Description

Base class for a drawbar-pull rig mechanism.

Derived classes implement different ways for measuring DBP.

#include <ChVehicleCosimDBPRig.h>

Inheritance diagram for chrono::vehicle::ChVehicleCosimDBPRig:

Public Types
enum	Type { Type::IMPOSED_SLIP, Type::IMPOSED_ANG_VEL }
	Type of DBP rig. More...

Public Member Functions
void	SetVerbose (bool verbose)
	Set verbose flag.

void	SetDBPFilterWindow (double window)
	Set window (in seconds) for the running average filter for drawbar pull reporting (default: 0.1 s).

void	SetSlipFilterWindow (double window)
	Set window (in seconds) for the running average filter for slip reporting (default: 0.1 s).

void	SetRampingIntervals (double delay, double ramp_time)
	Set the delay and ramping time intervals for reaching the prescribed angular velocity. More...

virtual void	Initialize (std::shared_ptr< ChBody > chassis, double wheel_radius, double step_size)
	Construct and initialize the rig mechanism.

virtual void	Advance (double step_size)
	Advance rig state by specified step size.

virtual Type	GetType () const =0
	Get rig type.

double	GetTimeDelay ()
	Get total time delay. More...

std::shared_ptr< ChFunction >	GetMotorFunction () const
	Return the function specifying spindle angular speed.

double	GetLocation () const
	Return current rig location.

double	GetLinVel () const
	Return current rig linear speed.

virtual double	GetAngVel () const =0
	Return current wheel angular speed.

double	GetSlip () const
	Return current value of longitudinal slip.

virtual double	GetDBP () const =0
	Return current raw drawbar-pull value.

double	GetFilteredDBP () const
	Return current filtered drawbar-pull value.

double	GetFilteredSlip () const
	Return current filtered slip value.

Protected Attributes
bool	m_verbose
	verbose messages during simulation?

double	m_time_delay
	initial interval with zero motor velocities

double	m_time_ramp
	time interval to ramp up motor velocities to prescribed value

double	m_wheel_radius
	wheel radius

std::shared_ptr< ChBody >	m_ground
	ground body

std::shared_ptr< ChBody >	m_carrier
	rig carrier body

std::shared_ptr< ChFunction >	m_rot_motor_func
	imposed spindle angular speed

Member Enumeration Documentation

strong

Type of DBP rig.

Enumerator
IMPOSED_SLIP	rig of type ChVehicleCosimDBPRigImposedSlip
IMPOSED_ANG_VEL	rig of type ChVehicleCosimDBPRigImposedAngVel

double chrono::vehicle::ChVehicleCosimDBPRig::GetTimeDelay ( )

inline

Get total time delay.

This is the total time necessary to bring motor velocities to their nominal values and is used to decide whether or not to generate rig output.

void chrono::vehicle::ChVehicleCosimDBPRig::SetRampingIntervals	(	double	delay,
		double	ramp_time
	)

Set the delay and ramping time intervals for reaching the prescribed angular velocity.

By default, the angular velocity is kept zero for 0.2 s and then increased to the prescribed value in 0.5 s.

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