chrono::vehicle::ChSimpleTrackDriveline Class Referenceabstract

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:
Collaboration diagram for chrono::vehicle::ChSimpleTrackDriveline:

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.
 
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 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 (ChVehicleOutput &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 (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...
 
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 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 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 ot not the part is fully constructed
 
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

◆ 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
chassisassociated chassis subsystem
track_leftleft track assembly
track_rightright 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
timecurrent time
driver_inputscurrent driver inputs
driveshaft_torqueinput 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