Description

Fiala based tire model.

#include <ChFialaTire.h>

Inheritance diagram for chrono::vehicle::ChFialaTire:
Collaboration diagram for chrono::vehicle::ChFialaTire:

Public Member Functions

 ChFialaTire (const std::string &name)
 
virtual void Initialize (std::shared_ptr< ChBody > wheel, VehicleSide side) override
 Initialize this tire system. More...
 
virtual void AddVisualizationAssets (VisualizationType vis) override
 Add visualization assets for the rigid tire subsystem.
 
virtual void RemoveVisualizationAssets () override
 Remove visualization assets for the rigid tire subsystem.
 
virtual double GetRadius () const override
 Get the tire width. More...
 
virtual TireForce GetTireForce (bool cosim=false) const override
 Get the tire force and moment. More...
 
virtual void Synchronize (double time, const WheelState &wheel_state, const ChTerrain &terrain) override
 Update the state of this tire system at the current time. More...
 
virtual void Advance (double step) override
 Advance the state of this tire by the specified time step.
 
void SetStepsize (double val)
 Set the value of the integration step size for the underlying dynamics.
 
double GetStepsize () const
 Get the current value of the integration step size.
 
double GetWidth () const
 Get the width of the tire.
 
virtual double GetVisualizationWidth () const
 Get visualization width.
 
virtual double GetSlipAngle () const override
 Get the tire slip angle.
 
virtual double GetLongitudinalSlip () const override
 Get the tire longitudinal slip.
 
- Public Member Functions inherited from chrono::vehicle::ChTire
 ChTire (const std::string &name)
 
virtual double GetCamberAngle () const
 Get the tire camber angle. More...
 
- 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 track shoe subsystem.
 
void SetName (const std::string &name)
 Set the name identifier for this track shoe subsystem.
 
void SetVisualizationType (VisualizationType vis)
 Set the visualization mode for 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 GetNormalStiffnessForce (double depth) const =0
 Return the vertical tire stiffness contribution to the normal force.
 
virtual double GetNormalDampingForce (double depth, double velocity) const =0
 Return the vertical tire damping contribution to the normal force.
 
virtual void SetFialaParams ()=0
 Set the parameters in the Fiala model.
 

Protected Attributes

double m_unloaded_radius
 Fiala tire model parameters.
 
double m_width
 
double m_rolling_resistance
 
double m_c_slip
 
double m_c_alpha
 
double m_u_min
 
double m_u_max
 
double m_relax_length_x
 
double m_relax_length_y
 
- Protected Attributes inherited from chrono::vehicle::ChTire
VehicleSide m_side
 tire mounted on left/right side
 
std::shared_ptr< ChBodym_wheel
 associated wheel body
 
- 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 Protected Member Functions inherited from chrono::vehicle::ChTire
static bool disc_terrain_contact (const ChTerrain &terrain, const ChVector<> &disc_center, const ChVector<> &disc_normal, double disc_radius, ChCoordsys<> &contact, double &depth)
 Perform disc-terrain collision detection. More...
 

Constructor & Destructor Documentation

chrono::vehicle::ChFialaTire::ChFialaTire ( const std::string &  name)
Parameters
[in]namename of this tire system

Member Function Documentation

virtual double chrono::vehicle::ChFialaTire::GetRadius ( ) const
overridevirtual

Get the tire width.

For a Fiala tire, this is the unloaded tire radius.

Implements chrono::vehicle::ChTire.

virtual TireForce chrono::vehicle::ChFialaTire::GetTireForce ( bool  cosim = false) const
overridevirtual

Get the tire force and moment.

This represents the output from this tire system that is passed to the vehicle system. Typically, the vehicle subsystem will pass the tire force to the appropriate suspension subsystem which applies it as an external force one the wheel body.

Implements chrono::vehicle::ChTire.

void chrono::vehicle::ChFialaTire::Initialize ( std::shared_ptr< ChBody wheel,
VehicleSide  side 
)
overridevirtual

Initialize this tire system.

Parameters
[in]wheelassociated wheel body
[in]sideleft/right vehicle side

Reimplemented from chrono::vehicle::ChTire.

void chrono::vehicle::ChFialaTire::Synchronize ( double  time,
const WheelState wheel_state,
const ChTerrain terrain 
)
overridevirtual

Update the state of this tire system at the current time.

The tire system is provided the current state of its associated wheel.

Parameters
[in]timecurrent time
[in]wheel_statecurrent state of associated wheel body
[in]terrainreference to the terrain system

Reimplemented from chrono::vehicle::ChTire.