Description

Tire model based on LuGre friction model.

#include <ChLugreTire.h>

Inheritance diagram for chrono::vehicle::ChLugreTire:
Collaboration diagram for chrono::vehicle::ChLugreTire:

Public Member Functions

 ChLugreTire (const std::string &name)
 
virtual void Initialize (std::shared_ptr< ChBody > wheel, VehicleSide side) override
 Initialize this tire system and enable visualization of the discs. 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.
 
double GetWidth () const
 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.
 
- Public Member Functions inherited from chrono::vehicle::ChTire
 ChTire (const std::string &name)
 
virtual double GetRadius () const =0
 Get the tire radius.
 
virtual double GetSlipAngle () const
 Get the tire slip angle. More...
 
virtual double GetLongitudinalSlip () const
 Get the tire longitudinal slip. More...
 
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.
 

Protected Member Functions

virtual int GetNumDiscs () const =0
 Return the number of discs used to model this tire.
 
virtual const double * GetDiscLocations () const =0
 Return the laterla disc locations. More...
 
virtual double GetNormalStiffness () const =0
 Return the vertical tire stiffness (for normal force calculation).
 
virtual double GetNormalDamping () const =0
 Return the vertical tire damping coefficient (for normal force calculation).
 
virtual void SetLugreParams ()=0
 Set the parameters in the LuGre friction model.
 

Protected Attributes

double m_sigma0 [2]
 Lugre friction model parameters (longitudinal/lateral)
 
double m_sigma1 [2]
 
double m_sigma2 [2]
 
double m_Fc [2]
 
double m_Fs [2]
 
double m_vs [2]
 Stribeck velocity.
 
- 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
 

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

Member Function Documentation

virtual const double* chrono::vehicle::ChLugreTire::GetDiscLocations ( ) const
protectedpure virtual

Return the laterla disc locations.

These locations are relative to the tire center.

Implemented in chrono::vehicle::LugreTire.

virtual TireForce chrono::vehicle::ChLugreTire::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.

double chrono::vehicle::ChLugreTire::GetWidth ( ) const

Get the tire width.

This is just an approximation of a tire width.

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

Initialize this tire system and enable visualization of the discs.

Parameters
wheelhandle to the associated wheel body
sideleft/right vehicle side

Reimplemented from chrono::vehicle::ChTire.

void chrono::vehicle::ChLugreTire::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.