Description

Base class for a Hendrickson PRIMAXX EX suspension.

Derived from ChSuspension, but still an abstract base class.

The suspension subsystem is modeled with respect to a right-handed frame, with X pointing towards the front, Y to the left, and Z up (ISO standard). The suspension reference frame is assumed to be always aligned with that of the vehicle. When attached to a chassis, only an offset is provided.

All point locations are assumed to be given for the left half of the suspension and will be mirrored (reflecting the y coordinates) to construct the right side.

#include <ChHendricksonPRIMAXX.h>

Inheritance diagram for chrono::vehicle::ChHendricksonPRIMAXX:
Collaboration diagram for chrono::vehicle::ChHendricksonPRIMAXX:

Public Member Functions

virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual bool IsSteerable () const final override
 Specify whether or not this suspension can be steered.
 
virtual bool IsIndependent () const final override
 Specify whether or not this is an independent suspension.
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChSubchassis > subchassis, std::shared_ptr< ChSteering > steering, const ChVector<> &location, double left_ang_vel=0, double right_ang_vel=0) override
 Initialize this suspension subsystem. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the suspension subsystem. More...
 
virtual void RemoveVisualizationAssets () override
 Remove visualization assets for the suspension subsystem.
 
virtual double GetMass () const override
 Get the total mass of the suspension subsystem.
 
virtual ChVector GetCOMPos () const override
 Get the current global COM location of the suspension subsystem.
 
virtual double GetTrack () override
 Get the wheel track for the suspension subsystem.
 
virtual ChSuspension::Force ReportSuspensionForce (VehicleSide side) const override
 Return current suspension forces (spring and shock) on the specified side. More...
 
double GetShockLBForce (VehicleSide side) const
 There could be a spring (coil or air) and damper element between chassis and lower beam and a second spring and damper element between chassis and housing. More...
 
double GetShockLBLength (VehicleSide side) const
 Get the current length of the spring-damper element.
 
double GetShockLBVelocity (VehicleSide side) const
 Get the current deformation velocity of the spring-damper element.
 
double GetShockAHForce (VehicleSide side) const
 Spring (coil or air) and damper element between chassis and axle housing (AH) Get the force in the air spring (coil or spring) and a damper element. More...
 
double GetShockAHLength (VehicleSide side) const
 Get the current length of the spring-damper element.
 
double GetShockAHVelocity (VehicleSide side) const
 Get the current deformation velocity of the spring-damper element.
 
virtual void LogConstraintViolations (VehicleSide side) override
 Log current constraint violations.
 
void LogHardpointLocations (const ChVector<> &ref, bool inches=false)
 Log the locations of all hardpoints. More...
 
- Public Member Functions inherited from chrono::vehicle::ChSuspension
 ChSuspension (const std::string &name)
 
const ChVectorGetLocation () const
 Get the location of the suspension subsystem relative to the chassis reference frame. More...
 
std::shared_ptr< ChBodyGetSpindle (VehicleSide side) const
 Get a handle to the spindle body on the specified side.
 
std::shared_ptr< ChShaftGetAxle (VehicleSide side) const
 Get a handle to the axle shaft on the specified side.
 
std::shared_ptr< ChLinkLockRevoluteGetRevolute (VehicleSide side) const
 Get a handle to the revolute joint on the specified side.
 
const ChVectorGetSpindlePos (VehicleSide side) const
 Get the global location of the spindle on the specified side.
 
ChQuaternion GetSpindleRot (VehicleSide side) const
 Get the orientation of the spindle body on the specified side. More...
 
const ChVectorGetSpindleLinVel (VehicleSide side) const
 Get the linear velocity of the spindle body on the specified side. More...
 
ChVector GetSpindleAngVel (VehicleSide side) const
 Get the angular velocity of the spindle body on the specified side. More...
 
double GetAxleSpeed (VehicleSide side) const
 Get the angular speed of the axle on the specified side.
 
void Synchronize ()
 Synchronize this suspension subsystem. More...
 
void ApplyAxleTorque (VehicleSide side, double torque)
 Apply the provided motor torque. More...
 
virtual double getSpindleRadius () const =0
 Return the radius of the spindle body (visualization only).
 
virtual double getSpindleWidth () const =0
 Return the width of the spindle body (visualization only).
 
virtual std::shared_ptr< ChBodyGetAntirollBody (VehicleSide side) const
 Specify the suspension body on the specified side to attach a possible antirollbar subsystem. More...
 
virtual std::shared_ptr< ChBodyGetBrakeBody (VehicleSide side) const
 Specify the body on the specified side for a possible connection to brake subsystem. More...
 
void ApplyParkingBrake (bool brake)
 Simple model of a parking brake.
 
