Description

Fiala based tire model.

#include <ChFialaTire.h>

Inheritance diagram for chrono::vehicle::ChFialaTire:
Collaboration diagram for chrono::vehicle::ChFialaTire:

Public Member Functions

 ChFialaTire (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the rigid tire subsystem.
 
virtual void RemoveVisualizationAssets () override
 Remove visualization assets for the rigid tire subsystem.
 
virtual double GetRadius () const override
 Get the tire width. More...
 
virtual TerrainForce ReportTireForce (ChTerrain *terrain) const override
 Report the tire force and moment.
 
double GetWidth () const
 Get the width of the tire.
 
virtual double GetVisualizationWidth () const
 Get visualization width.
 
double GetSlipAngle_internal () const
 Get the tire slip angle computed internally by the Fiala model (in radians). More...
 
double GetLongitudinalSlip_internal () const
 Get the tire longitudinal slip computed internally by the Fiala model. More...
 
double GetCamberAngle_internal ()
 Get the camber angle for the Fiala tire model (in radians). More...
 
void WritePlots (const std::string &plFileName, const std::string &plTireFormat)
 Generate basic tire plots. More...
 
- Public Member Functions inherited from chrono::vehicle::ChTire
 ChTire (const std::string &name)
 
void SetStepsize (double val)
 Set the value of the integration step size for the underlying dynamics (if applicable). More...
 
double GetStepsize () const
 Get the current value of the integration step size.
 
void SetCollisionType (CollisionType collision_type)
 Set the collision type for tire-terrain interaction. More...
 
virtual double GetMass () const =0
 Get the tire mass. More...
 
virtual double ReportMass () const
 Report the tire mass. More...
 
virtual ChVector GetInertia () const =0
 Get the tire moments of inertia. More...
 
double GetSlipAngle () const
 Return the tire slip angle calculated based on the current state of the associated wheel body. More...
 
double GetLongitudinalSlip () const
 Return the tire longitudinal slip calculated based on the current state of the associated wheel body. More...
 
double GetCamberAngle () const
 Return the tire camber angle calculated based on the current state of the associated wheel body. More...
 
virtual double GetDeflection () const
 Report the tire deflection.
 
const std::string & GetMeshFilename () const
 Get the name of the Wavefront file with tire visualization mesh. 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 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 GetNormalStiffnessForce (double depth) const =0
 Return the vertical tire stiffness contribution to the normal force.
 
virtual double GetNormalDampingForce (double depth, double velocity) const =0
 Return the vertical tire damping contribution to the normal force.
 
virtual void SetFialaParams ()=0
 Set the parameters in the Fiala model.
 
void FialaPatchForces (double &fx, double &fy, double &mz, double kappa, double alpha, double fz)
 Calculate Patch Forces.
 
virtual TerrainForce GetTireForce () const override
 Get the tire force and moment. More...
 
virtual void Initialize (std::shared_ptr< ChWheel > wheel) override
 Initialize this tire by associating it to the specified wheel.
 
virtual void Synchronize (double time, const ChTerrain &terrain) override
 Update the state of this tire system at the current time. More...
 
virtual void Advance (double step) override
 Advance the state of this tire by the specified time step.
 
- Protected Member Functions inherited from chrono::vehicle::ChTire
void CalculateKinematics (double time, const WheelState &wheel_state, const ChTerrain &terrain)
 Calculate kinematics quantities based on the given state of the associated wheel body. More...
 
double GetOffset () const
 Get offset from spindle center. More...
 
std::shared_ptr< ChTriangleMeshShapeAddVisualizationMesh (const std::string &mesh_file_left, const std::string &mesh_file_right)
 Add mesh visualization to the body associated with this tire (a wheel spindle body). More...
 
void RemoveVisualizationMesh (std::shared_ptr< ChTriangleMeshShape > trimesh_shape)
 Remove the specified mesh shape from the visualization assets of the body associated with this tire (a wheel spindle body).
 
