Description
Base class for a Hendrickson PRIMAXX EX suspension.
Derived from ChSuspension, but still an abstract base class.
The suspension subsystem is modeled with respect to a right-handed frame, with X pointing towards the front, Y to the left, and Z up (ISO standard). The suspension reference frame is assumed to be always aligned with that of the vehicle. When attached to a chassis, only an offset is provided.
All point locations are assumed to be given for the left half of the suspension and will be mirrored (reflecting the y coordinates) to construct the right side.
#include <ChHendricksonPRIMAXX.h>
Public Member Functions | |
ChHendricksonPRIMAXX (const std::string &name) | |
virtual std::string | GetTemplateName () const override |
Get the name of the vehicle subsystem template. | |
virtual bool | IsSteerable () const final override |
Specify whether or not this suspension can be steered. | |
virtual bool | IsIndependent () const final override |
Specify whether or not this is an independent suspension. | |
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) override |
Initialize this suspension subsystem. More... | |
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 double | GetMass () const override |
Get the total mass of the suspension subsystem. | |
virtual ChVector | GetCOMPos () const override |
Get the current global COM location of the suspension subsystem. | |
virtual double | GetTrack () override |
Get the wheel track for the suspension subsystem. | |
virtual ChSuspension::Force | ReportSuspensionForce (VehicleSide side) const override |
Return current suspension forces (spring and shock) on the specified side. More... | |
double | GetShockLBForce (VehicleSide side) const |
There could be a spring (coil or air) and damper element between chassis and lower beam and a second spring and damper element between chassis and housing. More... | |
double | GetShockLBLength (VehicleSide side) const |
Get the current length of the spring-damper element. | |
double | GetShockLBVelocity (VehicleSide side) const |
Get the current deformation velocity of the spring-damper element. | |
double | GetShockAHForce (VehicleSide side) const |
Spring (coil or air) and damper element between chassis and axle housing (AH) Get the force in the air spring (coil or spring) and a damper element. More... | |
double | GetShockAHLength (VehicleSide side) const |
Get the current length of the spring-damper element. | |
double | GetShockAHVelocity (VehicleSide side) const |
Get the current deformation velocity of the spring-damper element. | |
virtual void | LogConstraintViolations (VehicleSide side) override |
Log current constraint violations. | |
void | LogHardpointLocations (const ChVector<> &ref, bool inches=false) |
Log the locations of all hardpoints. More... | |
Public Member Functions inherited from chrono::vehicle::ChSuspension | |
ChSuspension (const std::string &name) | |
const ChVector & | GetLocation () const |
Get the location of the suspension subsystem relative to the chassis reference frame. More... | |
std::shared_ptr< ChBody > | GetSpindle (VehicleSide side) const |
Get a handle to the spindle body on the specified side. | |
std::shared_ptr< ChShaft > | GetAxle (VehicleSide side) const |
Get a handle to the axle shaft on the specified side. | |
std::shared_ptr< ChLinkLockRevolute > | GetRevolute (VehicleSide side) const |
Get a handle to the revolute joint on the specified side. | |
const ChVector & | GetSpindlePos (VehicleSide side) const |
Get the global location of the spindle on the specified side. | |
const ChQuaternion & | GetSpindleRot (VehicleSide side) const |
Get the orientation of the spindle body on the specified side. More... | |
const ChVector & | GetSpindleLinVel (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 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 std::shared_ptr< ChBody > | GetLeftBody () const |
Specify the left body for a possible antirollbar subsystem. More... | |
virtual std::shared_ptr< ChBody > | GetRightBody () const |
Specify the right body for a possible antirollbar subsystem. 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. | |
Protected Types | |
