288 lines
13 KiB
Python
288 lines
13 KiB
Python
# =============================
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# app/simulation/modules/engine.py
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# =============================
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from __future__ import annotations
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from app.simulation.simulator import Module, Vehicle
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import math, random
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ENGINE_DEFAULTS = {
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# Basis
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"idle_rpm": 1200,
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"max_rpm": 9000,
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"rpm_rise_per_s": 4000,
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"rpm_fall_per_s": 3000,
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"throttle_curve": "linear",
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# Starter / Startlogik
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"starter_rpm_nominal": 250.0,
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"starter_voltage_min": 10.5,
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"start_rpm_threshold": 210.0,
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"stall_rpm": 500.0,
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# Thermische Einflüsse (nur fürs Derating/Viskosität benutzt)
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"coolant_ambient_c": 20.0,
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"idle_cold_gain_per_deg": 3.0,
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"idle_cold_gain_max": 500.0,
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# Öl / Öldruck
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"oil_pressure_idle_bar": 1.2,
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"oil_pressure_slope_bar_per_krpm": 0.8,
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"oil_pressure_off_floor_bar": 0.2,
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# Leistungsdaten
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"engine_power_kw": 60.0,
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"torque_peak_rpm": 7000.0,
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# Drive-by-wire / Regler
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"throttle_plate_idle_min_pct": 6.0,
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"throttle_plate_overrun_pct": 2.0,
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"throttle_plate_tau_s": 0.08,
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"torque_ctrl_kp": 1.2,
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"torque_ctrl_ki": 0.6,
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# RPM-Jitter
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"rpm_jitter_idle_amp_rpm": 12.0,
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"rpm_jitter_high_amp_rpm": 4.0,
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"rpm_jitter_tau_s": 0.20,
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"rpm_jitter_off_threshold_rpm": 250.0,
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# UI
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"throttle_pedal_pct": 0.0,
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}
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class EngineModule(Module):
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PRIO = 20
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NAME = "engine"
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"""
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Erweiterte Motormodellierung mit realistischem Jitter & Drive-by-Wire:
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- OFF/ACC/ON/START Logik, Starten/Abwürgen
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- Thermik (Kühlmittel/Öl), Öldruck ~ f(RPM)
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- Startverhalten abhängig von Spannung & Öltemp
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- Leistungsmodell via engine_power_kw + torque_peak_rpm
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- Fahrerwunsch: throttle_pedal_pct (0..100) → Ziel-Leistungsanteil
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* Drosselklappe (throttle_plate_pct) wird per PI-Regler geführt
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* Mindestöffnung im Leerlauf, fast zu im Schubbetrieb
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- Realistischer RPM-Jitter:
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* bandbegrenztes Rauschen (1. Ordnung) mit Amplitude ~ f(RPM)
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* kein Jitter unter einer Schwell-RPM oder wenn Motor aus
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Outputs:
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rpm, coolant_temp, oil_temp, oil_pressure
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engine_available_torque_nm, engine_net_torque_nm
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throttle_plate_pct (neu), throttle_pedal_pct (durchgereicht)
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"""
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def __init__(self):
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self._running = False
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self._oil_p_tau = 0.25 # Zeitkonstante Öldruck
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# DBW intern
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self._plate_pct = 5.0
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self._tc_i = 0.0
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# AR(1)-Noise
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self._rpm_noise = 0.0
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# ---- helpers ----------------------------------------------------------
