Description

ANCF tire template.

This tire is modeled as a mesh composed of ANCF shell elements.

#include <ChANCFTire.h>

Inheritance diagram for chrono::vehicle::ChANCFTire:
Collaboration diagram for chrono::vehicle::ChANCFTire:

Classes

struct  Profile
 Tire profile. More...
 
struct  Section
 Tire section. More...
 

Public Member Functions

 ChANCFTire (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
- Public Member Functions inherited from chrono::vehicle::ChDeformableTire
 ChDeformableTire (const std::string &name)
 Construct a deformable tire with the specified name.
 
virtual double GetTireMass () const override final
 Return the tire mass.
 
virtual ChVector GetTireInertia () const override final
 Return the tire moments of inertia (in the tire centroidal frame).
 
void SetContactSurfaceType (ContactSurfaceType type)
 Set the type of contact surface.
 
ContactSurfaceType GetContactSurfaceType () const
 
void SetContactNodeRadius (double radius)
 Set radius of contact nodes. More...
 
double GetContactNodeRadius () const
 
void SetContactFaceThickness (double thickness)
 Set thickness of contact faces (radius of swept sphere). More...
 
double GetContactFaceThickness () const
 
std::shared_ptr< ChMaterialSurfaceSMCGetContactMaterial () const
 Get the tire contact material. More...
 
void EnablePressure (bool val)
 Enable/disable tire pressure (default: true).
 
bool IsPressureEnabled () const
 
void EnableContact (bool val)
 Enable/disable tire contact (default: true).
 
bool IsContactEnabled () const
 
void EnableRimConnection (bool val)
 Enable/disable tire-rim connection (default: true).
 
bool IsRimConnectionEnabled () const
 
ChVisualShapeFEAGetMeshVisualization () const
 Get a handle to the mesh visualization.
 
std::shared_ptr< fea::ChMeshGetMesh () const
 Get the underlying FEA mesh.
 
std::shared_ptr< fea::ChContactSurfaceGetContactSurface () const
 Get the mesh contact surface. More...
 
std::shared_ptr< ChLoadContainerGetLoadContainer () const
 Get the load container associated with this tire.
 
void SetPressure (double pressure)
 Set the tire pressure.
 
virtual double GetRimRadius () const =0
 Get the rim radius (inner tire radius).
 
virtual TerrainForce ReportTireForce (ChTerrain *terrain) const override
 Report the tire force and moment. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override final
 Add visualization assets for the rigid tire subsystem.
 
virtual void RemoveVisualizationAssets () override final
 Remove visualization assets for the rigid tire subsystem.
 
- Public Member Functions inherited from chrono::vehicle::ChTire
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 GetRadius () const =0
 Get the tire radius.
 
virtual double GetWidth () const =0
 Get the tire width.
 
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...
 
virtual void Synchronize (double time, const ChTerrain &terrain)
 Update the state of this tire system at the current time. More...
 
virtual void Advance (double step)
 Advance the state of this tire by the specified time step.
 
- Public Member Functions inherited from chrono::vehicle::ChPart
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.
 
double GetMass () const
 Get the subsystem mass. More...
 
const ChFrameGetCOMFrame () const
 Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame). More...
 
const ChMatrix33GetInertia () const
 Get the current subsystem inertia (relative to the subsystem COM frame). More...
 
const ChFrameGetTransform () const
 Get the current subsystem position relative to the global frame. More...
 
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 void CreatePressureLoad () override final
 Create the ChLoad for applying pressure to the tire.
 
virtual void CreateContactSurface () override final
 Create the contact surface for the tire mesh.
 
virtual void CreateRimConnections (std::shared_ptr< ChBody > wheel) override final
 Create the tire-rim connections.
 
- Protected Member Functions inherited from chrono::vehicle::ChDeformableTire
virtual double GetDefaultPressure () const =0
 Return the default tire pressure.
 
virtual std::vector< std::shared_ptr< fea::ChNodeFEAbase > > GetConnectedNodes () const =0
 Return list of nodes connected to the rim.
 
virtual void CreateMesh (const ChFrameMoving<> &wheel_frame, VehicleSide side)=0
 Create the FEA nodes and elements. More...
 
virtual void CreateContactMaterial ()=0
 Create the SMC contact material.
 
virtual double GetAddedMass () const override final
 Get the mass added to the associated spindle body. More...
 
virtual ChVector GetAddedInertia () const override final
 Get the inertia added to the associated spindle body. More...
 
virtual void InitializeInertiaProperties () override final
 Return the tire mass.
 
virtual void UpdateInertiaProperties () override final
 Return the tire moments of inertia (in the tire centroidal frame).
 
virtual void Initialize (std::shared_ptr< ChWheel > wheel) override
 Initialize this tire by associating it to the specified wheel.
 
virtual TerrainForce GetTireForce () const override final
 Get the tire force and moment. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChTire
 ChTire (const std::string &name)
 Construct a tire subsystem with given name.
 
void CalculateKinematics (const WheelState &wheel_state, const ChCoordsys<> &tire_frame)
 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...
 
- Protected Member Functions inherited from chrono::vehicle::ChPart
 ChPart (const std::string &name)
 Construct a vehicle subsystem with the specified name.
 
void AddMass (double &mass)
 Add this subsystem's mass. More...
 
void AddInertiaProperties (ChVector<> &com, ChMatrix33<> &inertia)
 Add this subsystem's inertia properties. More...
 
