Description

Single-wheel test rig with the wheel assembly attached to a suspension assembly.

Accepts arbitrary suspension (derived from ChWheelTestRig::SuspensionAssembly) and wheel (derived from ChWheelTestRig::WheelAssembly) assemblies
Accepts a Chrono::Vehicle suspension and wheel-tire assembly

#include <ChWheelTestRig.h>

Inheritance diagram for chrono::vehicle::ChWheelSuspensionTestRig:

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Collaboration diagram for chrono::vehicle::ChWheelSuspensionTestRig:

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Public Member Functions
	ChWheelSuspensionTestRig (ChSystem &system, std::shared_ptr< WheelAssembly > wheel, std::shared_ptr< SuspensionAssembly > suspension)
	Construct a test rig within the specified system using the given wheel and suspension assemblies.

	ChWheelSuspensionTestRig (ChSystem &system, std::shared_ptr< ChWheel > wheel, std::shared_ptr< ChTire > tire, std::shared_ptr< ChSuspension > suspension)
	Construct a test rig within the specified system using the given Chrono::Vehicle wheel, tire, and suspension subsystems. More...

Public Member Functions inherited from chrono::vehicle::ChWheelTestRigBase
void	SetGravitationalAcceleration (double grav)
	Set gravitational acceleration (default: 9.81 m/s2).

void	SetNormalLoad (double load)
	Set desired normal load (default: 1000 N).

void	SetLongSpeedFunction (std::shared_ptr< ChFunction > funct)
	Specify rig carrier longitudinal speed as function of time (default: none). More...

void	SetAngSpeedFunction (std::shared_ptr< ChFunction > funct)
	Specify wheel angular speed as function of time (default: none). More...

void	SetConstantLongitudinalSlip (double long_slip, double base_speed=1)
	Specify a constant given longitudinal slip. More...

void	SetStepsize (double step)
	Set the time step for advancing wheel assembly dynamics (default: 1e-3 s).

void	SetVisualizationType (VisualizationType vis)
	Set visualization type for the wheel assembly (default: PRIMITIVES).

void	SetTerrainRigid (const TerrainPatchSize &size, const TerrainParamsRigid &params)
	Enable use of rigid terrain.

void	SetTerrainRigid (const TerrainPatchSize &size, float mu, float cr, float Y)
	Enable use of rigid terrain. More...

void	SetTerrainSCM (const TerrainPatchSize &size, const TerrainParamsSCM &params)
	Enable use of SCM terrain.

void	SetTerrainSCM (const TerrainPatchSize &size, double Bekker_Kphi, double Bekker_Kc, double Bekker_n, double Mohr_cohesion, double Mohr_friction, double Janosi_shear, double grid_spacing=0.125)
	Enable use of SCM terrain. More...

void	SetTerrainGranular (const TerrainPatchSize &size, const TerrainParamsGranular &params)
	Enable use of granular terrain. More...

void	SetTerrainGranular (const TerrainPatchSize &size, double radius, double density, double friction, double cohesion, double Young_modulus)
	Enable use of granular terrain. More...

void	SetTimeDelay (double delay)
	Set time delay before applying motion functions (default: 0 s). More...

double	GetTimeDelay () const
	Get time delay after which measurements are calculated. More...

bool	OutputEnabled () const
	Check if kinematic and kinetic quantities are collected. More...

void	Initialize (Mode mode, double drop_speed=0.1)
	Initialize the rig system. More...

void	Advance (double step)
	Advance system state by the specified time step.

void	GetSuggestedCollisionSettings (double &collision_envelope, ChVector3i &collision_bins) const
	Get suggested collision settings. More...

double	GetNormalLoad () const
	Get the normal load.

double	GetMass () const
	Get total rig mass.

std::shared_ptr< ChTerrain >	GetTerrain () const
	Get a handle to the underlying terrain subsystem.

const ChVector3d &	GetPos () const
	Get current carrier body position.

ChVector3d	GetWheelPos () const
	Get current wheel position.

TerrainForce	ReportWheelForce () const
	Get the current terrain forces acting on the wheel as applied to the wheel hub.

double	GetDBP () const
	Return current drawbar-pull value. More...

double	GetLongitudinalSlip () const
	Get current wheel longitudinal slip. More...

double	GetSlipAngle () const
	Get current wheel slip angle. More...

double	GetCamberAngle () const
	Get current wheel camber angle. More...

std::shared_ptr< ChLinkMotorLinearSpeed >	GetMotorCarrier () const
	Get the linear motor used to actuate the carrier.

std::shared_ptr< ChShaftsMotorSpeed >	GetMotorWheel () const
	Get the rotation motor used to actuate the wheel.

