Description

Simple driveline model.

This template can be used to model a 4WD driveline. It uses a constant front/rear torque split (a value between 0 and 1) and a simple model for Torsen limited-slip differentials.

#include <ChSimpleDriveline.h>

Inheritance diagram for chrono::vehicle::ChSimpleDriveline:
Collaboration diagram for chrono::vehicle::ChSimpleDriveline:

Public Member Functions

 ChSimpleDriveline (const std::string &name)
 
virtual std::string GetTemplateName () const override
 Get the name of the vehicle subsystem template.
 
virtual unsigned int GetNumDrivenAxles () const final override
 Return the number of driven axles.
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis, const ChAxleList &axles, const std::vector< int > &driven_axles) override
 Initialize the driveline subsystem. More...
 
virtual void Synchronize (double time, const DriverInputs &driver_inputs, double driveshaft_torque) override
 Update the driveline subsystem: apply the specified motor torque. More...
 
virtual double GetSpindleTorque (int axle, VehicleSide side) const override
 Get the motor torque to be applied to the specified spindle.
 
virtual void Disconnect () override
 Disconnect driveline from driven wheels.
 
virtual double GetOutputDriveshaftSpeed () const override
 Return the output driveline speed of the driveshaft. More...
 
- Public Member Functions inherited from chrono::vehicle::ChDrivelineWV
virtual void LockAxleDifferential (int axle, bool lock)
 Lock/unlock the differential on the specified axle. More...
 
virtual void LockCentralDifferential (int which, bool lock)
 Lock/unlock the specified central differential. More...
 
const std::vector< int > & GetDrivenAxleIndexes () const
 Get the indexes of the vehicle's axles driven by this driveline subsystem.
 
- Public Member Functions inherited from chrono::vehicle::ChDriveline
void Initialize (std::shared_ptr< ChChassis > chassis)
 Initialize the driveline.
 
- Public Member Functions inherited from chrono::vehicle::ChPart
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.
 
bool IsInitialized () const
 Return flag indicating whether or not the part is fully constructed.
 
double GetMass () const
 Get the subsystem mass. More...
 
const ChFrameGetCOMFrame () const
 Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame). More...
 
const ChMatrix33GetInertia () const
 Get the current subsystem inertia (relative to the subsystem COM frame). More...
 
const ChFrameGetTransform () const
 Get the current subsystem position relative to the global frame. More...
 
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.
 
virtual void SetOutput (bool state)
 Enable/disable output for this subsystem.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 
virtual void ExportComponentList (rapidjson::Document &jsonDocument) const
 Export this subsystem's component list to the specified JSON object. More...
 
virtual void Output (ChVehicleOutput &database) const
 Output data for this subsystem's component list to the specified database.
 

Protected Member Functions

virtual double GetFrontTorqueFraction () const =0
 Return the front torque fraction [0,1].
 
virtual double GetFrontDifferentialMaxBias () const =0
 Return the torque bias ratio for the front differential. More...
 
virtual double GetRearDifferentialMaxBias () const =0
 Return the torque bias ratio for the rear differential. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChDrivelineWV
 ChDrivelineWV (const std::string &name)
 
- Protected Member Functions inherited from chrono::vehicle::ChDriveline
 ChDriveline (const std::string &name)
 
virtual void InitializeInertiaProperties () override
 Initialize subsystem inertia properties. More...
 
virtual void UpdateInertiaProperties () override
 Update subsystem inertia properties. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChPart
 ChPart (const std::string &name)
 Construct a vehicle subsystem with the specified name.
 
void AddMass (double &mass)
 Add this subsystem's mass. More...
 
void AddInertiaProperties (ChVector3d &com, ChMatrix33<> &inertia)
 Add this subsystem's inertia properties. More...
 
