BLDC engine added

JSBSim.vcxproj

@@ -252,6 +252,7 @@
     <ClInclude Include="src\models\flight_control\FGDistributor.h" />
     <ClInclude Include="src\models\flight_control\FGLinearActuator.h" />
     <ClInclude Include="src\models\flight_control\FGWaypoint.h" />
+    <ClInclude Include="src\models\propulsion\FGBrushLessDCMotor.h" />
     <ClInclude Include="src\models\propulsion\FGTransmission.h" />
     <ClInclude Include="src\simgear\xml\ascii.h" />
     <ClInclude Include="src\simgear\xml\asciitab.h" />
@@ -371,6 +372,7 @@
     <ClCompile Include="src\models\flight_control\FGDistributor.cpp" />
     <ClCompile Include="src\models\flight_control\FGLinearActuator.cpp" />
     <ClCompile Include="src\models\flight_control\FGWaypoint.cpp" />
+    <ClCompile Include="src\models\propulsion\FGBrushLessDCMotor.cpp" />
     <ClCompile Include="src\models\propulsion\FGTransmission.cpp" />
     <ClCompile Include="src\simgear\magvar\coremag.cxx" />
     <ClCompile Include="src\simgear\xml\easyxml.cxx" />

JSBSim.vcxproj.filters

@@ -323,6 +323,9 @@
     <ClCompile Include="src\math\FGStateSpace.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="src\models\propulsion\FGBrushLessDCMotor.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="src\input_output\FGInputSocket.h">
@@ -673,5 +676,8 @@
     <ClInclude Include="src\math\FGStateSpace.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="src\models\propulsion\FGBrushLessDCMotor.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
 </Project>

src/input_output/FGXMLElement.cpp

@@ -244,6 +244,10 @@ Element::Element(const string& nm)
     // Gravitational
     convert["FT3/SEC2"]["FT3/SEC2"] = 1.0;
     convert["M3/SEC2"]["M3/SEC2"] = 1.0;
+    // Electrical
+    convert["VOLTS"]["VOLTS"] = 1.0;
+    convert["OHMS"]["OHMS"] = 1.0;
+    convert["AMPERES"]["AMPERES"] = 1.0;
   }
 }
 

src/models/FGPropulsion.cpp

@@ -56,6 +56,8 @@ INCLUDES
 #include "models/propulsion/FGTurboProp.h"
 #include "models/propulsion/FGTank.h"
 #include "input_output/FGModelLoader.h"
+#include "models/propulsion/FGBrushLessDCMotor.h"
+
 
 using namespace std;
 
@@ -397,7 +399,11 @@ bool FGPropulsion::Load(Element* el)
       } else if (engine_element->FindElement("electric_engine")) {
         Element *element = engine_element->FindElement("electric_engine");
         Engines.push_back(make_shared<FGElectric>(FDMExec, element, numEngines, in));
-      } else {
+      } else if (engine_element->FindElement("brushless_dc_motor")) {
+        Element *element = engine_element->FindElement("brushless_dc_motor");
+        Engines.push_back(make_shared<FGBrushLessDCMotor>(FDMExec, element, numEngines, in));
+      }
+      else {
         cerr << engine_element->ReadFrom() << " Unknown engine type" << endl;
         return false;
       }

src/models/propulsion/CMakeLists.txt

@@ -1,34 +1,36 @@
-set(SOURCES FGElectric.cpp
-            FGEngine.cpp
-            FGForce.cpp
-            FGNozzle.cpp
-            FGPiston.cpp
-            FGPropeller.cpp
-            FGRocket.cpp
-            FGTank.cpp
-            FGThruster.cpp
-            FGTurbine.cpp
-            FGTurboProp.cpp
-            FGTransmission.cpp
-            FGRotor.cpp)
-
-set(HEADERS FGElectric.h
-            FGEngine.h
-            FGForce.h
-            FGNozzle.h
-            FGPiston.h
-            FGPropeller.h
-            FGRocket.h
-            FGTank.h
-            FGThruster.h
-            FGTurbine.h
-            FGTurboProp.h
-            FGTransmission.h
-            FGRotor.h)
-
-add_library(Propulsion OBJECT ${HEADERS} ${SOURCES})
-set_target_properties(Propulsion PROPERTIES TARGET_DIRECTORY
-                                 ${CMAKE_CURRENT_SOURCE_DIR})
-
-install(FILES ${HEADERS} DESTINATION include/JSBSim/models/propulsion
-                         COMPONENT devel)
+set(SOURCES FGElectric.cpp
+            FGEngine.cpp
+            FGForce.cpp
+            FGNozzle.cpp
+            FGPiston.cpp
+            FGPropeller.cpp
+            FGRocket.cpp
+            FGTank.cpp
+            FGThruster.cpp
+            FGTurbine.cpp
+            FGTurboProp.cpp
+            FGTransmission.cpp
+            FGRotor.cpp
+            FGBrushLessDCMotor.cpp)
+
+set(HEADERS FGElectric.h
+            FGEngine.h
+            FGForce.h
+            FGNozzle.h
+            FGPiston.h
+            FGPropeller.h
+            FGRocket.h
+            FGTank.h
+            FGThruster.h
+            FGTurbine.h
+            FGTurboProp.h
+            FGTransmission.h
+            FGRotor.h
+            FGBrushLessDCMotor.h)
+
+add_library(Propulsion OBJECT ${HEADERS} ${SOURCES})
+set_target_properties(Propulsion PROPERTIES TARGET_DIRECTORY
+                                 ${CMAKE_CURRENT_SOURCE_DIR})
+
+install(FILES ${HEADERS} DESTINATION include/JSBSim/models/propulsion
+                         COMPONENT devel)

