chrono::vehicle::ChShaftsDriveline4WD Class Referenceabstract

Description

4WD driveline model template based on ChShaft objects.

#include <ChShaftsDriveline4WD.h>

Inheritance diagram for chrono::vehicle::ChShaftsDriveline4WD:
Collaboration diagram for chrono::vehicle::ChShaftsDriveline4WD:

Public Member Functions

 ChShaftsDriveline4WD (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
void SetMotorBlockDirection (const ChVector<> &dir)
 Set the direction of the motor block. More...
 
void SetAxleDirection (const ChVector<> &dir)
 Set the direction of the wheel axles. More...
 
virtual void LockAxleDifferential (int axle, bool lock) override
 Lock/unlock the differential on the specified axle. More...
 
virtual void LockCentralDifferential (int which, bool lock) override
 Lock/unlock the central differential. More...
 
virtual int GetNumDrivenAxles () const final override
 Return the number of driven axles. More...
 
virtual void Initialize (std::shared_ptr< ChBody > chassis, const ChAxleList &axles, const std::vector< int > &driven_axles) override
 Initialize the driveline subsystem. More...
 
virtual double GetSpindleTorque (int axle, VehicleSide side) const override
 Get the motor torque to be applied to the specified spindle.
 
- Public Member Functions inherited from chrono::vehicle::ChDrivelineWV
 ChDrivelineWV (const std::string &name)
 
const std::vector< int > & GetDrivenAxleIndexes () const
 Get the indexes of the vehicle's axles driven by this driveline subsystem.
 
- Public Member Functions inherited from chrono::vehicle::ChDriveline
 ChDriveline (const std::string &name)
 
std::shared_ptr< ChShaftGetDriveshaft () const
 Get a handle to the driveshaft. More...
 
virtual double GetDriveshaftSpeed () const
 Get the angular speed of the driveshaft. More...
 
virtual void Synchronize (double torque)
 Update the driveline subsystem. More...
 
- Public Member Functions inherited from chrono::vehicle::ChPart
 ChPart (const std::string &name)
 Construct a vehicle subsystem with the specified name. More...
 
const std::string & GetName () const
 Get the name identifier for this subsystem.
 
void SetName (const std::string &name)
 Set the name identifier for this subsystem.
 
void SetVisualizationType (VisualizationType vis)
 Set the visualization mode for this subsystem.
 
virtual void AddVisualizationAssets (VisualizationType vis)
 Add visualization assets to this subsystem, for the specified visualization mode.
 
virtual void RemoveVisualizationAssets ()
 Remove all visualization assets from this subsystem.
 
void SetContactFrictionCoefficient (float friction_coefficient)
 Set coefficient of friction. More...
 
void SetContactRestitutionCoefficient (float restitution_coefficient)
 Set coefficient of restitution. More...
 
void SetContactMaterialProperties (float young_modulus, float poisson_ratio)
 Set contact material properties. More...
 
void SetContactMaterialCoefficients (float kn, float gn, float kt, float gt)
 Set contact material coefficients. More...
 
float GetCoefficientFriction () const
 Get coefficient of friction for contact material.
 
float GetCoefficientRestitution () const
 Get coefficient of restitution for contact material.
 
float GetYoungModulus () const
 Get Young's modulus of elasticity for contact material.
 
float GetPoissonRatio () const
 Get Poisson ratio for contact material.
 
float GetKn () const
 Get normal stiffness coefficient for contact material.
 
float GetKt () const
 Get tangential stiffness coefficient for contact material.
 
float GetGn () const
 Get normal viscous damping coefficient for contact material.
 
float GetGt () const
 Get tangential viscous damping coefficient for contact material.
 
virtual void SetOutput (bool state)
 Enable/disable output for this subsystem.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 
virtual void ExportComponentList (rapidjson::Document &jsonDocument) const
 Export this subsystem's component list to the specified JSON object. More...
 
virtual void Output (ChVehicleOutput &database) const
 Output data for this subsystem's component list to the specified database.
 

Protected Member Functions

virtual double GetDriveshaftInertia () const =0
 Return the inertia of the driveshaft.
 
virtual double GetCentralDifferentialBoxInertia () const =0
 Return the inertia of the differential box.
 
virtual double GetToFrontDiffShaftInertia () const =0
 Return the inertia of the front driveshaft.
 
virtual double GetToRearDiffShaftInertia () const =0
 Return the inertia of the rear driveshaft.
 
virtual double GetRearDifferentialBoxInertia () const =0
 Return the inertia of the rear differential box.
 
virtual double GetFrontDifferentialBoxInertia () const =0
 Return the inertia of the front differential box.
 
virtual double GetRearConicalGearRatio () const =0
 Return the gear ratio for the rear conical gear.
 
virtual double GetFrontConicalGearRatio () const =0
 Return the gear ratio for the front conical gear.
 
virtual double GetRearDifferentialRatio () const =0
 Return the gear ratio for the rear differential.
 
virtual double GetFrontDifferentialRatio () const =0
 Return the gear ratio for the front differential.
 
virtual double GetCentralDifferentialRatio () const =0
 Return the gear ratio for the central differential.
 
virtual double GetAxleDifferentialLockingLimit () const =0
 Return the limit for the axle differential locking torque.
 
virtual double GetCentralDifferentialLockingLimit () const =0
 Return the limit for the central differential locking torque.
 
