chrono::vehicle::ChVehicleCosimDBPRigImposedAngVel Class Reference


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 override
 Return current wheel angular speed.
virtual double GetDBP () const override
 Return current raw drawbar-pull value.
void SetRampingIntervals (double delay, double ramp_time)
 Set the delay and ramping time intervals for reaching the prescribed angular velocity. More...
- 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 
ang_velprescribed wheel angular speed
force_raterate of change of resistive force

Member Function Documentation

◆ SetRampingIntervals()

void chrono::vehicle::ChVehicleCosimDBPRigImposedAngVel::SetRampingIntervals ( double  delay,
double  ramp_time 

Set the delay and ramping time intervals for reaching the prescribed angular velocity.

By default, the angular velocity is kept zero for 0.2 s and then increased to the prescribed value in 0.5 s.

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