Description

Base class for a powertrain system.

#include <ChPowertrain.h>

Inheritance diagram for chrono::vehicle::ChPowertrain:

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Collaboration diagram for chrono::vehicle::ChPowertrain:

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Public Types
enum	DriveMode { DriveMode::FORWARD, DriveMode::NEUTRAL, DriveMode::REVERSE }
	Driving modes. More...

enum	TransmissionMode { TransmissionMode::AUTOMATIC, TransmissionMode::MANUAL }
	Transmission mode. More...

Public Member Functions
virtual double	GetMotorSpeed () const =0
	Return the current engine speed.

virtual double	GetMotorTorque () const =0
	Return the current engine torque.

virtual double	GetTorqueConverterSlippage () const =0
	Return the value of slippage in the torque converter.

virtual double	GetTorqueConverterInputTorque () const =0
	Return the input torque to the torque converter.

virtual double	GetTorqueConverterOutputTorque () const =0
	Return the output torque from the torque converter.

virtual double	GetTorqueConverterOutputSpeed () const =0
	Return the torque converter output shaft speed.

int	GetCurrentTransmissionGear () const
	Return the current transmission gear. More...

virtual double	GetOutputTorque () const =0
	Return the output torque from the powertrain. More...

void	SetDriveMode (DriveMode mode)
	Set the drive mode.

DriveMode	GetDriveMode () const
	Return the current drive mode.

void	SetTransmissionMode (TransmissionMode mode)
	Set the transmission mode (automatic or manual). More...

TransmissionMode	GetTransmissionMode () const
	Get the current transmission mode.

void	ShiftUp ()
	Shift up.

void	ShiftDown ()
	Shift down.

void	SetGear (int gear)
	Shift to the specified gear. More...

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.

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 (ChVehicleOutput &database) const
	Output data for this subsystem's component list to the specified database.

Protected Member Functions
	ChPowertrain (const std::string &name)

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

virtual void	UpdateInertiaProperties () override
	Update subsystem inertia properties. More...

virtual void	Initialize (std::shared_ptr< ChChassis > chassis)
	Initialize this powertrain system by attaching it to an existing vehicle chassis. 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	Synchronize (double time, const DriverInputs &driver_inputs, double shaft_speed)=0
	Synchronize the state of this powertrain 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 (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.

Protected Attributes
TransmissionMode	m_transmission_mode
	transmission mode (automatic or manual)

DriveMode	m_drive_mode
	drive mode (neutral, forward, or reverse)

std::shared_ptr< ChDriveline >	m_driveline
	associated driveline subsystem

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_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

Friends
class	ChWheeledVehicle

class	ChTrackedVehicle

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).

Member Enumeration Documentation

◆ DriveMode

enum chrono::vehicle::ChPowertrain::DriveMode

strong

Driving modes.

Enumerator
FORWARD	vehicle moving forward
NEUTRAL	vehicle in neutral
REVERSE	vehicle moving backward

◆ TransmissionMode

enum chrono::vehicle::ChPowertrain::TransmissionMode

strong

Transmission mode.

Enumerator
AUTOMATIC	automatic transmission
MANUAL	manual (manumatic) transmission

Member Function Documentation

◆ GetCurrentTransmissionGear()

int chrono::vehicle::ChPowertrain::GetCurrentTransmissionGear ( ) const

inline

Return the current transmission gear.

A return value of 0 indicates reverse; a positive value indicates a forward gear.

◆ GetOutputTorque()

virtual double chrono::vehicle::ChPowertrain::GetOutputTorque ( ) const

pure virtual

Return the output torque from the powertrain.

This is the torque that is passed to a vehicle system, thus providing the interface between the powertrain and vehicle co-simulation modules.

Implemented in chrono::vehicle::ChShaftsPowertrain, chrono::vehicle::ChSimpleMapPowertrain, chrono::vehicle::generic::Generic_SimpleMapPowertrain, chrono::vehicle::ChSimpleCVTPowertrain, chrono::vehicle::ChSimplePowertrain, and chrono::vehicle::gator::Gator_SimplePowertrain.

◆ Initialize()

void chrono::vehicle::ChPowertrain::Initialize ( std::shared_ptr< ChChassis > chassis )

protectedvirtual

Initialize this powertrain system by attaching it to an existing vehicle chassis.

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

◆ InitializeInertiaProperties()

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

Shift to the specified gear.

Note that reverse gear is index 0 and forward gears are index > 0.

◆ SetTransmissionMode()

void chrono::vehicle::ChPowertrain::SetTransmissionMode ( TransmissionMode mode )

inline

Set the transmission mode (automatic or manual).

Note that a derived powertrain class may ignore this is the selected mode is not supported.

◆ Synchronize()

virtual void chrono::vehicle::ChPowertrain::Synchronize	(	double	time,
		const DriverInputs &	driver_inputs,
		double	shaft_speed
	)

protectedpure virtual

Synchronize the state of this powertrain system at the current time.

The powertrain system is provided the current driver throttle input, a value in the range [0,1].

Parameters

[in]	time	current time
[in]	driver_inputs	current driver inputs
[in]	shaft_speed	driveshaft speed

◆ UpdateInertiaProperties()

void chrono::vehicle::ChPowertrain::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/ChPowertrain.h
/builds/uwsbel/chrono/src/chrono_vehicle/ChPowertrain.cpp

Description

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members