Description

Template for a simple brake subsystem.

Simple brake created with constant torque opposing wheel rotation. It just uses a speed-dependent torque, so it fits in ODEs because it does not use NSC set valued constraints (the drawback is that it cannot simulate sticking brakes).

#include <ChBrakeSimple.h>

Inheritance diagram for chrono::vehicle::ChBrakeSimple:
Collaboration diagram for chrono::vehicle::ChBrakeSimple:

Public Member Functions

 ChBrakeSimple (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual void Initialize (std::shared_ptr< ChSuspension > suspension, VehicleSide side) override
 Initialize the brake by associating it to an existing suspension subsystem. More...
 
virtual void Synchronize (double modulation) override
 Update the brake subsystem: set the brake modulation, in 0..1 range: More...
 
virtual double GetBrakeTorque () override
 Get the current brake torque, as a result of simulation, so it might change from time to time.
 
double GetBrakeSpeed ()
 Get the current brake angular speed, relative between disc and caliper [rad/s].
 
- Public Member Functions inherited from chrono::vehicle::ChBrake
 ChBrake (const std::string &name)
 
- 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.
 
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 GetMaxBrakingTorque ()=0
 Get the max braking torque (for modulation =1)
 
- Protected Member Functions inherited from chrono::vehicle::ChPart
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. More...
 

Protected Attributes

double m_modulation
 
std::shared_ptr< ChLinkBrakem_brake
 
- 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
 

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.
 

Member Function Documentation

◆ Initialize()

void chrono::vehicle::ChBrakeSimple::Initialize ( std::shared_ptr< ChSuspension suspension,
VehicleSide  side 
)
overridevirtual

Initialize the brake by associating it to an existing suspension subsystem.

Parameters
suspensionassociated suspension subsystem
sidebrake mounted on left/right side

Implements chrono::vehicle::ChBrake.

◆ Synchronize()

void chrono::vehicle::ChBrakeSimple::Synchronize ( double  modulation)
overridevirtual

Update the brake subsystem: set the brake modulation, in 0..1 range:

when = 0 it is completely free,
when = 1 it should provide the max braking torque

Implements chrono::vehicle::ChBrake.


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