Description
Class for defining a clutch or a brake (1D model) between two one-degree-of-freedom parts; i.e., shafts that can be used to build 1D models of powertrains.
#include <ChShaftsClutch.h>
Public Member Functions | |
ChShaftsClutch (const ChShaftsClutch &other) | |
virtual ChShaftsClutch * | Clone () const override |
"Virtual" copy constructor (covariant return type). | |
virtual int | GetDOC_c () override |
Number of scalar constraints, for statistical reasons. | |
virtual void | IntStateGatherReactions (const unsigned int off_L, ChVectorDynamic<> &L) override |
From item's reaction forces to global reaction vector. More... | |
virtual void | IntStateScatterReactions (const unsigned int off_L, const ChVectorDynamic<> &L) override |
From global reaction vector to item's reaction forces. More... | |
virtual void | IntLoadResidual_CqL (const unsigned int off_L, ChVectorDynamic<> &R, const ChVectorDynamic<> &L, const double c) override |
Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L. More... | |
virtual void | IntLoadConstraint_C (const unsigned int off, ChVectorDynamic<> &Qc, const double c, bool do_clamp, double recovery_clamp) override |
Takes the term C, scale and adds to Qc at given offset: Qc += c*C. More... | |
virtual void | IntLoadConstraint_Ct (const unsigned int off, ChVectorDynamic<> &Qc, const double c) override |
Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct. More... | |
virtual void | IntLoadResidual_F (const unsigned int off, ChVectorDynamic<> &R, const double c) override |
Takes the F force term, scale and adds to R at given offset: R += c*F. More... | |
virtual void | IntToDescriptor (const unsigned int off_v, const ChStateDelta &v, const ChVectorDynamic<> &R, const unsigned int off_L, const ChVectorDynamic<> &L, const ChVectorDynamic<> &Qc) override |
Prepare variables and constraints to accommodate a solution: More... | |
virtual void | IntFromDescriptor (const unsigned int off_v, ChStateDelta &v, const unsigned int off_L, ChVectorDynamic<> &L) override |
After a solver solution, fetch values from variables and constraints into vectors: More... | |
virtual void | InjectConstraints (ChSystemDescriptor &mdescriptor) override |
Tell to a system descriptor that there are constraints of type ChConstraint in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this. | |
virtual void | ConstraintsBiReset () override |
Sets to zero the known term (b_i) of encapsulated ChConstraints. | |
virtual void | ConstraintsBiLoad_C (double factor=1, double recovery_clamp=0.1, bool do_clamp=false) override |
Adds the current C (constraint violation) to the known term (b_i) of encapsulated ChConstraints. | |
virtual void | ConstraintsBiLoad_Ct (double factor=1) override |
Adds the current Ct (partial t-derivative, as in C_dt=0-> [Cq]*q_dt=-Ct) to the known term (b_i) of encapsulated ChConstraints. | |
virtual void | ConstraintsFbLoadForces (double factor=1) override |
Adds the current link-forces, if any, (caused by springs, etc.) to the 'fb' vectors of the ChVariables referenced by encapsulated ChConstraints. | |
virtual void | ConstraintsLoadJacobians () override |
Adds the current jacobians in encapsulated ChConstraints. | |
virtual void | ConstraintsFetch_react (double factor=1) override |
Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints. More... | |
bool | Initialize (std::shared_ptr< ChShaft > mshaft1, std::shared_ptr< ChShaft > mshaft2) override |
Use this function after gear creation, to initialize it, given two shafts to join. More... | |
void | SetDisabled (bool val) |
Disable this element (disable constraints). | |
void | SetTorqueLimit (double ml, double mu) |
Set the transmissible torque limit (the maximum torque that the clutch can transmit between the two shafts). More... | |
void | SetTorqueLimit (double ml) |
Set the transmissible torque limit (the maximum torque that the clutch can transmit between the two shafts), for both forward and backward direction. | |
double | GetTorqueLimitF () const |
Get the torque limit for forward rotation. | |
double | GetTorqueLimitB () const |
