chrono::vehicle::ChVehicleCosimDBPRigImposedAngVel Class Reference

Description

Drawbar-pull rig mechanism with imposed angular velocity.

This mechanism enforces a prescribed wheel angular velocity. A linearly increasing resistive force is applied against the forward motion of the vehicle and the experiment is ended when the vehicle stops. At each time, the vehicle forward speed and resulting slip are calculated and stored together with the current resistive force (DBP). This experiment produces the entire slip-DBP curve at once.

#include <ChVehicleCosimDBPRig.h>

Inheritance diagram for chrono::vehicle::ChVehicleCosimDBPRigImposedAngVel:

Collaboration diagram for chrono::vehicle::ChVehicleCosimDBPRigImposedAngVel:

Public Member Functions
	ChVehicleCosimDBPRigImposedAngVel (double ang_vel, double force_rate)
virtual Type	GetType () const override
	Get rig type.
virtual double	GetSlip () const override
	Return the current slip value.
virtual double	GetLinVel () const override
	Return current rig linear speed.
virtual double	GetAngVel () const
	Return current wheel angular speed.
virtual double	GetDBP () const override
	Return current raw drawbar-pull value.
Public Member Functions inherited from chrono::vehicle::ChVehicleCosimDBPRig
void	SetDBPFilterWindow (double window)
	Set window (in seconds) for the running average filter for drawbar pull reporting (default: 0.1 s).
void	SetSlipFilterWindow (double window)
	Set window (in seconds) for the running average filter for slip reporting (default: 0.1 s).
double	GetFilteredDBP () const
	Return current filtered drawbar-pull value.
double	GetFilteredSlip () const
	Return current filtered slip value.

Additional Inherited Members
Public Types inherited from chrono::vehicle::ChVehicleCosimDBPRig
enum	Type { Type::IMPOSED_SLIP, Type::IMPOSED_ANG_VEL }
	Type of DBP rig. More...
Protected Attributes inherited from chrono::vehicle::ChVehicleCosimDBPRig
bool	m_verbose
	verbose messages during simulation?
double	m_delay_time
	initialization (ramping up) time

Constructor & Destructor Documentation

ChVehicleCosimDBPRigImposedAngVel()

chrono::vehicle::ChVehicleCosimDBPRigImposedAngVel::ChVehicleCosimDBPRigImposedAngVel	(	double	ang_vel,
		double	force_rate
	)

Parameters

ang_vel	prescribed wheel angular speed
force_rate	rate of change of resistive force

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

• /builds/uwsbel/chrono/src/chrono_vehicle/cosim/ChVehicleCosimDBPRig.h
• /builds/uwsbel/chrono/src/chrono_vehicle/cosim/ChVehicleCosimDBPRig.cpp