src/models/propulsion/FGBrushLessDCMotor.cpp

@@ -0,0 +1,253 @@
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+ Module:       FGBrushLessDCMotor.cpp
+ Autor         Paolo Becchi
+ 1st release   1/1/2022
+ Purpose:      This module models an BLDC electric motor
+
+  ------------- Copyright (C) 2022  Paolo Becchi ([email protected]) -------------
+
+  This program is free software; you can redistribute it and/or modify it under
+  the terms of the GNU Lesser General Public License as published by the Free
+  Software Foundation; either version 2 of the License, or (at your option) any
+  later version.
+
+  This program is distributed in the hope that it will be useful, but WITHOUT
+  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+  FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
+  details.
+
+  You should have received a copy of the GNU Lesser General Public License along
+  with this program; if not, write to the Free Software Foundation, Inc., 59
+  Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+
+  Further information about the GNU Lesser General Public License can also be
+  found on the world wide web at http://www.gnu.org
+
+FUNCTIONAL DESCRIPTION
+--------------------------------------------------------------------------------
+Following code represent a new BrushLess DC motor to be used as alternative 
+to basic electric motor. 
+BLDC motor code is based on basic "3 constant motor equations"
+It require 3 basic physical motor properties:
+Kv speed motor constant      [RPM/Volt]
+Rm internal coil resistance  [Ohms]
+I0 no load current           [Amperes]
+
+HISTORY
+--------------------------------------------------------------------------------
+1/01/2022    Created
+
+
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+INCLUDES
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#include <iostream>
+#include <sstream>
+#include <math.h>
+
+#include "FGFDMExec.h"
+#include "FGBrushLessDCMotor.h"
+#include "FGPropeller.h"
+#include "input_output/FGXMLElement.h"
+
+using namespace std;
+
+namespace JSBSim {
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS IMPLEMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+FGBrushLessDCMotor::FGBrushLessDCMotor(FGFDMExec* exec, Element* el, int engine_number, struct FGEngine::Inputs& input)
+  : FGEngine(engine_number, input)
+{
+  Load(exec, el);
+
+  Type = etElectric;
+
+
+
+  if (el->FindElement("maxvolts"))
+    MaxVolts = el->FindElementValueAsNumberConvertTo("maxvolts", "VOLTS");
+  else {
+    cerr << el->ReadFrom()
+         << "<maxvolts> is a mandatory parameter" << endl;
+    throw JSBBaseException("Missing parameter");
+  }
+
+  if (el->FindElement("velocityconstant"))
+    VelocityConstant = el->FindElementValueAsNumber("velocityconstant");
+  else {
+    cerr << el->ReadFrom()
+         << "<velocityconstant> is a mandatory parameter" << endl;
+    throw JSBBaseException("Missing parameter");
+  }
+
+  if (el->FindElement("coilresistance"))
+    CoilResistance = el->FindElementValueAsNumberConvertTo("coilresistance", "OHMS");
+  else {
+    cerr << el->ReadFrom()
+         << "<coilresistance> is a mandatory parameter" << endl;
+    throw JSBBaseException("Missing parameter");
+  }
+  if (el->FindElement("noloadcurrent"))
+    NoLoadCurrent = el->FindElementValueAsNumberConvertTo("noloadcurrent", "AMPERES");
+  else {
+    cerr << el->ReadFrom()
+         << "<noloadcurrent> is a mandatory parameter" << endl;
+    throw JSBBaseException("Missing parameter");
+  }
+  if (el->FindElement("deceleration_factor"))
+    DecelerationFactor = el->FindElementValueAsNumber("deceleration_factor");
+  else {
+    cout << el->ReadFrom()
+         << "Using default value " << DecelerationFactor << " for <deceleration_factor>" << endl;
+  }
+
+  MaxCurrent = MaxVolts / CoilResistance + NoLoadCurrent;
+
+  PowerWatts = MaxCurrent * MaxVolts;
+
+  string base_property_name = CreateIndexedPropertyName("propulsion/engine", EngineNumber);
+
+  exec->GetPropertyManager()->Tie(base_property_name + "/power-hp", &HP);
+
+  exec->GetPropertyManager()->Tie(base_property_name + "/current-amperes", &CurrentRequired);
+
+  Debug(0); // Call Debug() routine from constructor if needed
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+FGBrushLessDCMotor::~FGBrushLessDCMotor()
+{
+  Debug(1); // Call Debug() routine from constructor if needed
+}
+
