Description

Base class for a powertrain system.

#include <ChPowertrain.h>

Inheritance diagram for chrono::vehicle::ChPowertrain:

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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< ChDriveline >	m_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< 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

◆ DriveMode

enum chrono::vehicle::ChPowertrain::DriveMode

Driving modes.

Enumerator
FORWARD	vehicle moving forward
NEUTRAL	vehicle in neutral
REVERSE	vehicle moving backward

Member Function Documentation

◆ GetOutputTorque()

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.

◆ Initialize()

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]	chassis	chassis of the associated vehicle
[in]	driveline	driveline of the associated vehicle

◆ Synchronize()

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]	time	current time
[in]	throttle	current throttle input [0,1]

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_vehicle/ChPowertrain.h
/builds/uwsbel/chrono/src/chrono_vehicle/ChPowertrain.cpp

Description

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes