Description

Simple driveline model.

This template can be used to model a 4WD driveline. It uses a constant front/rear torque split (a value between 0 and 1) and a simple model for Torsen limited-slip differentials.

#include <ChSimpleDriveline.h>

Inheritance diagram for chrono::vehicle::ChSimpleDriveline:

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Collaboration diagram for chrono::vehicle::ChSimpleDriveline:

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

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

virtual int	GetNumDrivenAxles () const final override
	Return the number of driven axles.

virtual void	Initialize (std::shared_ptr< ChChassis > chassis, const ChAxleList &axles, const std::vector< int > &driven_axles) override
	Initialize the driveline subsystem. More...

virtual void	Synchronize (double torque) override
	Update the driveline subsystem: apply the specified motor torque. More...

virtual double	GetSpindleTorque (int axle, VehicleSide side) const override
	Get the motor torque to be applied to the specified spindle.

virtual void	Disconnect () override
	Disconnect driveline from driven wheels.

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

virtual void	LockAxleDifferential (int axle, bool lock)
	Lock/unlock the differential on the specified axle. More...

virtual void	LockCentralDifferential (int which, bool lock)
	Lock/unlock the specified central differential. More...

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...

double	GetDriveshaftSpeed () const
	Get the angular speed of the driveshaft. 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	GetFrontTorqueFraction () const =0
	Return the front torque fraction [0,1].

virtual double	GetFrontDifferentialMaxBias () const =0
	Return the torque bias ratio for the front differential. More...

virtual double	GetRearDifferentialMaxBias () const =0
	Return the torque bias ratio for the rear 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::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

Member Function Documentation

◆ GetFrontDifferentialMaxBias()

virtual double chrono::vehicle::ChSimpleDriveline::GetFrontDifferentialMaxBias ( ) const

protectedpure virtual

Return the torque bias ratio for the front differential.

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

Implemented in chrono::vehicle::hmmwv::HMMWV_SimpleDriveline, chrono::vehicle::man::MAN_5t_SimpleDriveline, chrono::vehicle::mrole::mrole_SimpleDriveline, chrono::vehicle::fmtv::FMTV_SimpleDriveline, and chrono::vehicle::SimpleDriveline.

◆ GetRearDifferentialMaxBias()

virtual double chrono::vehicle::ChSimpleDriveline::GetRearDifferentialMaxBias ( ) const

protectedpure virtual

Return the torque bias ratio for the rear differential.

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

Implemented in chrono::vehicle::hmmwv::HMMWV_SimpleDriveline, chrono::vehicle::man::MAN_5t_SimpleDriveline, chrono::vehicle::mrole::mrole_SimpleDriveline, chrono::vehicle::fmtv::FMTV_SimpleDriveline, and chrono::vehicle::SimpleDriveline.

◆ Initialize()

void chrono::vehicle::ChSimpleDriveline::Initialize	(	std::shared_ptr< ChChassis >	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	associated chassis subsystem
axles	list of all vehicle axle subsystems
driven_axles	indexes of the driven vehicle axles

Implements chrono::vehicle::ChDrivelineWV.

◆ Synchronize()

void chrono::vehicle::ChSimpleDriveline::Synchronize ( double torque )

overridevirtual

Update the driveline subsystem: apply the specified motor torque.

This represents the input to the driveline subsystem from the powertrain system.

Reimplemented from chrono::vehicle::ChDrivelineWV.

The documentation for this class was generated from the following files:

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

Description

Public Member Functions

Protected Member Functions

Additional Inherited Members

Member Function Documentation

◆ GetFrontDifferentialMaxBias()

◆ GetRearDifferentialMaxBias()

◆ Initialize()

◆ Synchronize()