chrono::vehicle::ChSimpleDriveline Class Referenceabstract

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 int GetNumDrivenAxles () const finaloverride
 Return the number of driven axles.
 
virtual void Initialize (std::shared_ptr< ChBody > chassis, const ChSuspensionList &suspensions, const std::vector< int > &driven_axles) override
 Initialize the driveline subsystem. More...
 
virtual double GetDriveshaftSpeed () const override
 Get the angular speed of the driveshaft. More...
 
virtual void Synchronize (double torque) override
 Update the driveline subsystem: apply the specified motor torque. More...
 
virtual double GetWheelTorque (const WheelID &wheel_id) const override
 Get the motor torque to be applied to the specified wheel.
 
- Public Member Functions inherited from chrono::vehicle::ChDriveline
 ChDriveline (const std::string &name)
 
std::shared_ptr< ChShaftGetDriveshaft () const
 Get a handle to the driveshaft. 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::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.
 
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.
 

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...
 

Additional Inherited Members

- Protected Attributes inherited from chrono::vehicle::ChDriveline
std::shared_ptr< ChShaftm_driveshaft
 handle to the shaft connection to the powertrain
 
std::vector< int > m_driven_axles
 indexes of the driven vehicle axles
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 

Member Function Documentation

double chrono::vehicle::ChSimpleDriveline::GetDriveshaftSpeed ( ) const
overridevirtual

Get the angular speed of the driveshaft.

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

Reimplemented from chrono::vehicle::ChDriveline.

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

Return the torque bias ratio for the front differential.

This is a simple model of a Torsen limited-slip differential.

Implemented in chrono::vehicle::SimpleDriveline.

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

Return the torque bias ratio for the rear differential.

This is a simple model of a Torsen limited-slip differential.

Implemented in chrono::vehicle::SimpleDriveline.

void chrono::vehicle::ChSimpleDriveline::Initialize ( std::shared_ptr< ChBody chassis,
const ChSuspensionList suspensions,
const std::vector< int > &  driven_axles 
)
overridevirtual

Initialize the driveline subsystem.

This function connects this driveline subsystem to the axles of the specified suspension subsystems.

Parameters
chassishandle to the chassis body
suspensionslist of all vehicle suspension subsystems
driven_axlesindexes of the driven vehicle axles

Implements chrono::vehicle::ChDriveline.

void chrono::vehicle::ChSimpleDriveline::Synchronize ( double  torque)
overridevirtual

Update the driveline subsystem: apply the specified motor torque.

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

Reimplemented from chrono::vehicle::ChDriveline.