chrono::vehicle::ChSimpleDrivelineXWD Class Referenceabstract

Description

Simple driveline model.

This template can be used to model a XWD driveline. Number of axles can be 1 to X. It uses a constant torque split depending on the number of axles driven and a simple model for Torsen limited-slip differentials.

#include <ChSimpleDrivelineXWD.h>

Inheritance diagram for chrono::vehicle::ChSimpleDrivelineXWD:
Collaboration diagram for chrono::vehicle::ChSimpleDrivelineXWD:

Public Member Functions

 ChSimpleDrivelineXWD (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual int GetNumDrivenAxles () const override
 Return the number of driven axles.
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis, const ChAxleList &axles, const std::vector< int > &driven_axles) override
 Initialize the driveline subsystem. More...
 
virtual double GetDriveshaftSpeed () const override
 Get the angular speed of the driveshaft. More...
 
virtual void Synchronize (double torque) override
 Update the driveline subsystem: apply the specified motor torque. 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)
 
virtual void LockAxleDifferential (int axle, bool lock)
 Lock/unlock the differential on the specified axle. More...
 
virtual void LockCentralDifferential (int which, bool lock)
 Lock/unlock the specified central differential. More...
 
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...
 
- 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 GetDifferentialMaxBias () const =0
 Return the torque bias ratio every axlewise differential. More...
 
- 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
 

Member Function Documentation

◆ GetDifferentialMaxBias()

virtual double chrono::vehicle::ChSimpleDrivelineXWD::GetDifferentialMaxBias ( ) const
protectedpure virtual

Return the torque bias ratio every axlewise differential.

This is a simple model of a Torsen limited-slip differential.

Implemented in chrono::vehicle::man::MAN_5t_SimpleDrivelineXWD, and chrono::vehicle::SimpleDrivelineXWD.

◆ GetDriveshaftSpeed()

double chrono::vehicle::ChSimpleDrivelineXWD::GetDriveshaftSpeed ( ) const
overridevirtual

Get the angular speed of the driveshaft.

This represents the output from the driveline subsystem that is passed to the powertrain system.

Reimplemented from chrono::vehicle::ChDriveline.

◆ Initialize()

void chrono::vehicle::ChSimpleDrivelineXWD::Initialize ( std::shared_ptr< ChChassis 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
chassisassociated chassis subsystem
axleslist of all vehicle axle subsystems
driven_axlesindexes of the driven vehicle axles

Implements chrono::vehicle::ChDrivelineWV.

◆ Synchronize()

void chrono::vehicle::ChSimpleDrivelineXWD::Synchronize ( double  torque)
overridevirtual

Update the driveline subsystem: apply the specified motor torque.

This represents the input to the driveline subsystem from the powertrain system.

Reimplemented from chrono::vehicle::ChDrivelineWV.


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