamDetectTimer;
// Pedal -> target map
const ValueProvider3D* m_pedalMap = nullptr;

8
firmware/controllers/closed_loop_controller.h
View File

@ -9,12 +9,15 @@
template <typename TInput, typename TOutput>
class ClosedLoopController {
public:
void update() {
expected<TOutput> update() {
expected<TOutput> outputValue = getOutput();
setOutput(outputValue);
return outputValue;
}
virtual expected<TOutput> getOutput() {
private:
expected<TOutput> getOutput() {
expected<TInput> setpoint = getSetpoint();
// If we don't know the setpoint, return failure.
if (!setpoint) {
@ -41,7 +44,6 @@ public:
return openLoopResult.Value + closedLoopResult.Value;
}
private:
// Get the setpoint: where should the controller put the plant?
virtual expected<TInput> getSetpoint() = 0;

3
unit_tests/mocks.h
View File

@ -25,12 +25,11 @@ public:
MOCK_METHOD(void, setIdlePosition, (percent_t pos), (override));
MOCK_METHOD(void, setWastegatePosition, (percent_t pos), (override));
MOCK_METHOD(void, autoCalibrateTps, (), (override));
MOCK_METHOD(const pid_state_s*, getPidState, (), (const, override));
MOCK_METHOD(const pid_state_s&, getPidState, (), (const, override));
MOCK_METHOD(void, setLuaAdjustment, (percent_t adjustment), (override));
// ClosedLoopController mocks
MOCK_METHOD(expected<percent_t>, getOutput, (), (override));
MOCK_METHOD(expected<percent_t>, getSetpoint, (), (override));
MOCK_METHOD(expected<percent_t>, observePlant, (), (const, override));
MOCK_METHOD(expected<percent_t>, getOpenLoop, (percent_t setpoint), (override));

66
unit_tests/tests/actuators/test_etb.cpp
View File

@ -198,7 +198,6 @@ TEST(etb, initializationNoPrimarySensor) {
Sensor::resetAllMocks();
EtbController dut;
EngineTestHelper eth(TEST_ENGINE);
// Needs pedal for init
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
@ -470,7 +469,6 @@ TEST(etb, setpointNoPedalMap) {
}
TEST(etb, setpointIdleValveController) {
EngineTestHelper eth(TEST_ENGINE);
EtbController etb;
etb.init(ETB_IdleValve, nullptr, nullptr, nullptr, false);
@ -490,7 +488,6 @@ TEST(etb, setpointIdleValveController) {
}
TEST(etb, setpointWastegateController) {
EngineTestHelper eth(TEST_ENGINE);
EtbController etb;
etb.init(ETB_Wastegate, nullptr, nullptr, nullptr, false);
@ -561,10 +558,6 @@ TEST(etb, setpointLuaAdder) {
}
TEST(etb, etbTpsSensor) {
static engine_configuration_s localConfig;
// huh? how is this breaking the test? EngineTestHelper eth(TEST_ENGINE);
engineConfiguration = &localConfig;
// Throw some distinct values on the TPS sensors so we can identify that we're getting the correct one
Sensor::setMockValue(SensorType::Tps1, 25.0f, true);
Sensor::setMockValue(SensorType::Tps2, 75.0f, true);
@ -601,7 +594,6 @@ TEST(etb, etbTpsSensor) {
etb.init(ETB_IdleValve, nullptr, nullptr, nullptr, true);
EXPECT_EQ(etb.observePlant().Value, 66.0f);
}
engineConfiguration = nullptr;
}
TEST(etb, setOutputInvalid) {
@ -746,9 +738,6 @@ TEST(etb, setOutputLimpHome) {
}
TEST(etb, closedLoopPid) {
static engine_configuration_s localConfig;
// huh? how is this breaking the test? EngineTestHelper eth(TEST_ENGINE);
engineConfiguration = &localConfig;
pid_s pid = {};
pid.pFactor = 5;
pid.maxValue = 75;
@ -762,8 +751,6 @@ TEST(etb, closedLoopPid) {
EtbController etb;
etb.init(ETB_Throttle1, nullptr, &pid, nullptr, true);
// todo: second part dirty hack :(
engineConfiguration = nullptr;
// Disable autotune for now
Engine e;
EngineTestHelperBase base(&e, nullptr, nullptr);
@ -779,6 +766,59 @@ TEST(etb, closedLoopPid) {
EXPECT_FLOAT_EQ(etb.getClosedLoop(50, 30).value_or(-1), 75);
}
extern int timeNowUs;
TEST(etb, jamDetection) {
EngineTestHelper eth(TEST_ENGINE);
pid_s pid = {};
// I-only since we're testing out the integrator
pid.pFactor = 0;
pid.iFactor = 1;
pid.dFactor = 0;
pid.maxValue = 50;
pid.minValue = -50;
// Must have TPS & PPS initialized for ETB setup
Sensor::setMockValue(SensorType::Tps1Primary, 0);
Sensor::setMockValue(SensorType::Tps1, 0.0f, true);
Sensor::setMockValue(SensorType::AcceleratorPedal, 0.0f, true);
// Limit of 5%, 1 second
engineConfiguration->etbJamIntegratorLimit = 5;
engineConfiguration->etbJamTimeout = 1;
EtbController etb;
etb.init(ETB_Throttle1, nullptr, &pid, nullptr, true);
timeNowUs = 0;
// Reset timer while under integrator limit
EXPECT_EQ(etb.getPidState().iTerm, 0);
etb.checkOutput(0);
EXPECT_EQ(etb.jamTimer, 0);
EXPECT_FALSE(etb.jamDetected);
for (size_t i = 0; i < ETB_LOOP_FREQUENCY; i++) {
// Error of 10, should accumulate 10 integrator per second
etb.getClosedLoop(50, 40);
}
EXPECT_NEAR(etb.getPidState().iTerm, 10.0f, 1e-3);
// Just under time limit, no jam yet
timeNowUs = 0.9e6;
etb.checkOutput(0);
EXPECT_NEAR(etb.jamTimer, 0.9f, 1e-3);
EXPECT_FALSE(etb.jamDetected);
// Above the time limit, jam detected!
timeNowUs = 1.1e6;
etb.checkOutput(0);
EXPECT_TRUE(etb.jamDetected);
}
TEST(etb, openLoopThrottle) {
EngineTestHelper eth(TEST_ENGINE);