Description

Base class for a suspension subsystem.

#include <ChSuspension.h>

Inheritance diagram for chrono::vehicle::ChSuspension:
Collaboration diagram for chrono::vehicle::ChSuspension:

Public Member Functions

 ChSuspension (const std::string &name)
 
virtual bool IsSteerable () const =0
 Specify whether or not this suspension can be steered.
 
virtual bool IsIndependent () const =0
 Specify whether or not this is an independent suspension.
 
const ChVectorGetLocation () const
 Get the location of the suspension subsystem relative to the chassis reference frame. More...
 
std::shared_ptr< ChBodyGetSpindle (VehicleSide side) const
 Get a handle to the spindle body on the specified side.
 
std::shared_ptr< ChShaftGetAxle (VehicleSide side) const
 Get a handle to the axle shaft on the specified side.
 
std::shared_ptr< ChLinkLockRevoluteGetRevolute (VehicleSide side) const
 Get a handle to the revolute joint on the specified side.
 
const ChVectorGetSpindlePos (VehicleSide side) const
 Get the global location of the spindle on the specified side.
 
const ChQuaternionGetSpindleRot (VehicleSide side) const
 Get the orientation of the spindle body on the specified side. More...
 
const ChVectorGetSpindleLinVel (VehicleSide side) const
 Get the linear velocity of the spindle body on the specified side. More...
 
ChVector GetSpindleAngVel (VehicleSide side) const
 Get the angular velocity of the spindle body on the specified side. More...
 
double GetAxleSpeed (VehicleSide side) const
 Get the angular speed of the axle on the specified side.
 
int GetSteeringIndex () const
 Get the index of the associated steering index (-1 if non-steered).
 
void Synchronize ()
 Synchronize this suspension subsystem. More...
 
void ApplyAxleTorque (VehicleSide side, double torque)
 Apply the provided motor torque. More...
 
virtual void Initialize (std::shared_ptr< ChBodyAuxRef > chassis, const ChVector<> &location, std::shared_ptr< ChBody > tierod_body, int steering_index, double left_ang_vel=0, double right_ang_vel=0)=0
 Initialize this suspension subsystem. More...
 
virtual double getSpindleRadius () const =0
 Return the radius of the spindle body (visualization only).
 
virtual double getSpindleWidth () const =0
 Return the width of the spindle body (visualization only).
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the suspension subsystem. More...
 
virtual void RemoveVisualizationAssets () override
 Remove visualization assets for the suspension subsystem.
 
virtual std::shared_ptr< ChBodyGetLeftBody () const
 Specify the left body for a possible antirollbar subsystem. More...
 
virtual std::shared_ptr< ChBodyGetRightBody () const
 Specify the right body for a possible antirollbar subsystem. More...
 
virtual double GetMass () const =0
 Get the total mass of the suspension subsystem.
 
virtual ChVector GetCOMPos () const =0
 Get the current global COM location of the suspension subsystem.
 
virtual double GetTrack ()=0
 Get the wheel track for the suspension subsystem.
 
virtual void LogConstraintViolations (VehicleSide side)
 Log current constraint violations.
 
- 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.
 
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 Attributes

ChVector m_location
 location relative to chassis
 
int m_steering_index
 index of associated steering mechanism
 
std::shared_ptr< ChBodym_spindle [2]
 handles to spindle bodies
 
std::shared_ptr< ChShaftm_axle [2]
 handles to axle shafts
 
std::shared_ptr< ChShaftsBodym_axle_to_spindle [2]
 handles to spindle-shaft connectors
 
std::shared_ptr< ChLinkLockRevolutem_revolute [2]
 handles to spindle revolute joints
 
- 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
 

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...
 
- Protected Member Functions inherited from chrono::vehicle::ChPart
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. 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

void chrono::vehicle::ChSuspension::AddVisualizationAssets ( VisualizationType  vis)
overridevirtual
void chrono::vehicle::ChSuspension::ApplyAxleTorque ( VehicleSide  side,
double  torque 
)

Apply the provided motor torque.

The given torque is applied to the specified (left or right) axle. This function provides the interface to the drivetrain subsystem (intermediated by the vehicle system).