Get the torque limit for backward rotation. | |
double | GetTorqueLimit () const |
Get the torque limit (when this is a clutch with symmetric forw/backw limits) | |
void | SetModulation (double mm) |
Set the user modulation of the torque (or brake, if you use it between a fixed shaft and a free shaft). More... | |
double | GetModulation () const |
Get the the user modulation. | |
double | GetSlippage () const |
Get the actual angle slippage of the clutch, in terms of phase of shaft 1 respect to 2. | |
double | GetSlippage_dt () const |
Get the actual slippage speed of the clutch, in terms of speed of shaft 1 respect to 2. | |
double | GetSlippage_dtdt () const |
Get the actual slippage acceleration of the clutch, in terms of accel. of shaft 1 respect to 2. | |
virtual double | GetTorqueReactionOn1 () const override |
Get the reaction torque exchanged between the two shafts, considered as applied to the 1st axis. | |
virtual double | GetTorqueReactionOn2 () const override |
Get the reaction torque exchanged between the two shafts, considered as applied to the 2nd axis. | |
virtual void | Update (double mytime, bool update_assets=true) override |
Update all auxiliary data of the gear transmission at given time. | |
virtual void | ArchiveOUT (ChArchiveOut &marchive) override |
Method to allow serialization of transient data to archives. | |
virtual void | ArchiveIN (ChArchiveIn &marchive) override |
Method to allow deserialization of transient data from archives. More... | |
Public Member Functions inherited from chrono::ChShaftsCouple | |
ChShaftsCouple (const ChShaftsCouple &other) | |
virtual int | GetNumCoords () |
Get the number of scalar variables affected by constraints in this link. | |
ChShaft * | GetShaft1 () |
Get the first (input) shaft. | |
ChShaft * | GetShaft2 () |
Get the second (output) shaft. | |
double | GetRelativeRotation () const |
Get the actual relative angle in terms of phase of shaft 1 respect to 2. | |
double | GetRelativeRotation_dt () const |
Get the actual relative speed in terms of speed of shaft 1 respect to 2. | |
double | GetRelativeRotation_dtdt () const |
Get the actual relative acceleration in terms of speed of shaft 1 respect to 2. | |
Public Member Functions inherited from chrono::ChPhysicsItem | |
ChPhysicsItem (const ChPhysicsItem &other) | |
ChSystem * | GetSystem () const |
Get the pointer to the parent ChSystem(). | |
virtual void | SetSystem (ChSystem *m_system) |
Set the pointer to the parent ChSystem(). More... | |
void | AddVisualModel (std::shared_ptr< ChVisualModel > model) |
Add an (optional) visualization model. More... | |
std::shared_ptr< ChVisualModel > | GetVisualModel () const |
Access the visualization model (if any). More... | |
void | AddVisualShape (std::shared_ptr< ChVisualShape > shape, const ChFrame<> &frame=ChFrame<>()) |
Add the specified visual shape to the visualization model. More... | |
std::shared_ptr< ChVisualShape > | GetVisualShape (unsigned int i) const |
Access the specified visualization shape in the visualization model (if any). More... | |
void | AddVisualShapeFEA (std::shared_ptr< ChVisualShapeFEA > shapeFEA) |
Add the specified FEA visualization object to the visualization model. More... | |
std::shared_ptr< ChVisualShapeFEA > | GetVisualShapeFEA (unsigned int i) const |
Access the specified FEA visualization object in the visualization model (if any). More... | |
virtual ChFrame | GetVisualModelFrame (unsigned int nclone=0) |
Get the reference frame (expressed in and relative to the absolute frame) of the visual model. More... | |
virtual unsigned int | GetNumVisualModelClones () const |
Return the number of clones of the visual model associated with this physics item. More... | |
void | AddCamera (std::shared_ptr< ChCamera > camera) |
Attach a ChCamera to this physical item. More... | |
std::vector< std::shared_ptr< ChCamera > > | GetCameras () const |
Get the set of cameras attached to this physics item. | |
virtual bool | IsActive () const |
Return true if the object is active and included in dynamics. | |
virtual bool | GetCollide () const |