Additional Inherited Members
Public Types inherited from chrono::vehicle::ChWheelTestRigBase
enum	Mode { Mode::SUSPEND, Mode::DROP, Mode::TEST }
	Tire test rig operation mode. More...

enum	TerrainType { SCM, RIGID, CRG, GRANULAR, CRM, NONE }
	Terrain type.

Protected Member Functions inherited from chrono::vehicle::ChWheelTestRigBase
	ChWheelTestRigBase (ChSystem &system, std::shared_ptr< WheelAssembly > wheel)
	Construct a test rig within the specified system using the given custom wheel.

virtual void	CreateMechanism ()
	Create the single-wheel test rig mechanism.

void	CreateTerrain ()
	Create the terrain patch of specified type.

void	CreateTerrainSCM ()

void	CreateTerrainRigid ()

void	CreateTerrainGranular ()

virtual void	OnStartActuation ()
	Additional operations to be performed when actuation is enabled. More...

Protected Attributes inherited from chrono::vehicle::ChWheelTestRigBase
ChSystem &	m_system
	containing Chrono system

Mode	m_mode
	testing mode

bool	m_output
	if false, report default measurements (typically 0)

std::shared_ptr< ChTerrain >	m_terrain
	handle to underlying terrain subsystem

std::shared_ptr< WheelAssembly >	m_wheel_assembly
	wheel assembly

VisualizationType	m_vis_type
	visualization type for wheel assembly

double	m_step_size
	step size for wheel assembly integration

double	m_grav
	gravitational acceleration

double	m_normal_load
	desired normal load

double	m_total_mass
	total sprung mass

double	m_time_delay
	time delay before applying external load

TerrainType	m_terrain_type
	terrain type

double	m_terrain_offset
	Y coordinate of wheel center.

double	m_terrain_height
	height coordinate for terrain subsystem

TerrainPatchSize	m_terrain_size
	terrain patch dimensions

TerrainParamsSCM	m_params_SCM
	SCM soil parameters.

TerrainParamsRigid	m_params_rigid
	rigid terrain contact material properties

TerrainParamsGranular	m_params_granular
	granular terrain parameters

ChAABB	m_wheel_AABB
	AABB for the entire wheel assembly (estimated or user-provided)

std::shared_ptr< ChBody >	m_ground_body
	ground body

std::shared_ptr< ChBodyAuxRef >	m_carrier_body
	rig carrier body

std::shared_ptr< ChBodyAuxRef >	m_chassis_body
	"chassis" body which carries normal load

bool	m_ls_actuated
	is linear speed actuated?

bool	m_rs_actuated
	is angular speed actuated?

bool	m_long_slip_constant
	true if constant longitudinal slip was specified

double	m_long_slip
	user-specified longitudinal slip

double	m_base_speed
	base speed for long slip calculation

std::shared_ptr< ChFunction >	m_ls_fun
	longitudinal speed function of time

std::shared_ptr< ChFunction >	m_rs_fun
	angular speed function of time

std::shared_ptr< ChLinkMotorLinearSpeed >	m_drop_motor
	actuator for controlled wheel drop

std::shared_ptr< ChLinkMotorLinearSpeed >	m_lin_motor
	carrier actuator

std::shared_ptr< ChShaftsMotorSpeed >	m_rot_motor
	wheel actuator

Constructor & Destructor Documentation

◆ ChWheelSuspensionTestRig()

chrono::vehicle::ChWheelSuspensionTestRig::ChWheelSuspensionTestRig	(	ChSystem &	system,
		std::shared_ptr< ChWheel >	wheel,
		std::shared_ptr< ChTire >	tire,
		std::shared_ptr< ChSuspension >	suspension
	)

Construct a test rig within the specified system using the given Chrono::Vehicle wheel, tire, and suspension subsystems.

Parameters

system	containing mechanical system
wheel	wheel subsystem
tire	tire subsystem
suspension	suspension subsystem

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

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/test_rig/ChWheelTestRig.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/test_rig/ChWheelTestRig.cpp

Description

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ ChWheelSuspensionTestRig()