Description

Base class for a transmission subsystem.

#include <ChTransmission.h>

Inheritance diagram for chrono::vehicle::ChTransmission:

Collaboration diagram for chrono::vehicle::ChTransmission:

[legend]

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 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
	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< 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	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

enum chrono::vehicle::ChTransmission::Type

strong

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

time	current time
driver_inputs	current driver inputs
motorshaft_torque	input engine torque
driveshaft_speed	input 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

Description

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Additional Inherited Members