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. More...
 

Static Protected Member Functions

static std::vector< std::shared_ptr< fea::ChNodeFEAbase > > CreateMeshANCF4 (const Profile &profile, const Section &bead, const Section &sidewall, const Section &tread, int div_circumference, double rim_radius, double damping, std::shared_ptr< fea::ChMesh > mesh, const ChFrameMoving<> &wheel_frame)
 Utility class to generate a tire mesh using 4-node ANCF shell elements (ChElementShellANCF_3423). More...
 
static std::vector< std::shared_ptr< fea::ChNodeFEAbase > > CreateMeshANCF8 (const Profile &profile, const Section &bead, const Section &sidewall, const Section &tread, int div_circumference, double rim_radius, double damping, std::shared_ptr< fea::ChMesh > mesh, const ChFrameMoving<> &wheel_frame)
 Utility class to generate a tire mesh using 8-node ANCF shell elements (ChElementShellANCF_3833). More...
 
- Static Protected Member Functions inherited from chrono::vehicle::ChTire
static bool DiscTerrainCollision (CollisionType method, const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, double width, const ChFunction_Recorder &areaDep, ChCoordsys<> &contact, double &depth, float &mu)
 Perform disc-terrain collision detection, using the specified method. 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< ChLinkRSDA >> 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.
 
static void RemoveVisualizationAssets (std::shared_ptr< ChPhysicsItem > item)
 Erase all visual shapes from the visual model associated with the specified physics item (if any).
 
static void RemoveVisualizationAsset (std::shared_ptr< ChPhysicsItem > item, std::shared_ptr< ChVisualShape > shape)
 Erase the given shape from the visual model associated with the specified physics item (if any).
 

Additional Inherited Members

- Public Types inherited from chrono::vehicle::ChDeformableTire
enum  ContactSurfaceType { NODE_CLOUD, TRIANGLE_MESH }
 Type of the mesh contact surface.
 
- 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...
 
- Protected Attributes inherited from chrono::vehicle::ChDeformableTire
std::shared_ptr< fea::ChMeshm_mesh
 tire mesh
 
std::shared_ptr< ChLoadContainerm_load_container
 load container (for pressure load)
 
std::vector< std::shared_ptr< fea::ChLinkPointFrame > > m_connections
 tire-wheel point connections
 
std::vector< std::shared_ptr< fea::ChLinkDirFrame > > m_connectionsD
 tire-wheel direction connections
 
std::vector< std::shared_ptr< ChLinkMateFix > > m_connectionsF
 tire-wheel fix connection (point+rotation)
 
bool m_connection_enabled
 enable tire connections to rim
 
bool m_pressure_enabled
 enable internal tire pressure
 
bool m_contact_enabled
 enable tire-terrain contact
 
double m_pressure
 internal tire pressure
 
ContactSurfaceType m_contact_type
 type of contact surface model (node cloud or mesh)
 
double m_contact_node_radius
 node radius (for node cloud contact surface)
 
double m_contact_face_thickness
 face thickness (for mesh contact surface)
 
std::shared_ptr< ChMaterialSurfaceSMCm_contact_mat
 tire contact material
 
std::shared_ptr< ChVisualShapeFEAm_visualization
 tire mesh visualization
 
- 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
 
std::shared_ptr< ChPartm_parent
 parent subsystem (empty if parent is vehicle)
 
double m_mass
 subsystem mass
 
ChMatrix33 m_inertia
 inertia tensor (relative to subsystem COM)
 
ChFrame m_com
 COM frame (relative to subsystem reference frame)
 
ChFrame m_xform
 subsystem frame expressed in the global frame
 

Member Function Documentation

◆ CreateMeshANCF4()

std::vector< std::shared_ptr< fea::ChNodeFEAbase > > chrono::vehicle::ChANCFTire::CreateMeshANCF4 ( const Profile profile,
const Section bead,
const Section sidewall,
const Section tread,
int  div_circumference,
double  rim_radius,
double  damping,
std::shared_ptr< fea::ChMesh mesh,
const ChFrameMoving<> &  wheel_frame 
)
staticprotected

Utility class to generate a tire mesh using 4-node ANCF shell elements (ChElementShellANCF_3423).

Returns a vector with the nodes that must be connected to the wheel rim.

Parameters
profiletire profile
beadspecification of bead section
sidewallspecification of sidewall section
treadspecification of tread section
div_circumferencenumber of divisions along circumference
rim_radiusrim radius
dampingstructural damping
meshcontaining FEA mesh
wheel_frameassociated wheel frame

◆ CreateMeshANCF8()

std::vector< std::shared_ptr< fea::ChNodeFEAbase > > chrono::vehicle::ChANCFTire::CreateMeshANCF8 ( const Profile profile,
const Section bead,
const Section sidewall,
const Section tread,
int  div_circumference,
double  rim_radius,
double  damping,
std::shared_ptr< fea::ChMesh mesh,
const ChFrameMoving<> &  wheel_frame 
)
staticprotected

Utility class to generate a tire mesh using 8-node ANCF shell elements (ChElementShellANCF_3833).

Returns a vector with the nodes that must be connected to the wheel rim.

Parameters
profiletire profile
beadspecification of bead section
sidewallspecification of sidewall section
treadspecification of tread section
div_circumferencenumber of divisions along circumference
rim_radiusrim radius
dampingstructural damping
meshcontaining FEA mesh
wheel_frameassociated wheel frame

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