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Tweak torque req for smoother shifts
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@rnd-ash
rnd-ash committed Mar 12, 2023
1 parent 92a2828 commit c19acad
Showing 1 changed file with 12 additions and 14 deletions.
26 changes: 12 additions & 14 deletions src/gearbox.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -419,19 +419,18 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil
if (req_lookup == ProfileGearChange::ONE_TWO) {
min_spc = 100;
spc_trq_multi = scale_number(ss_now.target_shift_time, 20.0, 4.00, 100, 1000);
spc_trq_multi *= scale_number(sensor_data.input_rpm, 0.5, 1.0, 500, 2000);
} else {
min_spc = 200;
spc_trq_multi = scale_number(ss_now.target_shift_time, 11.6, 5.22, 100, 1000);
min_spc = 300;
spc_trq_multi = scale_number(ss_now.target_shift_time, 15, 6.5, 100, 1000);
}
break;
case Clutch::K2: // 2->3
min_spc = 300;
spc_trq_multi = scale_number(ss_now.target_shift_time, 29.0, 5.8, 100, 1000);
spc_trq_multi = scale_number(ss_now.target_shift_time, 30.0, 7, 100, 1000);
break;
case Clutch::K3: // 3->4 and 3->2
min_spc = 500;
spc_trq_multi = scale_number(ss_now.target_shift_time, 40.60, 10.15, 100, 1000);
min_spc = 750;
spc_trq_multi = scale_number(ss_now.target_shift_time, 50, 15, 100, 1000);
if (req_lookup == ProfileGearChange::THREE_FOUR) {
mpc_release_delay = scale_number(torque_decimal, 0, 250, 0.0, 150);
}
Expand All @@ -444,7 +443,6 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil
if (req_lookup == ProfileGearChange::TWO_ONE) {
min_spc = 100;
spc_trq_multi = scale_number(ss_now.target_shift_time, 11.5, 4.35, 100, 1000);
spc_trq_multi *= scale_number(sensor_data.input_rpm, 0.5, 1.0, 500, 2000);
} else {
min_spc = 100;
spc_trq_multi = scale_number(ss_now.target_shift_time, 29.0, 7, 100, 1000);
Expand All @@ -453,7 +451,7 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil
case Clutch::B2: // 4->3
default:
min_spc = 400;
spc_trq_multi = scale_number(ss_now.target_shift_time, 18.0, 8.1, 100, 1000);
spc_trq_multi = scale_number(ss_now.target_shift_time, 18.0, 9, 100, 1000);
break;
}
curr_phase_mpc = MAX(curr_phase_spc, now_working_mpc);
Expand Down Expand Up @@ -573,20 +571,20 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil
if (current_phase >= SHIFT_PHASE_BLEED && is_upshift) {
if (d_trq == 0) {
// Multi increases with output torque. 25% of 100Nm is 25Nm whilst 10% of 580Nm is still 58Nm reduction!
float multi = scale_number(sensor_data.driver_requested_torque, 0.7, 0.85, 100, gearboxConfig.max_torque);
multi *= scale_number(chars.target_shift_time, 0.8, 1.0, 100, 1000);
d_trq = sensor_data.driver_requested_torque - (sensor_data.driver_requested_torque * multi); // Our offset from pedal torque (Max)
float multi = scale_number(sensor_data.driver_requested_torque, 0.3, 0.2, 100, gearboxConfig.max_torque);
multi *= scale_number(chars.target_shift_time, 1.3, 1.0, 100, 1000);
d_trq = (sensor_data.driver_requested_torque * multi); // Our offset from pedal torque (Max)
}
int shift_progress_clamped = MIN(MAX(shift_progress_percentage, 0), 100);
TorqueRequest req = TorqueRequest::LessThan;
// start reduction
if (shift_progress_clamped < 25) { // Decrease torque from driver demand
curr_torq_request = MAX(0, linear_interp(MAX(sensor_data.driver_requested_torque, sensor_data.static_torque), sensor_data.driver_requested_torque - d_trq , shift_progress_clamped, 25));
} else if (shift_progress_clamped < 75) { // Hold phase
} else if (shift_progress_clamped < 50) { // Hold phase
curr_torq_request = MAX(0, sensor_data.driver_requested_torque - d_trq);
} else { // Nearing the end 75%+
req = TorqueRequest::LessThanFast;
curr_torq_request = linear_interp(MAX(0, sensor_data.driver_requested_torque-d_trq), sensor_data.driver_requested_torque, shift_progress_clamped-75, 25);
curr_torq_request = linear_interp(MAX(0, sensor_data.driver_requested_torque-d_trq), sensor_data.driver_requested_torque, shift_progress_clamped-50, 50);
}
this->set_torque_request(req, curr_torq_request);
}
Expand All @@ -613,7 +611,7 @@ bool Gearbox::elapse_shift(ProfileGearChange req_lookup, AbstractProfile *profil
// Finish torque request
if (curr_torq_request != 0 && curr_torq_request < sensor_data.driver_requested_torque) {
// End target is always pedal torque
this->set_torque_request(TorqueRequest::LessThanFast, linear_interp(curr_torq_request, sensor_data.driver_requested_torque, e, sd.max_pressure_data.ramp_time));
this->set_torque_request(TorqueRequest::LessThanFast, linear_interp(curr_torq_request, sensor_data.driver_requested_torque, e, sd.max_pressure_data.ramp_time+sd.max_pressure_data.hold_time));
} else {
this->set_torque_request(TorqueRequest::None, 0);
}
Expand Down

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