chrono::vehicle::hmmwv::HMMWV_TMeasyTire Class Reference

Description

TMeasy tire model for the HMMWV.

#include <HMMWV_TMeasyTire.h>

Inheritance diagram for chrono::vehicle::hmmwv::HMMWV_TMeasyTire:
Collaboration diagram for chrono::vehicle::hmmwv::HMMWV_TMeasyTire:

Public Member Functions

 HMMWV_TMeasyTire (const std::string &name)
 
virtual double GetVisualizationWidth () const override
 Get visualization width.
 
virtual void SetTMeasyParams () override
 Set the parameters in the TMeasy model.
 
virtual double GetMass () const override
 Get the tire mass. More...
 
virtual ChVector GetInertia () const override
 Get the tire moments of inertia. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the rigid tire subsystem.
 
virtual void RemoveVisualizationAssets () overridefinal
 Remove visualization assets for the rigid tire subsystem.
 
void GenerateCharacteristicPlots (const std::string &dirname)
 
- Public Member Functions inherited from chrono::vehicle::ChTMeasyTire
 ChTMeasyTire (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual void Initialize (std::shared_ptr< ChBody > wheel, VehicleSide side) override
 Initialize this tire system. More...
 
virtual double GetRadius () const override
 Get the tire radius.
 
virtual TerrainForce GetTireForce () const override
 Get the tire force and moment. More...
 
virtual TerrainForce ReportTireForce (ChTerrain *terrain) const override
 Report the tire force and moment.
 
virtual void Synchronize (double time, const WheelState &wheel_state, const ChTerrain &terrain, CollisionType collision_type=CollisionType::SINGLE_POINT) override
 Update the state of this tire system at the current time. More...
 
virtual void Advance (double step) override
 Advance the state of this tire by the specified time step.
 
void SetGammaLimit (double gamma_limit)
 Set the limit for camber angle (in degrees). Default: 3 degrees.
 
double GetWidth () const
 Get the width of the tire.
 
double GetSlipAngle_internal () const
 Get the tire slip angle computed internally by the TMeasy model (in radians). More...
 
double GetLongitudinalSlip_internal () const
 Get the tire longitudinal slip computed internally by the TMeasy model. More...
 
double GetCamberAngle_internal ()
 Get the camber angle computed internally by the TMeasy model (in radians). More...
 
void GuessTruck80Par (unsigned int li, double tireWidth, double ratio, double rimDia, double pinfl_li=1.0, double pinfl_use=1.0)
 Guess Tire Parameters from characteristic truck tire parameter pattern (Ratio = 80%) More...
 
void GuessTruck80Par (double loadForce, double tireWidth, double ratio, double rimDia, double pinfl_li=1.0, double pinfl_use=1.0)
 
void GuessPassCar70Par (unsigned int li, double tireWidth, double ratio, double rimDia, double pinfl_li=1.0, double pinfl_use=1.0)
 Guess Tire Parameters from characteristic passenger car tire parameter pattern (Ratio = 70%) More...
 
void GuessPassCar70Par (double loadForce, double tireWidth, double ratio, double rimDia, double pinfl_li=1.0, double pinfl_use=1.0)
 
void SetVerticalStiffness (double Cz)
 Set vertical tire stiffness as linear function by coefficient [N/m].
 
void SetVerticalStiffness (double Cz1, double Cz2)
 Set vertical tire stiffness as nonlinear function by coefficients at nominal load 1 [N/m] and nominal load 2 [N/m]. More...
 
void SetVerticalStiffness (std::vector< double > &defl, std::vector< double > &frc)
 Set vertical tire stiffness as nonlinear function by calculation from tire test data (least squares).
 
void SetFrictionCoefficient (double coeff)
 Set the tire reference coefficient of friction.
 
void SetRollingResistanceCoefficients (double rr_coeff_1, double rr_coeff_2)
 Set rolling resistance coefficients.
 
void SetDynamicRadiusCoefficients (double rdyn_coeff_1, double rdyn_coeff_2)
 Set dynamic radius coefficients.
 
void WritePlots (const std::string &plFileName, const std::string &plTireFormat)
 Generate basic tire plots. More...
 
virtual double GetDeflection () const override
 Get the tire deflection.
 
ChVector GetDeflection ()
 Using tire relaxation, we have three tire deflections.
 
void ExportParameterFile (std::string fileName)
 Export a TMeasy Tire Parameter File.
 
void ExportJSONFile (std::string jsonFileName)
 Export a TMeasy Tire Parameter File in JSON format.
 
bool CheckParameters ()
 Simple parameter consistency test.
 