Tell if the object is subject to collision. More... | |
virtual void | SyncCollisionModels () |
If this physical item contains one or more collision models, synchronize their coordinates and bounding boxes to the state of the item. | |
virtual void | AddCollisionModelsToSystem () |
If this physical item contains one or more collision models, add them to the system's collision engine. | |
virtual void | RemoveCollisionModelsFromSystem () |
If this physical item contains one or more collision models, remove them from the system's collision engine. | |
virtual void | GetTotalAABB (ChVector<> &bbmin, ChVector<> &bbmax) |
Get the entire AABB axis-aligned bounding box of the object. More... | |
virtual void | GetCenter (ChVector<> &mcenter) |
Get a symbolic 'center' of the object. More... | |
virtual void | StreamINstate (ChStreamInBinary &mstream) |
Method to deserialize only the state (position, speed) Must be implemented by child classes. | |
virtual void | StreamOUTstate (ChStreamOutBinary &mstream) |
Method to serialize only the state (position, speed) Must be implemented by child classes. | |
virtual void | Setup () |
This might recompute the number of coordinates, DOFs, constraints, in case this might change (ex in ChAssembly), as well as state offsets of contained items (ex in ChMesh) | |
virtual void | Update (bool update_assets=true) |
As above, but does not require updating of time-dependent data. More... | |
virtual void | SetNoSpeedNoAcceleration () |
Set zero speed (and zero accelerations) in state, without changing the position. More... | |
virtual int | GetDOF () |
Get the number of scalar coordinates (variables), if any, in this item. More... | |
virtual int | GetDOF_w () |
Get the number of scalar coordinates of variables derivatives (usually = DOF, but might be different than DOF, ex. More... | |
virtual int | GetDOC () |
Get the number of scalar constraints, if any, in this item. | |
virtual int | GetDOC_d () |
Get the number of scalar constraints, if any, in this item (only unilateral constr.) Children classes might override this. | |
unsigned int | GetOffset_x () |
Get offset in the state vector (position part) | |
unsigned int | GetOffset_w () |
Get offset in the state vector (speed part) | |
unsigned int | GetOffset_L () |
Get offset in the lagrangian multipliers. | |
void | SetOffset_x (const unsigned int moff) |
Set offset in the state vector (position part) Note: only the ChSystem::Setup function should use this. | |
void | SetOffset_w (const unsigned int moff) |
Set offset in the state vector (speed part) Note: only the ChSystem::Setup function should use this. | |
void | SetOffset_L (const unsigned int moff) |
Set offset in the lagrangian multipliers Note: only the ChSystem::Setup function should use this. | |
virtual void | IntStateGather (const unsigned int off_x, ChState &x, const unsigned int off_v, ChStateDelta &v, double &T) |
From item's state to global state vectors y={x,v} pasting the states at the specified offsets. More... | |
virtual void | IntStateScatter (const unsigned int off_x, const ChState &x, const unsigned int off_v, const ChStateDelta &v, const double T, bool full_update) |
From global state vectors y={x,v} to item's state (and update) fetching the states at the specified offsets. More... | |
virtual void | IntStateGatherAcceleration (const unsigned int off_a, ChStateDelta &a) |
From item's state acceleration to global acceleration vector. More... | |
virtual void | IntStateScatterAcceleration (const unsigned int off_a, const ChStateDelta &a) |
From global acceleration vector to item's state acceleration. More... | |
virtual void | IntStateIncrement (const unsigned int off_x, ChState &x_new, const ChState &x, const unsigned int off_v, const ChStateDelta &Dv) |
Computes x_new = x + Dt , using vectors at specified offsets. More... | |
virtual void | IntStateGetIncrement (const unsigned int off_x, const ChState &x_new, const ChState &x, const unsigned int off_v, ChStateDelta &Dv) |
Computes Dt = x_new - x, using vectors at specified offsets. More... | |
