Description

Pacjeka 02 tire model.

#include <ChPac02Tire.h>

Inheritance diagram for chrono::vehicle::ChPac02Tire:
Collaboration diagram for chrono::vehicle::ChPac02Tire:

Public Member Functions

 ChPac02Tire (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the rigid tire subsystem.
 
virtual void RemoveVisualizationAssets () override
 Remove visualization assets for the rigid tire subsystem.
 
virtual double GetRadius () const override
 Get the tire radius.
 
virtual TerrainForce ReportTireForce (ChTerrain *terrain) const override
 Report the tire force and moment.
 
void SetGammaLimit (double gamma_limit)
 Set the limit for camber angle (in degrees). Default: 3 degrees.
 
virtual double GetWidth () const override
 Get the width of the tire.
 
virtual double GetDeflection () const override
 Get the tire deflection.
 
virtual double GetVisualizationWidth () const
 Get visualization width.
 
double GetSlipAngle_internal () const
 Get the slip angle used in Pac89 (expressed in radians). More...
 
double GetLongitudinalSlip_internal () const
 Get the longitudinal slip used in Pac89. More...
 
double GetCamberAngle_internal ()
 Get the camber angle used in Pac89 (expressed in radians). More...
 
- Public Member Functions inherited from chrono::vehicle::ChTire
 ChTire (const std::string &name)
 
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 GetMass () const =0
 Get the tire mass. More...
 
virtual double ReportMass () const
 Report the tire mass. More...
 
virtual ChVector GetInertia () const =0
 Get the tire moments of inertia. More...
 
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...
 
const std::string & GetMeshFilename () const
 Get the name of the Wavefront file with tire visualization mesh. More...
 
- 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.
 
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 double GetNormalStiffnessForce (double depth) const =0
 Return the vertical tire stiffness contribution to the normal force.
 
virtual double GetNormalDampingForce (double depth, double velocity) const =0
 Return the vertical tire damping contribution to the normal force.
 
virtual void SetPac02Params ()=0
 Set the parameters in the Pac89 model.
 
virtual TerrainForce GetTireForce () const override
 Get the tire force and moment. More...
 
virtual void Initialize (std::shared_ptr< ChWheel > wheel) override
 Initialize this tire by associating it to the specified wheel.
 
virtual void Synchronize (double time, const ChTerrain &terrain) override
 Update the state of this tire system at the current time. More...
 
virtual void Advance (double step) override
 Advance the state of this tire by the specified time step.
 
double CalcFx (double kappa, double Fz, double gamma)
 
double CalcFy (double alpha, double Fz, double gamma)
 
double CalcMx (double Fy, double Fz, double gamma)
 
double CalcMy (double Fx, double Fy, double gamma)
 
double CalcMz (double alpha, double Fz, double gamma, double Fy)
 
double CalcTrail (double alpha, double Fz, double gamma)
 
double CalcMres (double alpha, double Fz, double gamma)
 
double CalcFxComb (double kappa, double alpha, double Fz, double gamma)
 
double CalcFyComb (double kappa, double alpha, double Fz, double gamma)
 
double CalcMzComb (double kappa, double alpha, double Fz, double gamma, double Fx, double Fy)
 
- Protected Member Functions inherited from chrono::vehicle::ChTire
void CalculateKinematics (double time, const WheelState &wheel_state, const ChTerrain &terrain)
 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...
 
void RemoveVisualizationMesh (std::shared_ptr< ChTriangleMeshShape > trimesh_shape)
 Remove the specified mesh shape from the visualization assets of the body associated with this tire (a wheel spindle body).
 
- 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

double m_kappa
 longitudinal slip ratio
 
double m_alpha
 slip angle
 
double m_gamma
 camber angle
 
double m_gamma_limit
 limit camber angle
 
bool m_use_friction_ellipsis
 
double m_mu
 Road friction.
 
double m_Shf
 
double m_Cy
 
double m_By
 
VehicleSide m_measured_side
 
bool m_allow_mirroring
 
unsigned int m_use_mode
 
double m_kappa_c
 
double m_alpha_c
 
double m_mu_x_act
 
double m_mu_x_max
 
double m_mu_y_act
 
double m_mu_y_max
 
Pac02ScalingFactors m_PacScal
 
Pac02Coeff m_PacCoeff
 
ChFunction_Recorder m_areaDep
 
ContactData m_data
 
TireStates m_states
 
TerrainForce m_tireforce
 
std::shared_ptr< ChCylinderShapem_cyl_shape
 visualization cylinder asset
 
std::shared_ptr< ChTexturem_texture
 visualization texture asset
 
- 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
 

Additional Inherited Members

- 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...
 
- Static Protected Member Functions inherited from chrono::vehicle::ChTire
static bool DiscTerrainCollision (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, ChCoordsys<> &contact, double &depth)
 Perform disc-terrain collision detection. More...
 
static bool DiscTerrainCollision4pt (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, double width, ChCoordsys<> &contact, double &depth, double &camber_angle)
 Perform disc-terrain collision detection considering the curvature of the road surface. More...
 
static bool DiscTerrainCollisionEnvelope (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, const ChFunction_Recorder &areaDep, ChCoordsys<> &contact, double &depth)
 Collsion algorithm based on a paper of J. 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.
 

Member Function Documentation

◆ GetCamberAngle_internal()

double chrono::vehicle::ChPac02Tire::GetCamberAngle_internal ( )
inline

Get the camber angle used in Pac89 (expressed in radians).

The reported value will be similar to that reported by ChTire::GetCamberAngle.

◆ GetLongitudinalSlip_internal()

double chrono::vehicle::ChPac02Tire::GetLongitudinalSlip_internal ( ) const
inline

Get the longitudinal slip used in Pac89.

The reported value will be similar to that reported by ChTire::GetLongitudinalSlip.

◆ GetSlipAngle_internal()

double chrono::vehicle::ChPac02Tire::GetSlipAngle_internal ( ) const
inline

Get the slip angle used in Pac89 (expressed in radians).

The reported value will have opposite sign to that reported by ChTire::GetSlipAngle because ChPac89 uses internally a different frame convention.

◆ GetTireForce()

virtual TerrainForce chrono::vehicle::ChPac02Tire::GetTireForce ( ) const
inlineoverrideprotectedvirtual

Get the tire force and moment.

This represents the output from this tire system that is passed to the vehicle system. Typically, the vehicle subsystem will pass the tire force to the appropriate suspension subsystem which applies it as an external force one the wheel body.

Implements chrono::vehicle::ChTire.

◆ Synchronize()

void chrono::vehicle::ChPac02Tire::Synchronize ( double  time,
const ChTerrain terrain 
)
overrideprotectedvirtual

Update the state of this tire system at the current time.

Parameters
[in]timecurrent time
[in]terrainreference to the terrain system

Reimplemented from chrono::vehicle::ChTire.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChPac02Tire.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChPac02Tire.cpp