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def _curve(self, t: float, mode: str) -> float:
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if mode == "progressive": return t**1.5
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if mode == "aggressive": return t**0.7
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return t
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def _torque_at_rpm(self, power_kw: float, rpm: float, peak_rpm: float) -> float:
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rpm = max(0.0, rpm)
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t_max = (9550.0 * max(0.0, power_kw)) / max(500.0, peak_rpm)
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x = min(math.pi, max(0.0, (rpm / max(1.0, peak_rpm)) * (math.pi/2)))
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return max(0.0, t_max * math.sin(x))
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def _plate_airflow_factor(self, plate_pct: float) -> float:
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theta = max(0.0, min(90.0, (plate_pct/100.0)*90.0)) * math.pi/180.0
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return math.sin(theta)**2
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def _visco(self, temp_c: float) -> float:
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# -10°C -> 0.6 … 20°C -> 0.8 … 90°C -> 1.0
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if temp_c <= -10: return 0.6
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if temp_c >= 90: return 1.0
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if temp_c <= 20: return 0.6 + (temp_c + 10.0) * (0.2/30.0)
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return 0.8 + (temp_c - 20.0) * (0.2/70.0)
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# ---- main -------------------------------------------------------------
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def apply(self, v: Vehicle, dt: float) -> None:
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e = v.config.setdefault("engine", {})
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# --- Config ---
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idle = float(e.get("idle_rpm", ENGINE_DEFAULTS["idle_rpm"]))
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maxr = float(e.get("max_rpm", ENGINE_DEFAULTS["max_rpm"]))
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rise = float(e.get("rpm_rise_per_s", ENGINE_DEFAULTS["rpm_rise_per_s"]))
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fall = float(e.get("rpm_fall_per_s", ENGINE_DEFAULTS["rpm_fall_per_s"]))
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thr_curve = e.get("throttle_curve", ENGINE_DEFAULTS["throttle_curve"])
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ambient = float(e.get("coolant_ambient_c", ENGINE_DEFAULTS["coolant_ambient_c"]))
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cold_gain_per_deg = float(e.get("idle_cold_gain_per_deg", ENGINE_DEFAULTS["idle_cold_gain_per_deg"]))
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cold_gain_max = float(e.get("idle_cold_gain_max", ENGINE_DEFAULTS["idle_cold_gain_max"]))
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starter_nom = float(e.get("starter_rpm_nominal", ENGINE_DEFAULTS["starter_rpm_nominal"]))
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starter_vmin= float(e.get("starter_voltage_min", ENGINE_DEFAULTS["starter_voltage_min"]))
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start_rpm_th= float(e.get("start_rpm_threshold", ENGINE_DEFAULTS["start_rpm_threshold"]))
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stall_rpm = float(e.get("stall_rpm", ENGINE_DEFAULTS["stall_rpm"]))
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power_kw = float(e.get("engine_power_kw", ENGINE_DEFAULTS["engine_power_kw"]))
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peak_torque_rpm = float(e.get("torque_peak_rpm", ENGINE_DEFAULTS["torque_peak_rpm"]))
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oil_idle_bar = float(e.get("oil_pressure_idle_bar", ENGINE_DEFAULTS["oil_pressure_idle_bar"]))
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oil_slope_bar_per_krpm = float(e.get("oil_pressure_slope_bar_per_krpm", ENGINE_DEFAULTS["oil_pressure_slope_bar_per_krpm"]))
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oil_floor_off = float(e.get("oil_pressure_off_floor_bar", ENGINE_DEFAULTS["oil_pressure_off_floor_bar"]))
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plate_idle_min = float(e.get("throttle_plate_idle_min_pct", ENGINE_DEFAULTS["throttle_plate_idle_min_pct"]))
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plate_overrun = float(e.get("throttle_plate_overrun_pct", ENGINE_DEFAULTS["throttle_plate_overrun_pct"]))
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plate_tau = float(e.get("throttle_plate_tau_s", ENGINE_DEFAULTS["throttle_plate_tau_s"]))
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torque_kp = float(e.get("torque_ctrl_kp", ENGINE_DEFAULTS["torque_ctrl_kp"]))
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torque_ki = float(e.get("torque_ctrl_ki", ENGINE_DEFAULTS["torque_ctrl_ki"]))
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jitter_idle_amp= float(e.get("rpm_jitter_idle_amp_rpm", ENGINE_DEFAULTS["rpm_jitter_idle_amp_rpm"]))
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jitter_hi_amp = float(e.get("rpm_jitter_high_amp_rpm", ENGINE_DEFAULTS["rpm_jitter_high_amp_rpm"]))
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jitter_tau = float(e.get("rpm_jitter_tau_s", ENGINE_DEFAULTS["rpm_jitter_tau_s"]))
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jitter_off_rpm = float(e.get("rpm_jitter_off_threshold_rpm", ENGINE_DEFAULTS["rpm_jitter_off_threshold_rpm"]))
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# --- State ---
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rpm = float(v.ensure("rpm", 0.0))
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pedal = float(v.ensure("throttle_pedal_pct", float(e.get("throttle_pedal_pct", 0.0))))
