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 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 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

- 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...
 
- 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
 
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
 

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::hmmwv::HMMWV_SimpleDriveline, and 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::hmmwv::HMMWV_SimpleDriveline, and 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.