Description

4WD driveline model template based on ChShaft objects.

#include <ChShaftsDriveline4WD.h>

Inheritance diagram for chrono::vehicle::ChShaftsDriveline4WD:

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Collaboration diagram for chrono::vehicle::ChShaftsDriveline4WD:

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Public Member Functions
	ChShaftsDriveline4WD (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 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	GetCentralDifferentialBoxInertia () const =0
	Return the inertia of the differential box.

virtual double	GetToFrontDiffShaftInertia () const =0
	Return the inertia of the front driveshaft.

virtual double	GetToRearDiffShaftInertia () const =0
	Return the inertia of the rear driveshaft.

virtual double	GetRearDifferentialBoxInertia () const =0
	Return the inertia of the rear differential box.

virtual double	GetFrontDifferentialBoxInertia () const =0
	Return the inertia of the front differential box.

virtual double	GetRearConicalGearRatio () const =0
	Return the gear ratio for the rear conical gear.

virtual double	GetFrontConicalGearRatio () const =0
	Return the gear ratio for the front conical gear.

virtual double	GetRearDifferentialRatio () const =0
	Return the gear ratio for the rear differential.

virtual double	GetFrontDifferentialRatio () const =0
	Return the gear ratio for the front differential.

virtual double	GetCentralDifferentialRatio () const =0
	Return the gear ratio for the central differential.

virtual double	GetAxleDifferentialLockingLimit () const =0
	Return the limit for the axle differential locking torque.

virtual double	GetCentralDifferentialLockingLimit () const =0
	Return the limit for the central 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()

virtual int chrono::vehicle::ChShaftsDriveline4WD::GetNumDrivenAxles ( ) const

inlinefinaloverridevirtual

Return the number of driven axles.

A ChShaftsDriveline4WD driveline connects to two axles.

Implements chrono::vehicle::ChDrivelineWV.

◆ Initialize()

void chrono::vehicle::ChShaftsDriveline4WD::Initialize	(	std::shared_ptr< ChBody >	chassis,
		const ChAxleList &	axles,
		const std::vector< int > &	driven_axles
	)

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 axles subsystems
driven_axles	indexes of the driven vehicle axles

Implements chrono::vehicle::ChDrivelineWV.

◆ LockAxleDifferential()

void chrono::vehicle::ChShaftsDriveline4WD::LockAxleDifferential	(	int	axle,
		bool	lock
	)

overridevirtual

Lock/unlock the differential on the specified axle.

By convention, axles are counted front to back, starting with index 0 for the front-most axle. Pass axle=-1 to simultaneously lock/unlock both axle differentials. 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.

Reimplemented from chrono::vehicle::ChDrivelineWV.

◆ LockCentralDifferential()

void chrono::vehicle::ChShaftsDriveline4WD::LockCentralDifferential	(	int	which,
		bool	lock
	)

overridevirtual

Lock/unlock the central differential.

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.

Reimplemented from chrono::vehicle::ChDrivelineWV.

◆ SetAxleDirection()

void chrono::vehicle::ChShaftsDriveline4WD::SetAxleDirection ( const ChVector<> & dir )

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()

void chrono::vehicle::ChShaftsDriveline4WD::SetMotorBlockDirection ( const ChVector<> & dir )

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/ChShaftsDriveline4WD.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/driveline/ChShaftsDriveline4WD.cpp

Description

Public Member Functions

Protected Member Functions

Additional Inherited Members

Member Function Documentation

◆ GetNumDrivenAxles()

◆ Initialize()

◆ LockAxleDifferential()

◆ LockCentralDifferential()

◆ SetAxleDirection()

◆ SetMotorBlockDirection()