- 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 SetOutput (bool state)
 Enable/disable output for this subsystem.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 

Protected Types

enum  PointId {
  SPINDLE, KNUCKLE_L, KNUCKLE_U, TIEROD_C,
  TIEROD_K, TORQUEROD_C, TORQUEROD_AH, LOWERBEAM_C,
  LOWERBEAM_AH, LOWERBEAM_TB, SHOCKAH_C, SHOCKAH_AH,
  SHOCKLB_C, SHOCKLB_LB, KNUCKLE_CM, TORQUEROD_CM,
  LOWERBEAM_CM, NUM_POINTS
}
 Identifiers for the various hardpoints. More...
 
enum  DirectionId {
  UNIV_AXIS_LOWERBEAM_BEAM, UNIV_AXIS_LOWERBEAM_CHASSIS, UNIV_AXIS_TORQUEROD_ROD, UNIV_AXIS_TORQUEROD_CHASSIS,
  NUM_DIRS
}
 Identifiers for the various vectors. More...
 

Protected Member Functions

 ChHendricksonPRIMAXX (const std::string &name)
 
virtual bool UseTierodBodies () const
 Indicate whether or not tirod bodies are modelled (default: false). More...
 
virtual const ChVector getLocation (PointId which)=0
 Return the location of the specified hardpoint. More...
 
virtual const ChVector getDirection (DirectionId which)=0
 
virtual const ChVector getAxlehousingCOM () const =0
 Return the center of mass of the axle tube.
 
virtual const ChVector getTransversebeamCOM () const =0
 Return the center of mass of the transverse beam.
 
virtual double getSpindleMass () const =0
 Return the mass of the spindle body.
 
virtual double getKnuckleMass () const =0
 Return the mass of the knuckle body.
 
virtual double getTorquerodMass () const =0
 Return the mass of the torque rod body.
 
virtual double getLowerbeamMass () const =0
 Return the mass of the lower beam body.
 
virtual double getTransversebeamMass () const =0
 Return the mass of the transverse beam body.
 
virtual double getAxlehousingMass () const =0
 Return the mass of the axle housing body.
 
virtual double getTierodMass () const
 Return the mass of the tierod body.
 
virtual const ChVectorgetSpindleInertia () const =0
 Return the moments of inertia of the spindle body.
 
virtual const ChVectorgetKnuckleInertia () const =0
 Return the moments of inertia of the knuckle body.
 
virtual const ChVectorgetTorquerodInertia () const =0
 Return the moments of inertia of the torque rod body.
 
virtual const ChVectorgetLowerbeamInertia () const =0
 Return the moments of inertia of the lower beam body.
 
virtual const ChVectorgetTransversebeamInertia () const =0
 Return the moments of inertia of the transverse beam body.
 
virtual const ChVectorgetAxlehousingInertia () const =0
 Return the moments of inertia of the axle housing body.
 
virtual const ChVector getTierodInertia () const
 Return the moments of inertia of the tierod body.
 
virtual double getAxleInertia () const =0
 Return the inertia of the axle shaft.
 
virtual double getKnuckleRadius () const =0
 Return the radius of the knuckle body (visualization only).
 
virtual double getTorquerodRadius () const =0
 Return the radius of the torque rod body (visualization only).
 
virtual double getLowerbeamRadius () const =0
 Return the radius of the lower beam body (visualization only).
 
virtual double getTransversebeamRadius () const =0
 Return the radius of the transverse beam body (visualization only).
 
virtual double getAxlehousingRadius () const =0
 Return the radius of the axle housing body (visualization only).
 
virtual double getTierodRadius () const
 Return the radius of the tierod body (visualization only).
 
virtual double getShockLBRestLength () const =0
 Return the free (rest) length of the spring element.
 
virtual std::shared_ptr< ChLinkTSDA::ForceFunctorgetShockLBForceCallback () const =0
 Return the functor object for shock force.
 
virtual double getShockAHRestLength () const =0
 Return the free (rest) length of the spring element.
 
virtual std::shared_ptr< ChLinkTSDA::ForceFunctorgetShockAHForceCallback () const =0
 Return the functor object for shock force.
 
virtual std::shared_ptr< ChVehicleBushingDatagetTierodBushingData () const
 Return stiffness and damping data for the tierod bushings. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChPart
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. More...
 