enum | PointId { SPINDLE, KNUCKLE_L, KNUCKLE_U, TIEROD_C, TIEROD_K, TORQUEROD_C, TORQUEROD_AH, LOWERBEAM_C, LOWERBEAM_AH, LOWERBEAM_TB, SHOCKAH_C, SHOCKAH_AH, SHOCKLB_C, SHOCKLB_LB, KNUCKLE_CM, TORQUEROD_CM, LOWERBEAM_CM, NUM_POINTS } |
Identifiers for the various hardpoints. More... | |
enum | DirectionId { UNIV_AXIS_LOWERBEAM_BEAM, UNIV_AXIS_LOWERBEAM_CHASSIS, UNIV_AXIS_TORQUEROD_ROD, UNIV_AXIS_TORQUEROD_CHASSIS, NUM_DIRS } |
Identifiers for the various vectors. More... | |
Protected Member Functions | |
virtual const ChVector | getLocation (PointId which)=0 |
Return the location of the specified hardpoint. More... | |
virtual const ChVector | getDirection (DirectionId which)=0 |
virtual const ChVector | getAxlehousingCOM () const =0 |
Return the center of mass of the axle tube. | |
virtual const ChVector | getTransversebeamCOM () const =0 |
Return the center of mass of the transverse beam. | |
virtual double | getSpindleMass () const =0 |
Return the mass of the spindle body. | |
virtual double | getKnuckleMass () const =0 |
Return the mass of the knuckle body. | |
virtual double | getTorquerodMass () const =0 |
Return the mass of the torque rod body. | |
virtual double | getLowerbeamMass () const =0 |
Return the mass of the lower beam body. | |
virtual double | getTransversebeamMass () const =0 |
Return the mass of the transverse beam body. | |
virtual double | getAxlehousingMass () const =0 |
Return the mass of the axle housing body. | |
virtual const ChVector & | getSpindleInertia () const =0 |
Return the moments of inertia of the spindle body. | |
virtual const ChVector & | getKnuckleInertia () const =0 |
Return the moments of inertia of the knuckle body. | |
virtual const ChVector & | getTorquerodInertia () const =0 |
Return the moments of inertia of the torque rod body. | |
virtual const ChVector & | getLowerbeamInertia () const =0 |
Return the moments of inertia of the lower beam body. | |
virtual const ChVector & | getTransversebeamInertia () const =0 |
Return the moments of inertia of the transverse beam body. | |
virtual const ChVector & | getAxlehousingInertia () const =0 |
Return the moments of inertia of the axle housing body. | |
virtual double | getAxleInertia () const =0 |
Return the inertia of the axle shaft. | |
virtual double | getKnuckleRadius () const =0 |
Return the radius of the knuckle body (visualization only). | |
virtual double | getTorquerodRadius () const =0 |
Return the radius of the torque rod body (visualization only). | |
virtual double | getLowerbeamRadius () const =0 |
Return the radius of the lower beam body (visualization only). | |
virtual double | getTransversebeamRadius () const =0 |
Return the radius of the transverse beam body (visualization only). | |
virtual double | getAxlehousingRadius () const =0 |
Return the radius of the axle housing body (visualization only). | |
virtual double | getShockLBRestLength () const =0 |
Return the free (rest) length of the spring element. | |
virtual ChLinkTSDA::ForceFunctor * | getShockLBForceCallback () const =0 |
Return the functor object for shock force. | |
virtual double | getShockAHRestLength () const =0 |
Return the free (rest) length of the spring element. | |
virtual ChLinkTSDA::ForceFunctor * | getShockAHForceCallback () const =0 |
Return the functor object for shock force. | |
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 | |
std::shared_ptr< ChBody > | m_knuckle [2] |
handles to the knuckle bodies (left/right) | |
std::shared_ptr< ChBody > | m_torquerod [2] |
handles to torquerod bodies (left/right) | |
std::shared_ptr< ChBody > | m_lowerbeam [2] |
handles to lowerbeam bodies (left/right) | |
std::shared_ptr< ChBody > | m_transversebeam |
handles to transversebeam body | |
std::shared_ptr< ChBody > | m_axlehousing |
handles to axlehousing body | |
std::shared_ptr< ChLinkLockRevolute > | m_revoluteKingpin [2] |
handles to the knuckle-axle housing revolute joints (left/right) | |
std::shared_ptr< ChLinkLockSpherical > | m_sphericalTorquerod [2] |
handles to the torque rod-axle housing spherical joints (left/right) | |
std::shared_ptr< ChLinkLockRevolute > | m_revoluteTorquerod [2] |
