chrono::vehicle::ChSimpleTrackDriveline Class Referenceabstract

Description

Simple driveline model for a tracked vehicle.

This template splits the input torque to the left and right tracks using a simple analytical model of a Torsen limited-slip differential and the given driver steering input.

#include <ChSimpleTrackDriveline.h>

Inheritance diagram for chrono::vehicle::ChSimpleTrackDriveline:
Collaboration diagram for chrono::vehicle::ChSimpleTrackDriveline:

Public Member Functions

 ChSimpleTrackDriveline (const std::string &name)
 
virtual void Initialize (std::shared_ptr< ChBody > chassis, std::shared_ptr< ChTrackAssembly > track_left, std::shared_ptr< ChTrackAssembly > track_right) override
 Initialize the driveline subsystem. More...
 
virtual double GetDriveshaftSpeed () const override
 Get the angular speed of the driveshaft. More...
 
virtual void Synchronize (double steering, double torque) override
 Update the driveline subsystem. More...
 
virtual double GetSprocketTorque (VehicleSide side) const override
 Get the motor torque to be applied to the specified sprocket.
 
virtual double GetSprocketSpeed (VehicleSide side) const override
 Get the angular speed of the specified sprocket.
 
- Public Member Functions inherited from chrono::vehicle::ChTrackDriveline
 ChTrackDriveline (const std::string &name)
 
std::shared_ptr< ChShaftGetDriveshaft () const
 Get a handle to the driveshaft. More...
 
virtual void SetGyrationMode (bool mode)
 Turn gyration mode on/off.
 
- 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 GetDifferentialMaxBias () const =0
 Return the torque bias ratio for the differential. More...
 

Additional Inherited Members

- Protected Attributes inherited from chrono::vehicle::ChTrackDriveline
bool m_gyration_mode
 flag indicating if in gyration mode (turn in place)
 
std::shared_ptr< ChShaftm_driveshaft
 handle to the shaft connection to the powertrain
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 

Member Function Documentation

virtual double chrono::vehicle::ChSimpleTrackDriveline::GetDifferentialMaxBias ( ) const
protectedpure virtual

Return the torque bias ratio for the differential.

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

Implemented in chrono::vehicle::SimpleTrackDriveline.

double chrono::vehicle::ChSimpleTrackDriveline::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::ChTrackDriveline.

void chrono::vehicle::ChSimpleTrackDriveline::Initialize ( std::shared_ptr< ChBody chassis,
std::shared_ptr< ChTrackAssembly track_left,
std::shared_ptr< ChTrackAssembly track_right 
)
overridevirtual

Initialize the driveline subsystem.

This function connects this driveline subsystem to the sprockets of the two track assembly subsystems.

Parameters
chassishandle to the chassis body
track_lefthandle to the left track assembly
track_righthandle to the right track assembly

Implements chrono::vehicle::ChTrackDriveline.

void chrono::vehicle::ChSimpleTrackDriveline::Synchronize ( double  steering,
double  torque 
)
overridevirtual

Update the driveline subsystem.

The motor torque represents the input to the driveline subsystem from the powertrain system.

Reimplemented from chrono::vehicle::ChTrackDriveline.