Parameters
sideindicates the axle (left or right) where the torque should be applied
torquevalue of applied torque
virtual std::shared_ptr<ChBody> chrono::vehicle::ChSuspension::GetLeftBody ( ) const
virtual

Specify the left body for a possible antirollbar subsystem.

The default implementation returns a NULL pointer.

Reimplemented in chrono::vehicle::ChMacPhersonStrut, chrono::vehicle::ChDoubleWishbone, chrono::vehicle::ChThreeLinkIRS, chrono::vehicle::ChMultiLink, chrono::vehicle::ChSemiTrailingArm, and chrono::vehicle::ChDoubleWishboneReduced.

const ChVector& chrono::vehicle::ChSuspension::GetLocation ( ) const

Get the location of the suspension subsystem relative to the chassis reference frame.

The suspension reference frame is always aligned with the chassis reference frame.

virtual std::shared_ptr<ChBody> chrono::vehicle::ChSuspension::GetRightBody ( ) const
virtual

Specify the right body for a possible antirollbar subsystem.

The default implementation returns a NULL pointer.

Reimplemented in chrono::vehicle::ChMacPhersonStrut, chrono::vehicle::ChDoubleWishbone, chrono::vehicle::ChThreeLinkIRS, chrono::vehicle::ChMultiLink, chrono::vehicle::ChSemiTrailingArm, and chrono::vehicle::ChDoubleWishboneReduced.

ChVector chrono::vehicle::ChSuspension::GetSpindleAngVel ( VehicleSide  side) const

Get the angular velocity of the spindle body on the specified side.

Return the angular velocity of the spindle frame, expressed in the global reference frame.

const ChVector& chrono::vehicle::ChSuspension::GetSpindleLinVel ( VehicleSide  side) const

Get the linear velocity of the spindle body on the specified side.

Return the linear velocity of the spindle center, expressed in the global reference frame.

const ChQuaternion& chrono::vehicle::ChSuspension::GetSpindleRot ( VehicleSide  side) const

Get the orientation of the spindle body on the specified side.

The spindle body orientation is returned as a quaternion representing a rotation with respect to the global reference frame.

virtual void chrono::vehicle::ChSuspension::Initialize ( std::shared_ptr< ChBodyAuxRef chassis,
const ChVector<> &  location,
std::shared_ptr< ChBody tierod_body,
int  steering_index,
double  left_ang_vel = 0,
double  right_ang_vel = 0 
)
pure virtual

Initialize this suspension subsystem.

The suspension subsystem is initialized by attaching it to the specified chassis body at the specified location (with respect to and expressed in the reference frame of the chassis). It is assumed that the suspension reference frame is always aligned with the chassis reference frame. 'tierod_body' is a handle to the body to which the suspension tierods are to be attached. For a steered suspension, this will be the steering (central) link of a suspension subsystem. Otherwise, this is the chassis. If this suspension is steered, 'steering_index' indicates the index of the associated steering mechanism in the vehicle's list (-1 for a non-steered suspension).

Parameters
[in]chassishandle to the chassis body
[in]locationlocation relative to the chassis frame
[in]tierod_bodybody to which tireods are connected
[in]steering_indexindex of the associated steering mechanism
[in]left_ang_velinitial angular velocity of left wheel
[in]right_ang_velinitial angular velocity of right wheel

Implemented in chrono::vehicle::ChToeBarLeafspringAxle, chrono::vehicle::ChLeafspringAxle, chrono::vehicle::ChRigidPinnedAxle, chrono::vehicle::ChHendricksonPRIMAXX, chrono::vehicle::ChSolidAxle, chrono::vehicle::ChThreeLinkIRS, chrono::vehicle::ChDoubleWishboneReduced, chrono::vehicle::ChMacPhersonStrut, chrono::vehicle::ChMultiLink, chrono::vehicle::ChDoubleWishbone, chrono::vehicle::ChRigidSuspension, and chrono::vehicle::ChSemiTrailingArm.

void chrono::vehicle::ChSuspension::Synchronize ( )

Synchronize this suspension subsystem.

This function must be called before synchronizing any wheels associated with this suspension.