Description

Base class for a powertrain system.

#include <ChPowertrain.h>

Inheritance diagram for chrono::vehicle::ChPowertrain:
Collaboration diagram for chrono::vehicle::ChPowertrain:

Public Types

enum  DriveMode { DriveMode::FORWARD, DriveMode::NEUTRAL, DriveMode::REVERSE }
 Driving modes. More...
 
enum  TransmissionMode { TransmissionMode::AUTOMATIC, TransmissionMode::MANUAL }
 Transmission mode. More...
 

Public Member Functions

virtual double GetMotorSpeed () const =0
 Return the current engine speed.
 
virtual double GetMotorTorque () const =0
 Return the current engine torque.
 
virtual double GetTorqueConverterSlippage () const =0
 Return the value of slippage in the torque converter.
 
virtual double GetTorqueConverterInputTorque () const =0
 Return the input torque to the torque converter.
 
virtual double GetTorqueConverterOutputTorque () const =0
 Return the output torque from the torque converter.
 
virtual double GetTorqueConverterOutputSpeed () const =0
 Return the torque converter output shaft speed.
 
int GetCurrentTransmissionGear () const
 Return the current transmission gear. More...
 
virtual double GetOutputTorque () const =0
 Return the output torque from the powertrain. More...
 
void SetDriveMode (DriveMode mode)
 Set the drive mode.
 
DriveMode GetDriveMode () const
 Return the current drive mode.
 
void SetTransmissionMode (TransmissionMode mode)
 Set the transmission mode (automatic or manual). More...
 
TransmissionMode GetTransmissionMode () const
 Get the current transmission mode.
 
void ShiftUp ()
 Shift up.
 
void ShiftDown ()
 Shift down.
 
- 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.
 
virtual std::string GetTemplateName () const =0
 Get the name of the vehicle subsystem template.
 
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

 ChPowertrain (const std::string &name)
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChDriveline > driveline)
 Initialize this powertrain system by attaching it to an existing vehicle chassis and associating it with an existing driveline subsystem. More...
 
virtual void SetGearRatios (std::vector< double > &fwd, double &rev)=0
 Set the transmission gear ratios (one or more forward gear ratios and a single reverse gear ratio).
 
virtual void OnGearShift ()
 Perform any action required on a gear shift (the new gear and gear ratio are available).
 
virtual void OnNeutralShift ()
 Perform any action required on placing the transmission in neutral.
 
virtual void Synchronize (double time, double throttle)=0
 Synchronize the state of this powertrain system at the current time. More...
 
virtual void Advance (double step)
 Advance the state of this powertrain system by the specified time step.
 
void SetGear (int gear)
 Shift to the specified gear. More...
 
- 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

TransmissionMode m_transmission_mode
 transmission mode (automatic or manual)
 
DriveMode m_drive_mode
 drive mode (neutral, forward, or reverse)
 
std::shared_ptr< ChDrivelinem_driveline
 associated driveline subsystem
 
std::vector< double > m_gear_ratios
 gear ratios (0: reverse, 1+: forward)
 
int m_current_gear
 current transmission gear (0: reverse, 1+: forward)
 
double m_current_gear_ratio
 current gear ratio (positive for forward, negative for reverse)
 
- 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
 

Friends

class ChWheeledVehicle
 
class ChTrackedVehicle
 

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 Enumeration Documentation

◆ DriveMode

Driving modes.

Enumerator
FORWARD 

vehicle moving forward

NEUTRAL 

vehicle in neutral

REVERSE 

vehicle moving backward

◆ TransmissionMode

Transmission mode.

Enumerator
AUTOMATIC 

automatic transmission

MANUAL 

manual (manumatic) transmission

Member Function Documentation

◆ GetCurrentTransmissionGear()

int chrono::vehicle::ChPowertrain::GetCurrentTransmissionGear ( ) const
inline

Return the current transmission gear.

A return value of 0 indicates reverse; a positive value indicates a forward gear.

◆ GetOutputTorque()

virtual double chrono::vehicle::ChPowertrain::GetOutputTorque ( ) const
pure virtual

Return the output torque from the powertrain.

This is the torque that is passed to a vehicle system, thus providing the interface between the powertrain and vehicle co-simulation modules.

Implemented in chrono::vehicle::ChShaftsPowertrain, chrono::vehicle::ChSimpleMapPowertrain, chrono::vehicle::generic::Generic_SimpleMapPowertrain, chrono::vehicle::ChSimpleCVTPowertrain, chrono::vehicle::ChSimplePowertrain, and chrono::vehicle::gator::Gator_SimplePowertrain.

◆ Initialize()

void chrono::vehicle::ChPowertrain::Initialize ( std::shared_ptr< ChChassis chassis,
std::shared_ptr< ChDriveline driveline 
)
protectedvirtual

Initialize this powertrain system by attaching it to an existing vehicle chassis and associating it with an existing driveline subsystem.

A derived class override must first call this base class version.

Parameters
[in]chassischassis of the associated vehicle
[in]drivelinedriveline of the associated vehicle

◆ SetGear()

void chrono::vehicle::ChPowertrain::SetGear ( int  gear)
protected

Shift to the specified gear.

Note that reverse gear is index 0 and forward gears are index > 0.

◆ SetTransmissionMode()

void chrono::vehicle::ChPowertrain::SetTransmissionMode ( TransmissionMode  mode)
inline

Set the transmission mode (automatic or manual).

Note that a derived powertrain class may ignore this is the selected mode is not supported.

◆ Synchronize()

virtual void chrono::vehicle::ChPowertrain::Synchronize ( double  time,
double  throttle 
)
protectedpure virtual

Synchronize the state of this powertrain system at the current time.

The powertrain system is provided the current driver throttle input, a value in the range [0,1].

Parameters
[in]timecurrent time
[in]throttlecurrent throttle input [0,1]

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