- Protected Member Functions inherited from chrono::vehicle::ChPart
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. More...
 

Additional Inherited Members

- Static Public Member Functions inherited from chrono::vehicle::ChPart
static ChMatrix33 TransformInertiaMatrix (const ChVector<> &moments, const ChVector<> &products, const ChMatrix33<> &vehicle_rot, const ChMatrix33<> &body_rot)
 Utility function for transforming inertia tensors between centroidal frames. More...
 
- Static Protected Member Functions inherited from chrono::vehicle::ChPart
static void ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody >> bodies)
 Export the list of bodies to the specified JSON document.
 
static void ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft >> shafts)
 Export the list of shafts to the specified JSON document.
 
static void ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink >> joints)
 Export the list of joints to the specified JSON document.
 
static void ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple >> couples)
 Export the list of shaft couples to the specified JSON document.
 
static void ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker >> markers)
 Export the list of markers to the specified JSON document.
 
static void ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA >> springs)
 Export the list of translational springs to the specified JSON document.
 
static void ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRotSpringCB >> springs)
 Export the list of rotational springs to the specified JSON document.
 
static void ExportBodyLoadList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLoadBodyBody >> loads)
 Export the list of body-body loads to the specified JSON document.
 
- Protected Attributes inherited from chrono::vehicle::ChDrivelineWV
std::vector< int > m_driven_axles
 indexes of the driven vehicle axles
 
- Protected Attributes inherited from chrono::vehicle::ChDriveline
std::shared_ptr< ChShaftm_driveshaft
 shaft connection to the powertrain
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 subsystem name
 
bool m_output
 specifies whether or not output is generated for this subsystem
 
float m_friction
 contact coefficient of friction
 
float m_restitution
 contact coefficient of restitution
 
float m_young_modulus
 contact material Young modulus
 
float m_poisson_ratio
 contact material Poisson ratio
 
float m_kn
 normal contact stiffness
 
float m_gn
 normal contact damping
 
float m_kt
 tangential contact stiffness
 
float m_gt
 tangential contact damping
 

Member Function Documentation

◆ GetNumDrivenAxles()

virtual int chrono::vehicle::ChShaftsDriveline4WD::GetNumDrivenAxles ( ) const
inlinefinaloverridevirtual

Return the number of driven axles.

A ChShaftsDriveline4WD driveline connects to two axles.

Implements chrono::vehicle::ChDrivelineWV.

◆ Initialize()

void chrono::vehicle::ChShaftsDriveline4WD::Initialize ( std::shared_ptr< ChBody chassis,
const ChAxleList axles,
const std::vector< int > &  driven_axles 
)
overridevirtual

Initialize the driveline subsystem.

This function connects this driveline subsystem to the specified axle subsystems.

Parameters
chassishandle to the chassis body
axleslist of all vehicle axles subsystems
driven_axlesindexes of the driven vehicle axles

Implements chrono::vehicle::ChDrivelineWV.

◆ LockAxleDifferential()

void chrono::vehicle::ChShaftsDriveline4WD::LockAxleDifferential ( int  axle,
bool  lock 
)
overridevirtual

Lock/unlock the differential on the specified axle.

By convention, axles are counted front to back, starting with index 0 for the front-most axle. Pass axle=-1 to simultaneously lock/unlock both axle differentials. Differential locking is implemented through a friction torque between the output shafts of the differential. The locking effect is limited by a maximum locking torque.

Reimplemented from chrono::vehicle::ChDrivelineWV.

◆ LockCentralDifferential()

void chrono::vehicle::ChShaftsDriveline4WD::LockCentralDifferential ( int  which,
bool  lock 
)
overridevirtual

Lock/unlock the central differential.

Differential locking is implemented through a friction torque between the output shafts of the differential. The locking effect is limited by a maximum locking torque.

Reimplemented from chrono::vehicle::ChDrivelineWV.

◆ SetAxleDirection()

void chrono::vehicle::ChShaftsDriveline4WD::SetAxleDirection ( const ChVector<> &  dir)
inline

Set the direction of the wheel axles.

This direction is a unit vector, relative to the chassis frame. It must be specified for the design configuration (for the ISO vehicle coordinate system, this is typically [0, 1, 0]).

◆ SetMotorBlockDirection()

void chrono::vehicle::ChShaftsDriveline4WD::SetMotorBlockDirection ( const ChVector<> &  dir)
inline

Set the direction of the motor block.

This direction is a unit vector, relative to the chassis frame (for the ISO coordinate system, this is [1, 0, 0] for a longitudinal engine and [0, 1, 0] for a transversal engine).


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/driveline/ChShaftsDriveline4WD.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/driveline/ChShaftsDriveline4WD.cpp