Protected Attributes

std::shared_ptr< ChBodym_knuckle [2]
 the knuckle bodies (left/right)
 
std::shared_ptr< ChBodym_torquerod [2]
 torquerod bodies (left/right)
 
std::shared_ptr< ChBodym_lowerbeam [2]
 lowerbeam bodies (left/right)
 
std::shared_ptr< ChBodym_transversebeam
 transversebeam body
 
std::shared_ptr< ChBodym_axlehousing
 axlehousing body
 
std::shared_ptr< ChBodym_tierod [2]
 tierod bodies, if used (left/right)
 
std::shared_ptr< ChLinkLockRevolutem_revoluteKingpin [2]
 knuckle-axle housing joints (left/right)
 
std::shared_ptr< ChLinkLockSphericalm_sphericalTorquerod [2]
 torquerod-axle housing joints (left/right)
 
std::shared_ptr< ChLinkLockRevolutem_revoluteTorquerod [2]
 torquerod-chasis joints (left/right)
 
std::shared_ptr< ChLinkLockSphericalm_sphericalLowerbeam [2]
 lowerbeam-axle housing joints (left/right)
 
std::shared_ptr< ChLinkLockRevolutem_revoluteLowerbeam [2]
 lowerbeam chasis joints (left/right)
 
std::shared_ptr< ChLinkLockSphericalm_sphericalTB [2]
 transversebeam-lower beam joints (left/right)
 
std::shared_ptr< ChLinkDistancem_distTierod [2]
 tierod distance constraints (left/right)
 
std::shared_ptr< ChVehicleJointm_sphericalTierod [2]
 tierod-upright spherical joints (left/right)
 
std::shared_ptr< ChVehicleJointm_universalTierod [2]
 tierod-chassis universal joints (left/right)
 
std::shared_ptr< ChLinkTSDAm_shockLB [2]
 spring links (left/right)
 
std::shared_ptr< ChLinkTSDAm_shockAH [2]
 spring links (left/right)
 
- Protected Attributes inherited from chrono::vehicle::ChSuspension
ChVector m_location
 location relative to chassis
 
std::shared_ptr< ChBodym_spindle [2]
 handles to spindle bodies
 
std::shared_ptr< ChShaftm_axle [2]
 handles to axle shafts
 
std::shared_ptr< ChShaftsBodym_axle_to_spindle [2]
 handles to spindle-shaft connectors
 
std::shared_ptr< ChLinkLockRevolutem_revolute [2]
 handles to spindle revolute joints
 
- 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
 

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< 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.
 

Member Enumeration Documentation

◆ DirectionId

Identifiers for the various vectors.

Enumerator
UNIV_AXIS_LOWERBEAM_BEAM 

universal joint (lowerbeam, beam side)

UNIV_AXIS_LOWERBEAM_CHASSIS 

universal joint (lowerbeam, chassis side)

UNIV_AXIS_TORQUEROD_ROD 

universal joint (torquerod, rod side)

UNIV_AXIS_TORQUEROD_CHASSIS 

universal joint (torquerod, chasis side)

◆ PointId

Identifiers for the various hardpoints.

Enumerator
SPINDLE 

spindle location

KNUCKLE_L 

lower knuckle point

KNUCKLE_U 

upper knuckle point

TIEROD_C 

tierod, chassis

TIEROD_K 

tierod, knuckle

TORQUEROD_C 

torquerod, chassis

TORQUEROD_AH 

torquerod, axle housing (AH)

LOWERBEAM_C 

lowerbeam, chassis

LOWERBEAM_AH 

lowerbeam, axle housing (AH)

LOWERBEAM_TB 

lowerbeam, transverse beam

SHOCKAH_C 

shock at axle housing (AH), chasis

SHOCKAH_AH 

shock at axle housing (AH), axle housing

SHOCKLB_C 

shock at lower beam (LB), chasis

SHOCKLB_LB 

shock at lower beam (LB), lower beam

KNUCKLE_CM 

knuckle, center of mass

TORQUEROD_CM 

torquerod, center of mass

LOWERBEAM_CM 

lowerbeam, center of mass

Constructor & Destructor Documentation

◆ ChHendricksonPRIMAXX()

chrono::vehicle::ChHendricksonPRIMAXX::ChHendricksonPRIMAXX ( const std::string &  name)
protected
Parameters
[in]namename of the subsystem

Member Function Documentation

◆ AddVisualizationAssets()

void chrono::vehicle::ChHendricksonPRIMAXX::AddVisualizationAssets ( VisualizationType  vis)
overridevirtual

Add visualization assets for the suspension subsystem.