- 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

double m_unloaded_radius
 Fiala tire model parameters.
 
double m_width
 
double m_rolling_resistance
 
double m_c_slip
 
double m_c_alpha
 
double m_u_min
 
double m_u_max
 
double m_relax_length_x
 
double m_relax_length_y
 
double m_mu
 Actual friction coefficient of the road.
 
double m_mu_0
 Local friction coefficient of the road for given parameters.
 
bool m_dynamic_mode
 Switch for dynamic mode (relaxation)
 
double m_time
 
double m_time_trans
 
ChFunction_Recorder m_areaDep
 
ContactData m_data
 
TireStates m_states
 
TerrainForce m_tireforce
 
std::shared_ptr< ChCylinderShapem_cyl_shape
 visualization cylinder asset
 
std::shared_ptr< ChTexturem_texture
 visualization texture asset
 
- Protected Attributes inherited from chrono::vehicle::ChTire
std::shared_ptr< ChWheelm_wheel
 associated wheel subsystem
 
double m_stepsize
 tire integration step size (if applicable)
 
CollisionType m_collision_type
 method used for tire-terrain collision
 
std::string m_vis_mesh_file
 name of OBJ file for visualization of this tire (may be empty)
 
- 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
 

Additional Inherited Members

- Public Types inherited from chrono::vehicle::ChTire
enum  CollisionType { SINGLE_POINT, FOUR_POINTS, ENVELOPE }
 
- Static Public Member Functions inherited from chrono::vehicle::ChTire
static ChVector EstimateInertia (double tire_width, double aspect_ratio, double rim_diameter, double tire_mass, double t_factor=2)
 Utility function for estimating the tire moments of inertia. 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...
 
- Static Protected Member Functions inherited from chrono::vehicle::ChTire
static bool DiscTerrainCollision (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, ChCoordsys<> &contact, double &depth)
 Perform disc-terrain collision detection. More...
 
static bool DiscTerrainCollision4pt (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, double width, ChCoordsys<> &contact, double &depth, double &camber_angle)
 Perform disc-terrain collision detection considering the curvature of the road surface. More...
 
static bool DiscTerrainCollisionEnvelope (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, const ChFunction_Recorder &areaDep, ChCoordsys<> &contact, double &depth)
 Collsion algorithm based on a paper of J. More...
 
static void ConstructAreaDepthTable (double disc_radius, ChFunction_Recorder &areaDep)
 Utility function to construct a loopkup table for penetration depth as function of intersection area, for a given tire radius. 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 Function Documentation

◆ GetCamberAngle_internal()

double chrono::vehicle::ChFialaTire::GetCamberAngle_internal ( )
inline

Get the camber angle for the Fiala tire model (in radians).

ChFialaTire does not calculate its own camber angle. This value is the same as that reported by ChTire::GetCamberAngle.

◆ GetLongitudinalSlip_internal()

double chrono::vehicle::ChFialaTire::GetLongitudinalSlip_internal ( ) const
inline

Get the tire longitudinal slip computed internally by the Fiala model.

The reported value will be different from that reported by ChTire::GetLongitudinalSlip because ChFialaTire uses the loaded tire radius for its calculation.

◆ GetRadius()

virtual double chrono::vehicle::ChFialaTire::GetRadius ( ) const
inlineoverridevirtual

Get the tire width.

For a Fiala tire, this is the unloaded tire radius.

Implements chrono::vehicle::ChTire.

◆ GetSlipAngle_internal()

double chrono::vehicle::ChFialaTire::GetSlipAngle_internal ( ) const
inline

Get the tire slip angle computed internally by the Fiala model (in radians).

The reported value will be similar to that reported by ChTire::GetSlipAngle.

◆ GetTireForce()

virtual TerrainForce chrono::vehicle::ChFialaTire::GetTireForce ( ) const
inlineoverrideprotectedvirtual

Get the tire force and moment.

This represents the output from this tire system that is passed to the vehicle system. Typically, the vehicle subsystem will pass the tire force to the appropriate suspension subsystem which applies it as an external force one the wheel body.

Implements chrono::vehicle::ChTire.

◆ Synchronize()

void chrono::vehicle::ChFialaTire::Synchronize ( double  time,
const ChTerrain terrain 
)
overrideprotectedvirtual

Update the state of this tire system at the current time.

Parameters
[in]timecurrent time
[in]terrainreference to the terrain system

Reimplemented from chrono::vehicle::ChTire.

◆ WritePlots()

void chrono::vehicle::ChFialaTire::WritePlots ( const std::string &  plFileName,
const std::string &  plTireFormat 
)

Generate basic tire plots.

This function creates a Gnuplot script file with the specified name.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChFialaTire.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChFialaTire.cpp