chrono::ChShaftsTorsionSpringDamper Class Reference

Description

Class for defining a torsional spring-damper between two 1D parts.

This supersedes the old ChShaftsTorsionSpring (which cannot handle extremely stiff spring values).

#include <ChShaftsLoads.h>

Inheritance diagram for chrono::ChShaftsTorsionSpringDamper:
Collaboration diagram for chrono::ChShaftsTorsionSpringDamper:

Public Member Functions

 ChShaftsTorsionSpringDamper (std::shared_ptr< ChShaft > shaft1, std::shared_ptr< ChShaft > shaft2, const double stiffness, const double damping)
 
virtual ChShaftsTorsionSpringDamperClone () const override
 "Virtual" copy constructor (covariant return type).
 
void SetTorsionalStiffness (const double stiffness)
 Set torsional stiffness.
 
double GetTorsionalStiffness () const
 
void SetTorsionalDamping (const double damping)
 Set torsional damping.
 
double GetTorsionalDamping () const
 
void SetRestPhase (const double phase)
 Set the phase shaft1-shaft2 for zero torsion of the spring (default = 0).
 
double GetRestPhase () const
 
- Public Member Functions inherited from chrono::ChShaftsLoad
 ChShaftsLoad (std::shared_ptr< ChShaft > shaft1, std::shared_ptr< ChShaft > shaft2)
 
double GetTorque () const
 Return the actual last computed value of the applied torque, assumed applied to 2ns shaft.
 
std::shared_ptr< ChShaftGetShaft1 () const
 
std::shared_ptr< ChShaftGetShaft2 () const
 
- Public Member Functions inherited from chrono::ChLoadCustomMultiple
 ChLoadCustomMultiple (std::vector< std::shared_ptr< ChLoadable >> &loadable_objects)
 
 ChLoadCustomMultiple (std::shared_ptr< ChLoadable > loadableA, std::shared_ptr< ChLoadable > loadableB)
 
 ChLoadCustomMultiple (std::shared_ptr< ChLoadable > loadableA, std::shared_ptr< ChLoadable > loadableB, std::shared_ptr< ChLoadable > loadableC)
 
virtual int LoadGetNumCoordsPosLevel () override
 Gets the number of DOFs affected by this load (position part).
 
virtual int LoadGetNumCoordsVelLevel () override
 Gets the number of DOFs affected by this load (speed part).
 
virtual void LoadGetStateBlock_x (ChState &mD) override
 Gets all the current DOFs packed in a single vector (position part).
 
virtual void LoadGetStateBlock_w (ChStateDelta &mD) override
 Gets all the current DOFs packed in a single vector (speed part).
 
virtual void LoadStateIncrement (const ChState &x, const ChStateDelta &dw, ChState &x_new) override
 Increment a packed state (e.g., as obtained by LoadGetStateBlock_x()) by a given packed state-delta. More...
 
virtual int LoadGetNumFieldCoords () override
 Number of coordinates in the interpolated field. More...
 
virtual void ComputeJacobian (ChState *state_x, ChStateDelta *state_w) override
 Compute Jacobian matrices K=-dQ/dx, R=-dQ/dv, and M=-dQ/da. More...
 
virtual void LoadIntLoadResidual_F (ChVectorDynamic<> &R, double c) override
 Add the internal loads Q (pasted at global offsets) into a global vector R, multiplied by a scaling factor c. More...
 
virtual void LoadIntLoadResidual_Mv (ChVectorDynamic<> &R, const ChVectorDynamic<> &w, double c) override
 Increment a vector R with the matrix-vector product M*w, scaled by the factor c. More...
 
virtual void LoadIntLoadLumpedMass_Md (ChVectorDynamic<> &Md, double &err, const double c) override
 Add the lumped mass to an Md vector, representing a mass diagonal matrix. More...
 
virtual void CreateJacobianMatrices () override
 Create the Jacobian loads if needed and set the ChVariables referenced by the sparse KRM block.
 
virtual ChVectorDynamicGetQ ()
 Access the generalized load vector Q.
 