- Public Member Functions inherited from chrono::vehicle::ChTire
 ChTire (const std::string &name)
 
void SetStepsize (double val)
 Set the value of the integration step size for the underlying dynamics (if applicable). More...
 
double GetStepsize () const
 Get the current value of the integration step size.
 
virtual double ReportMass () const
 Report the tire mass. More...
 
double GetSlipAngle () const
 Return the tire slip angle calculated based on the current state of the associated wheel body. More...
 
double GetLongitudinalSlip () const
 Return the tire longitudinal slip calculated based on the current state of the associated wheel body. More...
 
double GetCamberAngle () const
 Return the tire camber angle calculated based on the current state of the associated wheel body. 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.
 
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.
 

Additional Inherited Members

- Public Types inherited from chrono::vehicle::ChTire
enum  CollisionType { SINGLE_POINT, FOUR_POINTS, ENVELOPE }
 
- Static Public Member Functions inherited from chrono::vehicle::ChTMeasyTire
static double GetTireMaxLoad (unsigned int li)
 Get maximum tire load from Load Index (LI) in N [0:279].
 
- Static Public Member Functions inherited from chrono::vehicle::ChTire
static ChVector EstimateInertia (double tire_width, double aspect_ratio, double rim_diameter, double tire_mass, double t_factor=2)
 Utility function for estimating the tire moments of inertia. More...
 
- 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::ChTMeasyTire
double InterpL (double fz, double w1, double w2)
 
double InterpQ (double fz, double w1, double w2)
 
- 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::ChTire
static bool DiscTerrainCollision (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, ChCoordsys<> &contact, double &depth)
 Perform disc-terrain collision detection. More...
 
static bool DiscTerrainCollision4pt (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, double width, ChCoordsys<> &contact, double &depth, double &camber_angle)
 Perform disc-terrain collision detection considering the curvature of the road surface. More...
 
static bool DiscTerrainCollisionEnvelope (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, const ChFunction_Recorder &areaDep, ChCoordsys<> &contact, double &depth)
 Collsion algorithm based on a paper of J. More...
 
static void ConstructAreaDepthTable (double disc_radius, ChFunction_Recorder &areaDep)
 Utility function to construct a loopkup table for penetration depth as function of intersection area, for a given tire radius. 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.
 
- Protected Attributes inherited from chrono::vehicle::ChTMeasyTire
bool m_consider_relaxation
 
bool m_use_Reff_fallback_calculation
 
bool m_use_startup_transition
 
unsigned int m_integration_method
 
double m_time
 
double m_begin_start_transition
 
double m_end_start_transition
 
double m_vnum
 
double m_gamma
 actual camber angle
 
double m_gamma_limit
 limit camber angle (degrees!)
 
double m_unloaded_radius
 reference tire radius
 
double m_width
 tire width
 
double m_rim_radius
 tire rim radius
 
double m_roundness
 roundness factor for cross-section profile
 
double m_rolling_resistance
 actual rolling friction coeff
 
double m_mu
 local friction coefficient of the road
 
double m_a1
 polynomial coefficient a1 in cz = a1 + 2.0*a2 * deflection
 
double m_a2
 polynomial coefficient a2 in cz = a1 + 2.0*a2 * deflection
 
double m_tau_x
 Longitudinal relaxation delay time.
 
double m_tau_y
 Lateral relaxation delay time.
 
double m_relaxation_lenght_x
 Longitudinal relaxation length.
 
double m_relaxation_lenght_y
 Lateral relaxation length.
 
double m_relaxation_lenght_phi
 Relaxation length for bore movement.
 
double m_rdynco
 actual value of dynamic rolling radius weighting coefficient
 
double m_rdynco_crit
 max. considered value of m_rdynco (local minimum of dynamic rolling radius)
 
double m_fz_rdynco_crit
 Fz value r_dyn = r_dyn(m_fz_rdynco,m_rdynco_crit)
 
VehicleSide m_measured_side
 
TMeasyCoeff m_TMeasyCoeff
 
- Protected Attributes inherited from chrono::vehicle::ChTire
VehicleSide m_side
 tire mounted on left/right side
 
std::shared_ptr< ChBodym_wheel
 associated wheel body
 
double m_stepsize
 tire integration step size (if applicable)
 
- 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
 

Member Function Documentation

virtual ChVector chrono::vehicle::hmmwv::HMMWV_TMeasyTire::GetInertia ( ) const
overridevirtual

Get the tire moments of inertia.

Note that these should not include the inertia of the wheel (rim).

Implements chrono::vehicle::ChTire.

virtual double chrono::vehicle::hmmwv::HMMWV_TMeasyTire::GetMass ( ) const
overridevirtual

Get the tire mass.

Note that this should not include the mass of the wheel (rim).

Implements chrono::vehicle::ChTire.