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:

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Collaboration diagram for chrono::vehicle::ChSimpleTrackDriveline:

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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< ChChassis > 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< ChShaft >	GetDriveshaft () 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.

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::ChDrivelineTV
virtual void	CombineDriverInputs (const ChDriver::Inputs &driver_inputs, double &braking_left, double &braking_right)

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< 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

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, chrono::vehicle::marder::Marder_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< ChChassis >	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

chassis	associated chassis subsystem
track_left	left track assembly
track_right	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

Description

Public Member Functions

Protected Member Functions

Additional Inherited Members

Member Function Documentation

◆ GetDifferentialMaxBias()

◆ GetDriveshaftSpeed()

◆ Initialize()

◆ Synchronize()