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pedal = max(0.0, min(100.0, pedal))
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ign = str(v.ensure("ignition", "OFF"))
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elx_v = float(v.ensure("elx_voltage", 0.0))
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cool = float(v.ensure("coolant_temp", ambient)) # nur lesen
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oil = float(v.ensure("oil_temp", ambient)) # nur lesen
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oil_p = float(v.ensure("oil_pressure", 0.0))
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# externe Momente (Alternator/Getriebe/…)
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torque_load = max(0.0, v.acc_total("engine.torque_load_nm"))
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torque_load = max(torque_load, float(v.get("engine_ext_torque_nm", 0.0))) # legacy fallback
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# Dashboard-Metriken
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v.register_metric("rpm", unit="RPM", fmt=".1f", label="Drehzahl", source="engine", priority=20)
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v.register_metric("oil_pressure", unit="bar", fmt=".2f", label="Öldruck", source="engine", priority=42)
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v.register_metric("engine_available_torque_nm", unit="Nm", fmt=".0f", label="Verfügbares Motormoment", source="engine", priority=43)
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v.register_metric("engine_torque_load_nm", unit="Nm", fmt=".0f", label="Lastmoment ges.", source="engine", priority=44)
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v.register_metric("engine_net_torque_nm", unit="Nm", fmt=".0f", label="Netto Motormoment", source="engine", priority=45)
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v.register_metric("throttle_pedal_pct", unit="%", fmt=".0f", label="Gaspedal", source="engine", priority=46)
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v.register_metric("throttle_plate_pct", unit="%", fmt=".0f", label="Drosselklappe", source="engine", priority=47)
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# --- Start-/Ziel-RPM Logik ---
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# Starter-Viskositätseinfluss
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vfac = 0.0 if elx_v <= starter_vmin else min(1.2, (elx_v - starter_vmin) / max(0.3, (12.6 - starter_vmin)))
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crank_rpm = starter_nom * vfac * self._visco(oil)
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# effektive Startschwelle (15..45% Idle)
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start_rpm_min = 0.15 * idle
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start_rpm_max = 0.45 * idle
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start_rpm_th_eff = max(start_rpm_min, min(start_rpm_th, start_rpm_max))
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if ign in ("OFF", "ACC"):
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self._running = False
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target_rpm = 0.0
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elif ign == "START":
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target_rpm = crank_rpm
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if not self._running and target_rpm >= start_rpm_th_eff and elx_v > starter_vmin:
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self._running = True
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else: # ON
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if not self._running and rpm >= max(0.15*idle, start_rpm_th_eff*0.9):
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self._running = True
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if self._running:
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cold_add = max(0.0, min(ENGINE_DEFAULTS["idle_cold_gain_max"],
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(90.0 - cool) * cold_gain_per_deg))
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idle_eff = idle + cold_add
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target_rpm = max(idle_eff, min(maxr, rpm))
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else:
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target_rpm = 0.0
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# --- Basis-Moment & Derating ---
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base_torque = self._torque_at_rpm(power_kw, max(1.0, rpm), peak_torque_rpm)
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temp_derate = max(0.7, 1.0 - max(0.0, (oil - 110.0)) * 0.005)
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# --- DBW (PI auf Torque-Anteil) ---
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demand = self._curve(pedal/100.0, thr_curve)
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plate_target_min = plate_overrun if demand < 0.02 else plate_idle_min
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airflow = self._plate_airflow_factor(self._plate_pct)
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torque_avail = base_torque * airflow * temp_derate
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torque_frac = 0.0 if base_torque <= 1e-6 else (torque_avail / (base_torque * temp_derate))
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err = max(0.0, demand) - max(0.0, min(1.0, torque_frac))
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if ign == "ON" and self._running:
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self._tc_i += err * torque_ki * dt
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else:
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self._tc_i *= 0.95
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plate_cmd = self._plate_pct + (torque_kp * err + self._tc_i) * 100.0
