chrono::vehicle::ChSimpleTrackDriveline Class Referenceabstract

Description

Simple driveline model for a tracked vehicle.

This template splits the input torque to the left and right tracks using a simple analytical model of a Torsen limited-slip differential and the given driver steering input.

#include <ChSimpleTrackDriveline.h>

Inheritance diagram for chrono::vehicle::ChSimpleTrackDriveline:
Collaboration diagram for chrono::vehicle::ChSimpleTrackDriveline:

Public Member Functions

 ChSimpleTrackDriveline (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 > chassis, std::shared_ptr< ChTrackAssembly > track_left, std::shared_ptr< ChTrackAssembly > track_right) override
 Initialize the driveline subsystem. More...
 
virtual double GetDriveshaftSpeed () const override
 Get the angular speed of the driveshaft. More...
 
virtual void Synchronize (double steering, double torque) override
 Update the driveline subsystem. More...
 
virtual double GetSprocketTorque (VehicleSide side) const override
 Get the motor torque to be applied to the specified sprocket.
 
virtual double GetSprocketSpeed (VehicleSide side) const override
 Get the angular speed of the specified sprocket.
 
- Public Member Functions inherited from chrono::vehicle::ChDrivelineTV
 ChDrivelineTV (const std::string &name)
 
virtual void SetGyrationMode (bool mode)
 Turn gyration mode on/off.
 
- Public Member Functions inherited from chrono::vehicle::ChDriveline
 ChDriveline (const std::string &name)
 
std::shared_ptr< ChShaftGetDriveshaft () const
 Get a handle to 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 GetDifferentialMaxBias () const =0
 Return the torque bias ratio for the differential. More...
 
- 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::ChDrivelineTV
bool m_gyration_mode
 flag indicating if in gyration mode (turn in place)
 
- Protected Attributes inherited from chrono::vehicle::ChDriveline
std::shared_ptr< ChShaftm_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

◆ GetDifferentialMaxBias()

virtual double chrono::vehicle::ChSimpleTrackDriveline::GetDifferentialMaxBias ( ) const
protectedpure virtual

Return the torque bias ratio for the differential.

This is a simple model of a Torsen limited-slip differential.

Implemented in chrono::vehicle::m113::M113_SimpleDriveline, and chrono::vehicle::SimpleTrackDriveline.

◆ GetDriveshaftSpeed()

double chrono::vehicle::ChSimpleTrackDriveline::GetDriveshaftSpeed ( ) const
overridevirtual

Get the angular speed of the driveshaft.

This represents the output from the driveline subsystem that is passed to the powertrain system.

Reimplemented from chrono::vehicle::ChDriveline.

◆ Initialize()

void chrono::vehicle::ChSimpleTrackDriveline::Initialize ( std::shared_ptr< ChBody chassis,
std::shared_ptr< ChTrackAssembly track_left,
std::shared_ptr< ChTrackAssembly track_right 
)
overridevirtual

Initialize the driveline subsystem.

This function connects this driveline subsystem to the sprockets of the two track assembly subsystems.

Parameters
chassishandle to the chassis body
track_lefthandle to the left track assembly
track_righthandle to the right track assembly

Implements chrono::vehicle::ChDrivelineTV.

◆ Synchronize()

void chrono::vehicle::ChSimpleTrackDriveline::Synchronize ( double  steering,
double  torque 
)
overridevirtual

Update the driveline subsystem.

The motor torque represents the input to the driveline subsystem from the powertrain system.

Reimplemented from chrono::vehicle::ChDrivelineTV.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/driveline/ChSimpleTrackDriveline.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/driveline/ChSimpleTrackDriveline.cpp