chrono::vehicle::ChVehicleCosimDBPRigImposedAngVel Class Reference
Description
Drawbar-pull rig mechanism with imposed angular velocity.
This mechanism enforces a prescribed wheel angular velocity. A linearly increasing resistive force is applied against the forward motion of the vehicle and the experiment is ended when the vehicle stops. At each time, the vehicle forward speed and resulting slip are calculated and stored together with the current resistive force (DBP). This experiment produces the entire slip-DBP curve at once.
#include <ChVehicleCosimDBPRig.h>
Inheritance diagram for chrono::vehicle::ChVehicleCosimDBPRigImposedAngVel:
Collaboration diagram for chrono::vehicle::ChVehicleCosimDBPRigImposedAngVel:
Public Member Functions | |
| ChVehicleCosimDBPRigImposedAngVel (double ang_vel, double force_rate) | |
| virtual Type | GetType () const override |
| Get rig type. | |
| virtual double | GetAngVel () const override |
| Return current wheel angular speed. | |
| virtual double | GetDBP () const override |
| Return current raw drawbar-pull value. | |
 Public Member Functions inherited from chrono::vehicle::ChVehicleCosimDBPRig | |
| 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... | |
| 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. | |
| double | GetSlip () const |
| Return current value of longitudinal slip. | |
| double | GetFilteredDBP () const |
| Return current filtered drawbar-pull value. | |
| double | GetFilteredSlip () const |
| Return current filtered slip value. | |
Additional Inherited Members | |
| Public Types inherited from chrono::vehicle::ChVehicleCosimDBPRig | |
| enum | Type { Type::IMPOSED_SLIP, Type::IMPOSED_ANG_VEL } |
| Type of DBP rig. More... | |
| Protected Attributes inherited from chrono::vehicle::ChVehicleCosimDBPRig | |
| 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 | |
Constructor & Destructor Documentation
◆ ChVehicleCosimDBPRigImposedAngVel()
| chrono::vehicle::ChVehicleCosimDBPRigImposedAngVel::ChVehicleCosimDBPRigImposedAngVel | ( | double | ang_vel, |
| double | force_rate | ||
| ) |
- Parameters
-
ang_vel prescribed wheel angular speed force_rate rate of change of resistive force
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono_vehicle/cosim/ChVehicleCosimDBPRig.h
- /builds/uwsbel/chrono/src/chrono_vehicle/cosim/ChVehicleCosimDBPRig.cpp
