Description

Simple driveline model for a tracked vehicle.

This template splits the input torque to the left and right tracks using a simple analytical model of a Torsen limited-slip differential and the given driver steering input.

#include <ChSimpleTrackDriveline.h>

Inheritance diagram for chrono::vehicle::ChSimpleTrackDriveline:

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Collaboration diagram for chrono::vehicle::ChSimpleTrackDriveline:

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Public Member Functions
	ChSimpleTrackDriveline (const std::string &name)

virtual std::string	GetTemplateName () const override
	Get the name of the vehicle subsystem template.

virtual void	Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChTrackAssembly > track_left, std::shared_ptr< ChTrackAssembly > track_right) override
	Initialize the driveline subsystem. More...

virtual void	Synchronize (double time, const DriverInputs &driver_inputs, double driveshaft_torque) override
	Update the driveline subsystem. More...

virtual double	GetSprocketTorque (VehicleSide side) const override
	Get the motor torque to be applied to the specified sprocket.

virtual double	GetSprocketSpeed (VehicleSide side) const override
	Get the angular speed of the specified sprocket.

virtual void	Disconnect () override
	Disconnect driveline from driven sprockets.

virtual double	GetOutputDriveshaftSpeed () const override
	Return the output driveline speed of the driveshaft. More...

Public Member Functions inherited from chrono::vehicle::ChDrivelineTV
virtual void	SetGyrationMode (bool mode)
	Turn gyration mode on/off.

virtual void	LockDifferential (bool lock)
	Lock/unlock the differential (if available).

Public Member Functions inherited from chrono::vehicle::ChDriveline
void	Initialize (std::shared_ptr< ChChassis > chassis)
	Initialize the driveline.

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.

bool	IsInitialized () const
	Return flag indicating whether or not the part is fully constructed.

virtual uint16_t	GetVehicleTag () const
	Get the tag of the associated vehicle. More...

int	GetBodyTag () const
	Get the tag for component bodies.

double	GetMass () const
	Get the subsystem mass. More...

const ChFrame &	GetCOMFrame () const
	Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame). More...

const ChMatrix33 &	GetInertia () const
	Get the current subsystem inertia (relative to the subsystem COM frame). More...

const ChFrame &	GetTransform () 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	AddVisualizationAssets (VisualizationType vis)
	Add visualization assets to this subsystem, for the specified visualization mode.

virtual void	RemoveVisualizationAssets ()
	Remove all visualization assets from 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 (ChOutput &database) const
	Output data for this subsystem's component list to the specified database.

Protected Member Functions
virtual double	GetDifferentialMaxBias () const =0
	Return the torque bias ratio for the differential. More...

Protected Member Functions inherited from chrono::vehicle::ChDrivelineTV
	ChDrivelineTV (const std::string &name)

virtual void	CombineDriverInputs (const DriverInputs &driver_inputs, double &braking_left, double &braking_right)

Protected Member Functions inherited from chrono::vehicle::ChDriveline
	ChDriveline (const std::string &name)

virtual void	InitializeInertiaProperties () override
	Initialize subsystem inertia properties. More...

virtual void	UpdateInertiaProperties () override
	Update subsystem inertia properties. 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 (ChVector3d &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...

void	ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody >> bodies) const
	Export the list of bodies to the specified JSON document.

void	ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft >> shafts) const
	Export the list of shafts to the specified JSON document.

void	ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink >> joints) const
	Export the list of joints to the specified JSON document.

void	ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple >> couples) const
	Export the list of shaft couples to the specified JSON document.

void	ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker >> markers) const
	Export the list of markers to the specified JSON document.

void	ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA >> springs) const
	Export the list of translational springs to the specified JSON document.

void	ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRSDA >> springs) const
	Export the list of rotational springs to the specified JSON document.

void	ExportBodyLoadList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLoadBodyBody >> loads) const
	Export the list of body-body loads to the specified JSON document.

Additional Inherited Members
Static Public Member Functions inherited from chrono::vehicle::ChPart
static ChMatrix33	TransformInertiaMatrix (const ChVector3d &moments, const ChVector3d &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	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).

Protected Attributes inherited from chrono::vehicle::ChDrivelineTV
bool	m_gyration_mode
	flag indicating if in gyration mode (turn in place)

Protected Attributes inherited from chrono::vehicle::ChPart
std::string	m_name
	subsystem name

bool	m_initialized
	specifies whether or not the part is fully constructed

bool	m_output
	specifies whether or not output is generated for this subsystem

std::shared_ptr< ChPart >	m_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

int	m_obj_tag
	tag for part objects

Member Function Documentation

◆ GetDifferentialMaxBias()

virtual double chrono::vehicle::ChSimpleTrackDriveline::GetDifferentialMaxBias ( ) const

protectedpure virtual

Return the torque bias ratio for the differential.

This is a simple model of a Torsen limited-slip differential.

Implemented in chrono::vehicle::m113::M113_SimpleDriveline, chrono::vehicle::marder::Marder_SimpleDriveline, and chrono::vehicle::SimpleTrackDriveline.

◆ GetOutputDriveshaftSpeed()

virtual double chrono::vehicle::ChSimpleTrackDriveline::GetOutputDriveshaftSpeed ( ) const

inlineoverridevirtual

Return the output driveline speed of the driveshaft.

This represents the output from the driveline subsystem that is passed to the transmission subsystem.

Implements chrono::vehicle::ChDriveline.

◆ Initialize()

void chrono::vehicle::ChSimpleTrackDriveline::Initialize	(	std::shared_ptr< ChChassis >	chassis,
		std::shared_ptr< ChTrackAssembly >	track_left,
		std::shared_ptr< ChTrackAssembly >	track_right
	)

overridevirtual

Initialize the driveline subsystem.

This function connects this driveline subsystem to the sprockets of the two track assembly subsystems.

Parameters

chassis	associated chassis subsystem
track_left	left track assembly
track_right	right track assembly

Implements chrono::vehicle::ChDrivelineTV.

◆ Synchronize()

void chrono::vehicle::ChSimpleTrackDriveline::Synchronize	(	double	time,
		const DriverInputs &	driver_inputs,
		double	driveshaft_torque
	)

overridevirtual

Update the driveline subsystem.

The motor torque represents the input to the driveline subsystem from the powertrain system.

Parameters

time	current time
driver_inputs	current driver inputs
driveshaft_torque	input transmission torque

Implements chrono::vehicle::ChDriveline.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/driveline/ChSimpleTrackDriveline.h
/builds/uwsbel/chrono/src/chrono_vehicle/tracked_vehicle/driveline/ChSimpleTrackDriveline.cpp

Description

Public Member Functions

Protected Member Functions

Additional Inherited Members

Member Function Documentation

◆ GetDifferentialMaxBias()

◆ GetOutputDriveshaftSpeed()

◆ Initialize()

◆ Synchronize()