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. More...
 
void ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody >> bodies) const
 Export the list of bodies to the specified JSON document.
 
void ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft >> shafts) const
 Export the list of shafts to the specified JSON document.
 
void ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink >> joints) const
 Export the list of joints to the specified JSON document.
 
void ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple >> couples) const
 Export the list of shaft couples to the specified JSON document.
 
void ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker >> markers) const
 Export the list of markers to the specified JSON document.
 
void ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA >> springs) const
 Export the list of translational springs to the specified JSON document.
 
void ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRSDA >> springs) const
 Export the list of rotational springs to the specified JSON document.
 
void ExportBodyLoadList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLoadBodyBody >> loads) const
 Export the list of body-body loads to the specified JSON document.
 

Additional Inherited Members

- Static Public Member Functions inherited from chrono::vehicle::ChPart
static ChMatrix33 TransformInertiaMatrix (const ChVector3d &moments, const ChVector3d &products, const ChMatrix33<> &vehicle_rot, const ChMatrix33<> &body_rot)
 Utility function for transforming inertia tensors between centroidal frames. More...
 
- Static Protected Member Functions inherited from chrono::vehicle::ChPart
static void RemoveVisualizationAssets (std::shared_ptr< ChPhysicsItem > item)
 Erase all visual shapes from the visual model associated with the specified physics item (if any).
 
static void RemoveVisualizationAsset (std::shared_ptr< ChPhysicsItem > item, std::shared_ptr< ChVisualShape > shape)
 Erase the given shape from the visual model associated with the specified physics item (if any).
 
- Protected Attributes inherited from chrono::vehicle::ChDrivelineWV
std::vector< int > m_driven_axles
 indexes of the driven vehicle axles
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 subsystem name
 
bool m_initialized
 specifies whether ot not the part is fully constructed
 
bool m_output
 specifies whether or not output is generated for this subsystem
 
std::shared_ptr< ChPartm_parent
 parent subsystem (empty if parent is vehicle)
 
double m_mass
 subsystem mass
 
ChMatrix33 m_inertia
 inertia tensor (relative to subsystem COM)
 
ChFrame m_com
 COM frame (relative to subsystem reference frame)
 
ChFrame m_xform
 subsystem frame expressed in the global frame
 

Member Function Documentation

◆ GetFrontDifferentialMaxBias()

virtual double chrono::vehicle::ChSimpleDriveline::GetFrontDifferentialMaxBias ( ) const
protectedpure virtual

◆ GetOutputDriveshaftSpeed()

virtual double chrono::vehicle::ChSimpleDriveline::GetOutputDriveshaftSpeed ( ) const
inlineoverridevirtual

Return the output driveline speed of the driveshaft.

This represents the output from the driveline subsystem that is passed to the transmission subsystem.

Implements chrono::vehicle::ChDriveline.

◆ GetRearDifferentialMaxBias()

virtual double chrono::vehicle::ChSimpleDriveline::GetRearDifferentialMaxBias ( ) const
protectedpure virtual

◆ Initialize()

void chrono::vehicle::ChSimpleDriveline::Initialize ( std::shared_ptr< ChChassis chassis,
const ChAxleList axles,
const std::vector< int > &  driven_axles 
)
overridevirtual

Initialize the driveline subsystem.

This function connects this driveline subsystem to the specified axle subsystems.

Parameters
chassisassociated chassis subsystem
axleslist of all vehicle axle subsystems
driven_axlesindexes of the driven vehicle axles

Implements chrono::vehicle::ChDrivelineWV.

◆ Synchronize()

void chrono::vehicle::ChSimpleDriveline::Synchronize ( double  time,
const DriverInputs driver_inputs,
double  driveshaft_torque 
)
overridevirtual

Update the driveline subsystem: apply the specified motor torque.

This represents the input to the driveline subsystem from the powertrain system.

Parameters
timecurrent time
driver_inputscurrent driver inputs
driveshaft_torqueinput transmission torque

Implements chrono::vehicle::ChDriveline.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/driveline/ChSimpleDriveline.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/driveline/ChSimpleDriveline.cpp