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plate_cmd = max(plate_target_min, min(100.0, plate_cmd))
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a_tau = min(1.0, dt / max(1e-3, plate_tau))
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self._plate_pct = (1.0 - a_tau) * self._plate_pct + a_tau * plate_cmd
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# aktualisiertes Moment
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airflow = self._plate_airflow_factor(self._plate_pct)
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avail_torque = base_torque * airflow * temp_derate
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net_torque = max(0.0, avail_torque - max(0.0, torque_load))
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# --- Wärmeleistung pushen (W) ---
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# mechanische Leistung:
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mech_power_w = net_torque * (2.0 * math.pi * rpm / 60.0)
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# grober Wirkungsgrad (0.24..0.34 je nach Pedal/Kennlinie)
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eta = 0.24 + 0.10 * self._curve(pedal/100.0, thr_curve)
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eta = max(0.05, min(0.45, eta))
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fuel_power_w = mech_power_w / max(1e-3, eta)
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heat_w = max(0.0, fuel_power_w - mech_power_w)
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# Idle-Basiswärme, damit im Leerlauf nicht auskühlt:
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idle_heat_w = 1500.0 * (rpm / max(1.0, idle))
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heat_w = max(heat_w, idle_heat_w)
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v.push("thermal.heat_w", +heat_w, source="engine")
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# --- Ziel-RPM aus Netto-Moment ---
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if ign == "ON" and self._running:
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cold_add = max(0.0, min(ENGINE_DEFAULTS["idle_cold_gain_max"],
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(90.0 - cool) * cold_gain_per_deg))
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idle_eff = idle + cold_add
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denom = (base_torque * temp_derate + 1e-6)
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torque_norm = 0.0 if denom <= 1e-8 else max(0.0, min(1.0, net_torque / denom))
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target_rpm = idle_eff + torque_norm * (maxr - idle_eff)
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# Inertia
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if rpm < target_rpm: rpm = min(target_rpm, rpm + rise * dt)
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else: rpm = max(target_rpm, rpm - fall * dt)
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# Stall
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if ign == "ON" and self._running and rpm < stall_rpm:
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self._running = False
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# --- Öldruck ---
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if self._running and rpm > 0.0:
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over_krpm = max(0.0, (rpm - idle)/1000.0)
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oil_target = oil_idle_bar + oil_slope_bar_per_krpm * over_krpm
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elif ign == "START" and target_rpm > 0.0:
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oil_target = max(oil_floor_off, 0.4)
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else:
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oil_target = oil_floor_off
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a = min(1.0, dt / max(0.05, self._oil_p_tau))
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oil_p = (1-a) * oil_p + a * oil_target
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# --- RPM-Jitter ---
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if self._running and rpm >= jitter_off_rpm and ign == "ON":
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b = min(1.0, dt / max(1e-3, jitter_tau))
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eta_n = random.uniform(-1.0, 1.0)
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self._rpm_noise = (1.0 - b) * self._rpm_noise + b * eta_n
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k = max(0.0, min(1.0, rpm / max(1.0, maxr)))
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amp = (1.0 - k)*jitter_idle_amp + k*jitter_hi_amp
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rpm += self._rpm_noise * amp
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else:
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self._rpm_noise *= 0.9
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# --- Clamp & Set ---
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rpm = max(0.0, min(rpm, maxr))
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oil_p = max(oil_floor_off, min(8.0, oil_p))
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v.set("rpm", float(rpm))
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# Temperaturen NICHT setzen – CoolingModule ist owner!
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v.set("oil_pressure", float(oil_p))
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v.set("engine_available_torque_nm", float(avail_torque))
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v.set("engine_torque_load_nm", float(torque_load))
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v.set("engine_net_torque_nm", float(net_torque))
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v.set("throttle_pedal_pct", float(pedal))
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v.set("throttle_plate_pct", float(self._plate_pct))
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