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGBrushLessDCMotor::Calculate(void)
+{
+  RunPreFunctions();
+
+  if (Thruster->GetType() == FGThruster::ttPropeller) {
+    ((FGPropeller*)Thruster)->SetAdvance(in.PropAdvance[EngineNumber]);
+    ((FGPropeller*)Thruster)->SetFeather(in.PropFeather[EngineNumber]);
+  }
+
+  RPM = Thruster->GetRPM();
+  TorqueRequired = abs(((FGPropeller*)Thruster)->GetTorque()); //units [#*ft]
+
+  CurrentRequired = (TorqueRequired * VelocityConstant) / TorqueConstant;
+
+  //  total current required must include no load current i0
+  CurrentRequired = CurrentRequired + NoLoadCurrent;
+
+  V = MaxVolts * in.ThrottlePos[EngineNumber];
+
+  //  Delta RPM = (input voltage - currentRequired * coil resistance) * velocity costant
+  DeltaRPM = round((V - CurrentRequired * CoilResistance) * VelocityConstant);
+
+  //  Torque is MaxTorque (stall torque) at 0 RPM and linearly go to 0 at max RPM (MaxVolts*VelocityCostant)
+  //  MaxTorque = MaxCurrent*torqueconstant/velocityconstant*(1-RPM/maxRPM)
+
+  MaxTorque = MaxCurrent / VelocityConstant * TorqueConstant * (1 - RPM / (MaxVolts* VelocityConstant));
+
+  TorqueAvailable = MaxTorque - TorqueRequired;
+  InertiaTorque = (((DeltaRPM/60)*(2.0 * M_PI))/(max(0.00001, in.TotalDeltaT))) * ((FGPropeller*)Thruster)->GetIxx();
+
+  //  compute acceleration and deceleration phases:
+  //  Acceleration is due to the max delta torque available and is limited to the inertial forces
+
+  if (DeltaRPM >= 0) {
+    TargetTorque = min(InertiaTorque, TorqueAvailable) + TorqueRequired;
+  } else {
+  //  Deceleration is due to braking force given by the ESC and set by parameter deceleration_time 
+    TargetTorque = TorqueRequired - min(abs(InertiaTorque)/(max(DecelerationFactor,0.01)*30),RPM*TorqueConstant/VelocityConstant/VelocityConstant/CoilResistance);
+  }
+
+  EnginePower = ((2 * M_PI) * max(RPM, 0.0001) * TargetTorque) / 60;   //units [#*ft/s]
+  HP = EnginePower /hptowatts*NMtoftpound;                             // units[HP]
+  LoadThrusterInputs();
+  Thruster->Calculate(EnginePower);
+
+  RunPostFunctions();
+}
+
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+string FGBrushLessDCMotor::GetEngineLabels(const string& delimiter)
+{
+  std::ostringstream buf;
+
+  buf << Name << " HP (engine " << EngineNumber << ")" << delimiter
+    << Thruster->GetThrusterLabels(EngineNumber, delimiter);
+
+  return buf.str();
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+string FGBrushLessDCMotor::GetEngineValues(const string& delimiter)
+{
+  std::ostringstream buf;
+
+  buf << HP << delimiter
+     << Thruster->GetThrusterValues(EngineNumber, delimiter);
+
+  return buf.str();
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+//
+//    The bitmasked value choices are as follows:
+//    unset: In this case (the default) JSBSim would only print
+//       out the normally expected messages, essentially echoing
+//       the config files as they are read. If the environment
+//       variable is not set, debug_lvl is set to 1 internally
+//    0: This requests JSBSim not to output any messages
+//       whatsoever.
+//    1: This value explicity requests the normal JSBSim
+//       startup messages
+//    2: This value asks for a message to be printed out when
+//       a class is instantiated
+//    4: When this value is set, a message is displayed when a
+//       FGModel object executes its Run() method
+//    8: When this value is set, various runtime state variables
+//       are printed out periodically
+//    16: When set various parameters are sanity checked and
+//       a message is printed out when they go out of bounds
+
+void FGBrushLessDCMotor::Debug(int from)
+{
+  if (debug_lvl <= 0) return;
+
+  if (debug_lvl & 1) { // Standard console startup message output
+    if (from == 0) { // Constructor
+
+      cout << "\n    Engine Name: "         << Name << endl;
+      cout << "      Power Watts: "         << PowerWatts << endl;
+
+    }
+  }
+  if (debug_lvl & 2 ) { // Instantiation/Destruction notification
+    if (from == 0) cout << "Instantiated: FGBrushLessDCMotor" << endl;
+    if (from == 1) cout << "Destroyed:    FGBrushLessDCMotor" << endl;
+  }
+  if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
+  }
+  if (debug_lvl & 8 ) { // Runtime state variables
+  }
+  if (debug_lvl & 16) { // Sanity checking
+  }
+  if (debug_lvl & 64) {
+    if (from == 0) { // Constructor
+    }
+  }
+}
+
+} // namespace JSBSim