Description

Shafts-based powertrain model for the M113 vehicle.

#include <M113_ShaftsPowertrain.h>

Inheritance diagram for chrono::vehicle::m113::M113_ShaftsPowertrain:

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Collaboration diagram for chrono::vehicle::m113::M113_ShaftsPowertrain:

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Public Member Functions
	M113_ShaftsPowertrain (const std::string &name)

virtual void	SetGearRatios (std::vector< double > &gear_ratios) override
	Set up the gears, i.e. More...

virtual double	GetMotorBlockInertia () const override
	Inertias of the component ChShaft objects.

virtual double	GetCrankshaftInertia () const override

virtual double	GetIngearShaftInertia () const override

virtual double	GetUpshiftRPM () const override
	Upshift and downshift rotation speeds (in RPM)

virtual double	GetDownshiftRPM () const override

virtual void	SetEngineTorqueMap (std::shared_ptr< ChFunction_Recorder > &map) override
	Engine speed-torque map.

virtual void	SetEngineLossesMap (std::shared_ptr< ChFunction_Recorder > &map) override
	Engine speed-torque braking effect because of losses.

virtual void	SetTorqueConverterCapacityFactorMap (std::shared_ptr< ChFunction_Recorder > &map) override
	Set the capacity factor map. More...

virtual void	SetTorqeConverterTorqueRatioMap (std::shared_ptr< ChFunction_Recorder > &map) override
	Set the torque ratio map. More...

Public Member Functions inherited from chrono::vehicle::ChShaftsPowertrain
	ChShaftsPowertrain (const std::string &name, const ChVector<> &dir_motor_block=ChVector<>(1, 0, 0))
	Construct a shafts-based powertrain model.

virtual std::string	GetTemplateName () const override
	Get the name of the vehicle subsystem template.

virtual double	GetMotorSpeed () const override
	Return the current engine speed.

virtual double	GetMotorTorque () const override
	Return the current engine torque.

virtual double	GetTorqueConverterSlippage () const override
	Return the value of slippage in the torque converter.

virtual double	GetTorqueConverterInputTorque () const override
	Return the input torque to the torque converter.

virtual double	GetTorqueConverterOutputTorque () const override
	Return the output torque from the torque converter.

virtual int	GetCurrentTransmissionGear () const override
	Return the current transmission gear.

virtual double	GetOutputTorque () const override
	Return the output torque from the powertrain. More...

virtual void	SetDriveMode (ChPowertrain::DriveMode mmode) override
	Use this function to set the mode of automatic transmission.

void	SetSelectedGear (int igear)
	Use this function to shift from one gear to another. More...

void	SetGearShiftLatency (double ml)
	Use this to define the gear shift latency, in seconds.

double	GetGearShiftLatency (double ml)
	Use this to get the gear shift latency, in seconds.

Public Member Functions inherited from chrono::vehicle::ChPowertrain
	ChPowertrain (const std::string &name)

DriveMode	GetDriveMode ()
	Return the current 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.

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.

Additional Inherited Members
Public Types inherited from chrono::vehicle::ChPowertrain
enum	DriveMode { FORWARD, NEUTRAL, REVERSE }
	Driving modes. More...

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...

Protected Member Functions inherited from chrono::vehicle::ChPart
virtual void	Create (const rapidjson::Document &d)
	Create a vehicle subsystem from JSON data. 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::ChPowertrain
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

Member Function Documentation

◆ SetGearRatios()

void chrono::vehicle::m113::M113_ShaftsPowertrain::SetGearRatios ( std::vector< double > & gear_ratios )

overridevirtual

Set up the gears, i.e.

the transmission ratios of the various gears. A derived class must populate the vector gear_ratios, using the 0 index for reverse and 1,2,3,etc. for the forward gears.

Implements chrono::vehicle::ChShaftsPowertrain.