Template for a simple brake subsystem.

Simple brake created with constant torque opposing wheel rotation. It just uses a speed-dependent torque, so it fits in ODEs because it does not use NSC set valued constraints (the drawback is that it cannot simulate sticking brakes).

#include <ChBrakeSimple.h>

Inheritance diagram for chrono::vehicle::ChBrakeSimple:
Collaboration diagram for chrono::vehicle::ChBrakeSimple:

Public Member Functions

 ChBrakeSimple (const std::string &name)
virtual void Initialize (std::shared_ptr< ChLinkLockRevolute > hub) override
 Initialize the brake by providing the wheel's revolute link.
virtual void Synchronize (double modulation) override
 Update the brake subsystem: set the brake modulation, in 0..1 range: More...
virtual double GetBrakeTorque () override
 Get the current brake torque, as a result of simulation, so it might change from time to time.
double GetBrakeSpeed ()
 Get the current brake angular speed, relative between disc and caliper [rad/s].
- Public Member Functions inherited from chrono::vehicle::ChBrake
 ChBrake (const std::string &name)
- Public Member Functions inherited from chrono::vehicle::ChPart
 ChPart (const std::string &name)
 Construct a vehicle subsystem with the specified name. More...
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.
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.
void SetContactFrictionCoefficient (float friction_coefficient)
 Set coefficient of friction. More...
void SetContactRestitutionCoefficient (float restitution_coefficient)
 Set coefficient of restitution. More...
void SetContactMaterialProperties (float young_modulus, float poisson_ratio)
 Set contact material properties. More...
void SetContactMaterialCoefficients (float kn, float gn, float kt, float gt)
 Set contact material coefficients. More...
float GetCoefficientFriction () const
 Get coefficient of friction for contact material.
float GetCoefficientRestitution () const
 Get coefficient of restitution for contact material.
float GetYoungModulus () const
 Get Young's modulus of elasticity for contact material.
float GetPoissonRatio () const
 Get Poisson ratio for contact material.
float GetKn () const
 Get normal stiffness coefficient for contact material.
float GetKt () const
 Get tangential stiffness coefficient for contact material.
float GetGn () const
 Get normal viscous damping coefficient for contact material.
float GetGt () const
 Get tangential viscous damping coefficient for contact material.

Protected Member Functions

virtual double GetMaxBrakingTorque ()=0
 Get the max braking torque (for modulation =1)

Protected Attributes

double m_modulation
std::shared_ptr< ChLinkBrakem_brake
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
float m_friction
 contact coefficient of friction
float m_restitution
 contact coefficient of restitution
float m_young_modulus
 contact material Young modulus
float m_poisson_ratio
 contact material Poisson ratio
float m_kn
 normal contact stiffness
float m_gn
 normal contact damping
float m_kt
 tangential contact stiffness
float m_gt
 tangential contact damping

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...

Member Function Documentation

void chrono::vehicle::ChBrakeSimple::Synchronize ( double  modulation)

Update the brake subsystem: set the brake modulation, in 0..1 range:

when = 0 it is completely free,
when = 1 it should provide the max braking torque

Implements chrono::vehicle::ChBrake.