Description
2WD driveline model template based on ChShaft objects.
This template can be used to model either a FWD or a RWD driveline.
#include <ChShaftsDriveline2WD.h>
Public Member Functions | |
ChShaftsDriveline2WD (const std::string &name) | |
virtual std::string | GetTemplateName () const override |
Get the name of the vehicle subsystem template. | |
void | SetMotorBlockDirection (const ChVector<> &dir) |
Set the direction of the motor block. More... | |
void | SetAxleDirection (const ChVector<> &dir) |
Set the direction of the wheel axles. More... | |
virtual void | LockAxleDifferential (int axle, bool lock) override |
Lock/unlock the differential on the specified axle. More... | |
virtual void | LockCentralDifferential (int which, bool lock) override |
Lock/unlock the specified central differential. More... | |
virtual int | GetNumDrivenAxles () const final override |
Return the number of driven axles. More... | |
virtual void | Initialize (std::shared_ptr< ChBody > chassis, const ChAxleList &axles, const std::vector< int > &driven_axles) override |
Initialize the driveline subsystem. 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) | |
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< ChShaft > | GetDriveshaft () const |
Get a handle to the driveshaft. More... | |
virtual double | GetDriveshaftSpeed () const |
Get the angular speed of the driveshaft. More... | |
virtual void | Synchronize (double torque) |
Update the driveline 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. | |
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 double | GetDriveshaftInertia () const =0 |
Return the inertia of the driveshaft. | |
virtual double | GetDifferentialBoxInertia () const =0 |
Return the inertia of the differential box. | |
virtual double | GetConicalGearRatio () const =0 |
Return the gear ratio for the conical gear. | |
virtual double | GetDifferentialRatio () const =0 |
Return the gear ratio for the differential. | |
virtual double | GetAxleDifferentialLockingLimit () const =0 |
Return the limit for the axle differential locking torque. | |
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< ChShaft > | m_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 | |
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
◆ GetNumDrivenAxles()
|
inlinefinaloverridevirtual |
Return the number of driven axles.
A ChShaftsDriveline2WD driveline connects to a single axle.
Implements chrono::vehicle::ChDrivelineWV.
◆ Initialize()
|
overridevirtual |
Initialize the driveline subsystem.
This function connects this driveline subsystem to the specified axle subsystems.
- Parameters
-
chassis handle to the chassis body axles list of all vehicle axle subsystems driven_axles indexes of the driven vehicle axles
Implements chrono::vehicle::ChDrivelineWV.
◆ LockAxleDifferential()
|
overridevirtual |
Lock/unlock the differential on the specified axle.
Differential locking is implemented through a friction torque between the output shafts of the differential. The locking effect is limited by a maximum locking torque. This function ignores the argument 'axle' and locks/unlocks its one and only differential.
Reimplemented from chrono::vehicle::ChDrivelineWV.
◆ LockCentralDifferential()
|
overridevirtual |
Lock/unlock the specified central differential.
By convention, central differentials are counted from front to back, starting with index 0.
Reimplemented from chrono::vehicle::ChDrivelineWV.
◆ SetAxleDirection()
|
inline |
Set the direction of the wheel axles.
This direction is a unit vector, relative to the chassis frame. It must be specified for the design configuration (for the ISO vehicle coordinate system, this is typically [0, 1, 0]).
◆ SetMotorBlockDirection()
|
inline |
Set the direction of the motor block.
This direction is a unit vector, relative to the chassis frame (for the ISO coordinate system, this is [1, 0, 0] for a longitudinal engine and [0, 1, 0] for a transversal engine).
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/driveline/ChShaftsDriveline2WD.h
- /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/driveline/ChShaftsDriveline2WD.cpp