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 { FORWARD, NEUTRAL, REVERSE }
 Driving modes. More...
 

Public Member Functions

 ChPowertrain (const std::string &name)
 
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 int GetCurrentTransmissionGear () const =0
 Return the current transmission gear.
 
virtual double GetOutputTorque () const =0
 Return the output torque from the powertrain. More...
 
DriveMode GetDriveMode ()
 Return the current mode of the transmission.
 
virtual void SetDriveMode (DriveMode mmode)=0
 Set the mode of the transmission.
 
- 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.
 
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 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 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.
 
- 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

DriveMode m_drive_mode
 drive mode (neutral, forward, or reverse)
 
std::shared_ptr< ChDrivelinem_driveline
 associated driveline subsystem
 
- 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
 

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< ChLinkSpringCB >> 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

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, and chrono::vehicle::ChSimplePowertrain.

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
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]