handles to the torquerod chasis revolute joints (left/right) | |
std::shared_ptr< ChLinkLockSpherical > | m_sphericalLowerbeam [2] |
handles to the lower beam-axle housing spherical joints (left/right) | |
std::shared_ptr< ChLinkLockRevolute > | m_revoluteLowerbeam [2] |
handles to the lowerbeam chasis revolute joints (left/right) | |
std::shared_ptr< ChLinkLockSpherical > | m_sphericalTB [2] |
handles to the transversebeam-lower beam spherical joints (left/right) | |
std::shared_ptr< ChLinkDistance > | m_distTierod [2] |
handles to the tierod distance constraints (left/right) | |
std::shared_ptr< ChLinkTSDA > | m_shockLB [2] |
handles to the spring links (left/right) | |
std::shared_ptr< ChLinkTSDA > | m_shockAH [2] |
handles to the spring links (left/right) | |
Protected Attributes inherited from chrono::vehicle::ChSuspension | |
ChVector | m_location |
location relative to chassis | |
int | m_steering_index |
index of associated steering mechanism | |
std::shared_ptr< ChBody > | m_spindle [2] |
handles to spindle bodies | |
std::shared_ptr< ChShaft > | m_axle [2] |
handles to axle shafts | |
std::shared_ptr< ChShaftsBody > | m_axle_to_spindle [2] |
handles to spindle-shaft connectors | |
std::shared_ptr< ChLinkLockRevolute > | m_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... | |
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
◆ DirectionId
|
protected |
Identifiers for the various vectors.
◆ PointId
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protected |
Identifiers for the various hardpoints.
Constructor & Destructor Documentation
◆ ChHendricksonPRIMAXX()
chrono::vehicle::ChHendricksonPRIMAXX::ChHendricksonPRIMAXX | ( | const std::string & | name | ) |
- Parameters
-
[in] name name of the subsystem
Member Function Documentation
◆ AddVisualizationAssets()
|
overridevirtual |
Add visualization assets for the suspension subsystem.
This default implementation uses primitives.
Reimplemented from chrono::vehicle::ChSuspension.
◆ getLocation()
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protectedpure virtual |
Return the location of the specified hardpoint.
The returned location must be expressed in the suspension reference frame.
◆ GetShockAHForce()
|
inline |
Spring (coil or air) and damper element between chassis and axle housing (AH) Get the force in the air spring (coil or spring) and a damper element.
Get the force in the spring-damper element.
◆ GetShockLBForce()
|
inline |
There could be a spring (coil or air) and damper element between chassis and lower beam and a second spring and damper element between chassis and housing.
Spring (coil or air) and damper element between chassis and lower beam (LB) Get the force in the air spring (coil or spring) and a damper element Get the force in the spring-damper element.
◆ Initialize()
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overridevirtual |
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] chassis handle to the chassis body [in] location location relative to the chassis frame [in] tierod_body body to which tireods are connected [in] steering_index index of the associated steering mechanism [in] left_ang_vel initial angular velocity of left wheel [in] right_ang_vel initial angular velocity of right wheel
Implements chrono::vehicle::ChSuspension.
◆ LogHardpointLocations()
void chrono::vehicle::ChHendricksonPRIMAXX::LogHardpointLocations | ( | const ChVector<> & | ref, |
bool | inches = false |
||
) |
Log the locations of all hardpoints.
The reported locations are expressed in the suspension reference frame. By default, these values are reported in SI units (meters), but can be optionally reported in inches.
◆ ReportSuspensionForce()
|
overridevirtual |
Return current suspension forces (spring and shock) on the specified side.
For this particular suspension, the return struct contains information about the LB force element in its "spring" members and information about the AH force element in its "shock" members.
Implements chrono::vehicle::ChSuspension.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/suspension/ChHendricksonPRIMAXX.h
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/suspension/ChHendricksonPRIMAXX.cpp