- Public Member Functions inherited from chrono::ChLoadBase
ChLoadJacobiansGetJacobians ()
 Access the Jacobians (if any, i.e. if this is a stiff load).
 
virtual void Update (double time)
 Update, called at least at each time step. More...
 
virtual void InjectKRMMatrices (ChSystemDescriptor &descriptor)
 Register with the given system descriptor any ChKRMBlock objects associated with this item.
 
virtual void LoadKRMMatrices (double Kfactor, double Rfactor, double Mfactor)
 Compute and load current stiffnes (K), damping (R), and mass (M) matrices in encapsulated ChKRMBlock objects. More...
 
- Public Member Functions inherited from chrono::ChObj
 ChObj (const ChObj &other)
 
int GetIdentifier () const
 Get the unique integer identifier of this object. More...
 
void SetTag (int tag)
 Set an object integer tag (default: -1). More...
 
int GetTag () const
 Get the tag of this object.
 
void SetName (const std::string &myname)
 Set the name of this object.
 
const std::string & GetName () const
 Get the name of this object.
 
double GetChTime () const
 Gets the simulation time of this object.
 
void SetChTime (double m_time)
 Sets the simulation time of this object.
 
virtual void ArchiveOut (ChArchiveOut &archive_out)
 Method to allow serialization of transient data to archives.
 
virtual void ArchiveIn (ChArchiveIn &archive_in)
 Method to allow de-serialization of transient data from archives.
 
virtual std::string & ArchiveContainerName ()
 

Protected Member Functions

virtual bool IsStiff () override
 Report if this is load is stiff. More...
 
virtual void ComputeShaftShaftTorque (const double rel_rot, const double rel_rot_dt, double &result_torque) override
 Implement the computation of the torque between the two shafts, given relative rotation and velocity. More...
 
- Protected Member Functions inherited from chrono::ChShaftsLoad
virtual void ComputeQ (ChState *state_x, ChStateDelta *state_w) override
 Compute Q, the generalized load. More...
 
- Protected Member Functions inherited from chrono::ChObj
int GenerateUniqueIdentifier ()
 

Protected Attributes

double m_stiffness
 
double m_damping
 
double m_rest_phase
 
- Protected Attributes inherited from chrono::ChShaftsLoad
double torque
 store computed values here
 
- Protected Attributes inherited from chrono::ChLoadBase
ChLoadJacobiansm_jacobians
 
- Protected Attributes inherited from chrono::ChObj
double ChTime
 object simulation time
 
std::string m_name
 object name
 
int m_identifier
 object unique identifier
 
int m_tag
 user-supplied tag
 

Additional Inherited Members

- Public Attributes inherited from chrono::ChLoadCustomMultiple
std::vector< std::shared_ptr< ChLoadable > > loadables
 
ChVectorDynamic load_Q
 

Constructor & Destructor Documentation

◆ ChShaftsTorsionSpringDamper()

chrono::ChShaftsTorsionSpringDamper::ChShaftsTorsionSpringDamper ( std::shared_ptr< ChShaft shaft1,
std::shared_ptr< ChShaft shaft2,
const double  stiffness,
const double  damping 
)
Parameters
shaft1first shaft
shaft2second shaft
stiffnesstorsional stiffness
dampingtorsional damping

Member Function Documentation

◆ ComputeShaftShaftTorque()

void chrono::ChShaftsTorsionSpringDamper::ComputeShaftShaftTorque ( const double  rel_rot,
const double  rel_rot_dt,
double &  result_torque 
)
overrideprotectedvirtual

Implement the computation of the torque between the two shafts, given relative rotation and velocity.

Torque is assumed applied to shaft B, and opposite to A.

Implements chrono::ChShaftsLoad.

◆ IsStiff()

virtual bool chrono::ChShaftsTorsionSpringDamper::IsStiff ( )
inlineoverrideprotectedvirtual

Report if this is load is stiff.

If so, InjectKRMMatrices will provide the Jacobians of the load.

Implements chrono::ChLoadBase.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono/physics/ChShaftsLoads.h
  • /builds/uwsbel/chrono/src/chrono/physics/ChShaftsLoads.cpp