virtual void | IntLoadResidual_Mv (const unsigned int off, ChVectorDynamic<> &R, const ChVectorDynamic<> &w, const double c) |
Takes the M*v term, multiplying mass by a vector, scale and adds to R at given offset: R += c*M*w. More... | |
virtual void | VariablesFbReset () |
Sets the 'fb' part (the known term) of the encapsulated ChVariables to zero. | |
virtual void | VariablesFbLoadForces (double factor=1) |
Adds the current forces (applied to item) into the encapsulated ChVariables, in the 'fb' part: qf+=forces*factor. | |
virtual void | VariablesQbLoadSpeed () |
Initialize the 'qb' part of the ChVariables with the current value of speeds. More... | |
virtual void | VariablesFbIncrementMq () |
Adds M*q (masses multiplied current 'qb') to Fb, ex. More... | |
virtual void | VariablesQbSetSpeed (double step=0) |
Fetches the item speed (ex. More... | |
virtual void | VariablesQbIncrementPosition (double step) |
Increment item positions by the 'qb' part of the ChVariables, multiplied by a 'step' factor. More... | |
virtual void | InjectVariables (ChSystemDescriptor &mdescriptor) |
Tell to a system descriptor that there are variables of type ChVariables in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this. | |
virtual void | ConstraintsBiLoad_Qc (double factor=1) |
Adds the current Qc (the vector of C_dtdt=0 -> [Cq]*q_dtdt=Qc ) to the known term (b_i) of encapsulated ChConstraints. | |
virtual void | InjectKRMmatrices (ChSystemDescriptor &mdescriptor) |
Tell to a system descriptor that there are items of type ChKblock in this object (for further passing it to a solver) Basically does nothing, but maybe that inherited classes may specialize this. | |
virtual void | KRMmatricesLoad (double Kfactor, double Rfactor, double Mfactor) |
Adds the current stiffness K and damping R and mass M matrices in encapsulated ChKblock item(s), if any. More... | |
Public Member Functions inherited from chrono::ChObj | |
ChObj (const ChObj &other) | |
int | GetIdentifier () const |
Gets the numerical identifier of the object. | |
void | SetIdentifier (int id) |
Sets the numerical identifier of the object. | |
double | GetChTime () const |
Gets the simulation time of this object. | |
void | SetChTime (double m_time) |
Sets the simulation time of this object. | |
const char * | GetName () const |
Gets the name of the object as C Ascii null-terminated string -for reading only! | |
void | SetName (const char myname[]) |
Sets the name of this object, as ascii string. | |
std::string | GetNameString () const |
Gets the name of the object as C Ascii null-terminated string. | |
void | SetNameString (const std::string &myname) |
Sets the name of this object, as std::string. | |
void | MFlagsSetAllOFF (int &mflag) |
void | MFlagsSetAllON (int &mflag) |
void | MFlagSetON (int &mflag, int mask) |
void | MFlagSetOFF (int &mflag, int mask) |
int | MFlagGet (int &mflag, int mask) |
virtual std::string & | ArchiveContainerName () |
Additional Inherited Members | |
Protected Attributes inherited from chrono::ChShaftsCouple | |
ChShaft * | shaft1 |
first shaft | |
ChShaft * | shaft2 |
second shaft | |
Protected Attributes inherited from chrono::ChPhysicsItem | |
ChSystem * | system |
parent system | |
std::shared_ptr< ChVisualModelInstance > | vis_model_instance |
instantiated visualization model | |
std::vector< std::shared_ptr< ChCamera > > | cameras |
set of cameras | |
unsigned int | offset_x |
offset in vector of state (position part) | |
unsigned int | offset_w |
offset in vector of state (speed part) | |
unsigned int | offset_L |
offset in vector of lagrangian multipliers | |
Protected Attributes inherited from chrono::ChObj | |
double | ChTime |
the time of simulation for the object | |
Member Function Documentation
◆ ArchiveIN()
|
overridevirtual |
Method to allow deserialization of transient data from archives.
Method to allow de serialization of transient data from archives.
Reimplemented from chrono::ChShaftsCouple.
◆ ConstraintsFetch_react()
|
overridevirtual |
Fetches the reactions from the lagrangian multiplier (l_i) of encapsulated ChConstraints.
