Description

Base class for a transmission subsystem.

#include <ChTransmission.h>

Inheritance diagram for chrono::vehicle::ChTransmission:
Collaboration diagram for chrono::vehicle::ChTransmission:

Public Types

enum  Type { Type::AUTOMATIC, Type::MANUAL }
 Transmission type. More...
 

Public Member Functions

virtual Type GetType () const =0
 Get transmission type.
 
bool IsAutomatic () const
 Return true if automatic transmission.
 
bool IsManual () const
 Return true if manual transmission.
 
int GetCurrentGear () const
 Return the current transmission gear. More...
 
int GetMaxGear () const
 Return the highest available gear.
 
void SetGear (int gear)
 Shift to the specified gear. More...
 
virtual double GetOutputDriveshaftTorque () const =0
 Return the transmission output torque on the driveshaft. More...
 
virtual double GetOutputMotorshaftSpeed () const =0
 Return the transmission output speed of the motorshaft. More...
 
virtual double GetChassisReactionTorque () const
 Return the reaction torque on the chassis body. More...
 
virtual void ShiftUp ()=0
 Shift up.
 
virtual void ShiftDown ()=0
 Shift down.
 
- 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.
 
virtual std::string GetTemplateName () const =0
 Get the name of the vehicle subsystem template.
 
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

 ChTransmission (const std::string &name="")
 
virtual ChAutomaticTransmission * asAutomatic ()
 Return this object as an automatic transmission.
 
virtual ChManualTransmission * asManual ()
 Return this object as a manual transmission.
 
virtual void InitializeInertiaProperties () override
 Initialize subsystem inertia properties. More...
 
virtual void UpdateInertiaProperties () override
 Update subsystem inertia properties. More...
 
virtual void SetGearRatios (std::vector< double > &fwd, double &rev)=0
 Set the transmission gear ratios (one or more forward gear ratios and a single reverse gear ratio).
 
virtual void OnGearShift ()
 Perform any action required on a gear shift (the new gear and gear ratio are available).
 
virtual void OnNeutralShift ()
 Perform any action required on placing the transmission in neutral.
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis)
 Initialize this transmission system by attaching it to an existing vehicle chassis and connecting the provided engine and driveline subsystems. More...
 
virtual void Synchronize (double time, const DriverInputs &driver_inputs, double motorshaft_torque, double driveshaft_speed)=0
 Update the transmission system at the current time. More...
 
virtual void Advance (double step)
 Advance the state of this powertrain system by the specified time step.
 
- 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.
 

Protected Attributes

std::vector< double > m_gear_ratios
 gear ratios (0: reverse, 1+: forward)
 
int m_current_gear
 current transmission gear (0: reverse, 1+: forward)
 
double m_current_gear_ratio
 current gear ratio (positive for forward, negative for reverse)
 
- 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
 

Friends

class ChPowertrainAssembly
 
class ChVehicleVisualSystemIrrlicht
 
class ChInteractiveDriverIRR
 
class ChVehicleVisualSystemVSG
 
class ChVehicleKeyboardHandlerVSG
 
class ChVehicleGuiComponentVSG
 

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).
 

Member Enumeration Documentation

◆ Type

Transmission type.

Enumerator
AUTOMATIC 

automatic transmission (torque converter + gearbox)

MANUAL 

manual transmission (clutch + gearbox)

Member Function Documentation

◆ GetChassisReactionTorque()

virtual double chrono::vehicle::ChTransmission::GetChassisReactionTorque ( ) const
inlinevirtual

Return the reaction torque on the chassis body.

A concrete model may incorporate a physical connection to the chassis and therefore calculate this reaction.

Reimplemented in chrono::vehicle::ChAutomaticTransmissionShafts, and chrono::vehicle::ChManualTransmissionShafts.

◆ GetCurrentGear()

int chrono::vehicle::ChTransmission::GetCurrentGear ( ) const
inline

Return the current transmission gear.

A return value of -1 indicates reverse, 0 indicates neutral and a positive value indicates a forward gear.

◆ GetOutputDriveshaftTorque()

virtual double chrono::vehicle::ChTransmission::GetOutputDriveshaftTorque ( ) const
pure virtual

Return the transmission output torque on the driveshaft.

This is the torque that is passed to the driveline subsystem, thus providing the interface between the powertrain and vehicle systems.

Implemented in chrono::vehicle::ChAutomaticTransmissionShafts, chrono::vehicle::ChAutomaticTransmissionSimpleMap, and chrono::vehicle::ChManualTransmissionShafts.

◆ GetOutputMotorshaftSpeed()

virtual double chrono::vehicle::ChTransmission::GetOutputMotorshaftSpeed ( ) const
pure virtual

Return the transmission output speed of the motorshaft.

This represents the output from the transmision subsystem that is passed to the engine subsystem.

Implemented in chrono::vehicle::ChAutomaticTransmissionShafts, chrono::vehicle::ChAutomaticTransmissionSimpleMap, and chrono::vehicle::ChManualTransmissionShafts.

◆ Initialize()

void chrono::vehicle::ChTransmission::Initialize ( std::shared_ptr< ChChassis chassis)
protectedvirtual

Initialize this transmission system by attaching it to an existing vehicle chassis and connecting the provided engine and driveline subsystems.

A derived class override must first call this base class implementation.

◆ InitializeInertiaProperties()

void chrono::vehicle::ChTransmission::InitializeInertiaProperties ( )
overrideprotectedvirtual

Initialize subsystem inertia properties.

Derived classes must override this function and set the subsystem mass (m_mass) and, if constant, the subsystem COM frame and its inertia tensor. This function is called during initialization of the vehicle system.

Implements chrono::vehicle::ChPart.

◆ SetGear()

void chrono::vehicle::ChTransmission::SetGear ( int  gear)

Shift to the specified gear.

Reverse gear is -1, neutral is 0, forward gears are 1, 2, ..., Gmax.

◆ Synchronize()

virtual void chrono::vehicle::ChTransmission::Synchronize ( double  time,
const DriverInputs driver_inputs,
double  motorshaft_torque,
double  driveshaft_speed 
)
protectedpure virtual

Update the transmission system at the current time.

The motorshaft torque represents the input to the transmission from the engine system. The driveshaft speed represents the input to the transmission from the driveline system. This default implementation sets the driveshaft speed and the motorshaft torque from the provided values.

Parameters
timecurrent time
driver_inputscurrent driver inputs
motorshaft_torqueinput engine torque
driveshaft_speedinput driveline speed

◆ UpdateInertiaProperties()

void chrono::vehicle::ChTransmission::UpdateInertiaProperties ( )
overrideprotectedvirtual

Update subsystem inertia properties.

Derived classes must override this function and set the global subsystem transform (m_xform) and, unless constant, the subsystem COM frame (m_com) and its inertia tensor (m_inertia). Calculate the current inertia properties and global frame of this subsystem. This function is called every time the state of the vehicle system is advanced in time.

Implements chrono::vehicle::ChPart.


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