This default implementation uses primitives.

Reimplemented from chrono::vehicle::ChSuspension.

◆ getLocation()

virtual const ChVector chrono::vehicle::ChHendricksonPRIMAXX::getLocation ( PointId  which)
protectedpure virtual

Return the location of the specified hardpoint.

The returned location must be expressed in the suspension reference frame.

◆ GetShockAHForce()

double chrono::vehicle::ChHendricksonPRIMAXX::GetShockAHForce ( VehicleSide  side) const
inline

Spring (coil or air) and damper element between chassis and axle housing (AH) Get the force in the air spring (coil or spring) and a damper element.

Get the force in the spring-damper element.

◆ GetShockLBForce()

double chrono::vehicle::ChHendricksonPRIMAXX::GetShockLBForce ( VehicleSide  side) const
inline

There could be a spring (coil or air) and damper element between chassis and lower beam and a second spring and damper element between chassis and housing.

Spring (coil or air) and damper element between chassis and lower beam (LB) Get the force in the air spring (coil or spring) and a damper element Get the force in the spring-damper element.

◆ getTierodBushingData()

virtual std::shared_ptr<ChVehicleBushingData> chrono::vehicle::ChHendricksonPRIMAXX::getTierodBushingData ( ) const
inlineprotectedvirtual

Return stiffness and damping data for the tierod bushings.

Used only if tierod bodies are defined (see UseTierodBody). Returning nullptr (default) results in using kinematic joints (spherical + universal).

Reimplemented in chrono::vehicle::HendricksonPRIMAXX.

◆ Initialize()

void chrono::vehicle::ChHendricksonPRIMAXX::Initialize ( std::shared_ptr< ChChassis chassis,
std::shared_ptr< ChSubchassis subchassis,
std::shared_ptr< ChSteering steering,
const ChVector<> &  location,
double  left_ang_vel = 0,
double  right_ang_vel = 0 
)
overridevirtual

Initialize this suspension subsystem.

The suspension subsystem is initialized by attaching it to the specified chassis and (if provided) to the specified subchassis, at the specified location (with respect to and expressed in the reference frame of the chassis). It is assumed that the suspension reference frame is always aligned with the chassis reference frame. If a steering subsystem is provided, the suspension tierods are to be attached to the steering's central link body (steered suspension); otherwise they are to be attached to the chassis (non-steered suspension).

Parameters
[in]chassisassociated chassis subsystem
[in]subchassisassociated subchassis subsystem (may be null)
[in]steeringassociated steering subsystem (may be null)
[in]locationlocation relative to the chassis frame
[in]left_ang_velinitial angular velocity of left wheel
[in]right_ang_velinitial angular velocity of right wheel

Implements chrono::vehicle::ChSuspension.

◆ LogHardpointLocations()

void chrono::vehicle::ChHendricksonPRIMAXX::LogHardpointLocations ( const ChVector<> &  ref,
bool  inches = false 
)

Log the locations of all hardpoints.

The reported locations are expressed in the suspension reference frame. By default, these values are reported in SI units (meters), but can be optionally reported in inches.

◆ ReportSuspensionForce()

ChSuspension::Force chrono::vehicle::ChHendricksonPRIMAXX::ReportSuspensionForce ( VehicleSide  side) const
overridevirtual

Return current suspension forces (spring and shock) on the specified side.

For this particular suspension, the return struct contains information about the LB force element in its "spring" members and information about the AH force element in its "shock" members.

Implements chrono::vehicle::ChSuspension.

◆ UseTierodBodies()

virtual bool chrono::vehicle::ChHendricksonPRIMAXX::UseTierodBodies ( ) const
inlineprotectedvirtual

Indicate whether or not tirod bodies are modelled (default: false).

If false, tierods are modelled using distance constraints. If true, rigid tierod bodies are created (in which case a derived class must provide the mass and inertia) and connected either with kinematic joints or bushings (depending on whether or not bushing data is defined).

Reimplemented in chrono::vehicle::HendricksonPRIMAXX.


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