Mostly used after the solver provided the solution in ChConstraints. Also, should convert the reactions obtained from dynamical simulation, from link space to intuitive react_force and react_torque.
Reimplemented from chrono::ChPhysicsItem.
◆ Initialize()
|
overridevirtual |
Use this function after gear creation, to initialize it, given two shafts to join.
Each shaft must belong to the same ChSystem.
- Parameters
-
mshaft1 first shaft to join mshaft2 second shaft to join
Reimplemented from chrono::ChShaftsCouple.
◆ IntFromDescriptor()
|
overridevirtual |
After a solver solution, fetch values from variables and constraints into vectors:
- Parameters
-
off_v offset for v v vector to where the q 'unknowns' term of the variables will be copied off_L offset for L L vector to where L 'lagrangian ' term of the constraints will be copied
Reimplemented from chrono::ChPhysicsItem.
◆ IntLoadConstraint_C()
|
overridevirtual |
Takes the term C, scale and adds to Qc at given offset: Qc += c*C.
- Parameters
-
off offset in Qc residual Qc result: the Qc residual, Qc += c*C c a scaling factor do_clamp apply clamping to c*C? recovery_clamp value for min/max clamping of c*C
Reimplemented from chrono::ChPhysicsItem.
◆ IntLoadConstraint_Ct()
|
inlineoverridevirtual |
Takes the term Ct, scale and adds to Qc at given offset: Qc += c*Ct.
- Parameters
-
off offset in Qc residual Qc result: the Qc residual, Qc += c*Ct c a scaling factor
Reimplemented from chrono::ChPhysicsItem.
◆ IntLoadResidual_CqL()
|
overridevirtual |
Takes the term Cq'*L, scale and adds to R at given offset: R += c*Cq'*L.
- Parameters
-
off_L offset in L multipliers R result: the R residual, R += c*Cq'*L L the L vector c a scaling factor
Reimplemented from chrono::ChPhysicsItem.
◆ IntLoadResidual_F()
|
overridevirtual |
Takes the F force term, scale and adds to R at given offset: R += c*F.
- Parameters
-
off offset in R residual R result: the R residual, R += c*F c a scaling factor
Reimplemented from chrono::ChPhysicsItem.
◆ IntStateGatherReactions()
|
overridevirtual |
From item's reaction forces to global reaction vector.
- Parameters
-
off_L offset in L vector L L vector of reaction forces
Reimplemented from chrono::ChPhysicsItem.
◆ IntStateScatterReactions()
|
overridevirtual |
From global reaction vector to item's reaction forces.
- Parameters
-
off_L offset in L vector L L vector of reaction forces
Reimplemented from chrono::ChPhysicsItem.
◆ IntToDescriptor()
|
overridevirtual |
Prepare variables and constraints to accommodate a solution:
- Parameters
-
off_v offset for v and R v vector copied into the q 'unknowns' term of the variables R vector copied into the F 'force' term of the variables off_L offset for L and Qc L vector copied into the L 'lagrangian ' term of the constraints Qc vector copied into the Qb 'constraint' term of the constraints
Reimplemented from chrono::ChPhysicsItem.
◆ SetModulation()
|
inline |
Set the user modulation of the torque (or brake, if you use it between a fixed shaft and a free shaft).
The modulation must range from 0 (switched off) to 1 (max torque). Default is 1, when clutch is created. You can update this during integration loop to simulate the pedal pushing by the driver.
◆ SetTorqueLimit()
void chrono::ChShaftsClutch::SetTorqueLimit | ( | double | ml, |
double | mu | ||
) |
Set the transmissible torque limit (the maximum torque that the clutch can transmit between the two shafts).
You can specify two values for backward/forward directions: usually these are equal (ex. -100,100) in most commercial clutches, but if you define (0,100), for instance, you can create a so called freewheel or overrunning clutch that works only in one direction.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/physics/ChShaftsClutch.h
- /builds/uwsbel/chrono/src/chrono/physics/ChShaftsClutch.cpp