Description

TMeasy handling tire model.

#include <ChTMeasyTire.h>

Inheritance diagram for chrono::vehicle::ChTMeasyTire:

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Collaboration diagram for chrono::vehicle::ChTMeasyTire:

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Public Member Functions
	ChTMeasyTire (const std::string &name)

virtual std::string	GetTemplateName () const override
	Get the name of the vehicle subsystem template.

virtual double	GetRadius () const override
	Get the tire radius.

virtual double	GetWidth () const override
	Get the width of the tire.

virtual double	GetVisualizationWidth () const override
	Get visualization width.

double	GetSlipAngle_internal () const
	Get the tire slip angle computed internally by the TMsimple model (in radians). More...

double	GetLongitudinalSlip_internal () const
	Get the tire longitudinal slip computed internally by the TMsimple model. More...

double	GetTireOmega ()

void	GuessTruck80Par (unsigned int li, double tireWidth, double ratio, double rimDia, double pinfl_li=1.0, double pinfl_use=1.0, double damping_ratio=0.5)
	Guess Tire Parameters from characteristic truck tire parameter pattern (Ratio = 80%). More...

void	GuessTruck80Par (double loadForce, double tireWidth, double ratio, double rimDia, double pinfl_li=1.0, double pinfl_use=1.0, double damping_ratio=0.5)

void	GuessPassCar70Par (unsigned int li, double tireWidth, double ratio, double rimDia, double pinfl_li=1.0, double pinfl_use=1.0, double damping_ratio=0.5)
	Guess Tire Parameters from characteristic passenger car tire parameter pattern (Ratio = 70%). More...

void	GuessPassCar70Par (double loadForce, double tireWidth, double ratio, double rimDia, double pinfl_li=1.0, double pinfl_use=1.0, double damping_ratio=0.5)

void	SetVerticalStiffness (double Cz)
	Set vertical tire stiffness as linear function by coefficient [N/m].

void	SetVerticalStiffness (std::vector< double > &defl, std::vector< double > &frc)
	Set vertical tire stiffness as nonlinear function by coefficients at nominal load 1 [N/m] and nominal load 2 [N/m]. More...

void	SetFrictionCoefficient (double coef)
	Set the tire reference coefficient of friction.

void	SetRollingResistanceCoefficient (double coef)
	Set rolling resistance coefficients (default: 0.01).

void	WritePlots (const std::string &plFileName, const std::string &plTireFormat)
	Generate basic tire plots. More...

virtual double	GetDeflection () const override
	Get the tire deflection.

bool	CheckParameters ()
	Simple parameter consistency test.

Public Member Functions inherited from chrono::vehicle::ChForceElementTire
virtual TerrainForce	ReportTireForce (ChTerrain *terrain) const override
	Report the tire force and moment. More...

virtual TerrainForce	ReportTireForceLocal (ChTerrain *terrain, ChCoordsys<> &tire_frame) const override
	Report the tire forces expressed in the tire frame. More...

const ContactData &	ReportTireContactData () const
	Report current tire-terrain contact information. More...

void	SetVerbose (bool verbose)
	Enable/disable information terminal output (default: false).

Public Member Functions inherited from chrono::vehicle::ChTire
void	SetStepsize (double val)
	Set the integration step size for the underlying dynamics (default: 1ms). More...

double	GetStepsize () const
	Get the current value of the integration step size.

void	SetCollisionType (CollisionType collision_type)
	Set the collision type for tire-terrain interaction (default: SINGLE_POINT). More...

void	SetContactSurfaceType (ContactSurfaceType type, double dim=0.01, int collision_family=13)
	Set the contact surface type (default: NODE_CLOUD). More...

void	SetPressure (double pressure)
	Set the internal tire pressure [Pa] (default: 0). More...

double	GetPressure () const
	Get the internal tire pressure [Pa].

virtual double	GetTireMass () const =0
	Return the tire mass.

virtual ChVector3d	GetTireInertia () const =0
	Return the tire moments of inertia (in the tire centroidal frame).

double	GetSlipAngle () const
	Return the tire slip angle calculated based on the current state of the associated wheel body. More...

double	GetLongitudinalSlip () const
	Return the tire longitudinal slip calculated based on the current state of the associated wheel body. More...

double	GetCamberAngle () const
	Return the tire camber angle calculated based on the current state of the associated wheel body. More...

const std::string &	GetMeshFilename () const
	Get the name of the Wavefront file with tire visualization mesh. More...

std::shared_ptr< ChWheel >	GetWheel () const
	Get the associated wheel. More...

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.

virtual uint16_t	GetVehicleTag () const
	Get the tag of the associated vehicle. More...

int	GetBodyTag () const
	Get the tag for component bodies.

double	GetMass () const
	Get the subsystem mass. More...

const ChFrame &	GetCOMFrame () const
	Get the current subsystem COM frame (relative to and expressed in the subsystem's reference frame). More...

const ChMatrix33 &	GetInertia () const
	Get the current subsystem inertia (relative to the subsystem COM frame). More...

const ChFrame &	GetTransform () 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	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 (ChOutput &database) const
	Output data for this subsystem's component list to the specified database.

Static Public Member Functions
static double	GetTireMaxLoad (unsigned int li)
	Get maximum tire load from Load Index (LI) in N [0:279].

Static Public Member Functions inherited from chrono::vehicle::ChTire
static ChVector3d	EstimateInertia (double tire_width, double aspect_ratio, double rim_diameter, double tire_mass, double t_factor=2)
	Utility function for estimating the tire moments of inertia. More...

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...

Protected Member Functions
virtual void	SetTMeasyParams ()=0
	Set the parameters in the TMsimple model.

virtual double	GetNormalStiffnessForce (double depth) const override final
	Return the vertical tire stiffness contribution to the normal force.

virtual double	GetNormalDampingForce (double depth, double velocity) const override final
	Return the vertical tire damping contribution to the normal force.

virtual void	Initialize (std::shared_ptr< ChWheel > wheel) override
	Initialize this tire by associating it to the specified wheel.

virtual void	Synchronize (double time, 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	CombinedCoulombForces (double &fx, double &fy, double fz, double muscale)

void	tmxy_combined (double &f, double &fos, double s, double df0, double sm, double fm, double ss, double fs)

double	AlignmentTorque (double fy)

double	InterpL (double w1, double w2)

double	InterpQ (double w1, double w2)

Protected Member Functions inherited from chrono::vehicle::ChForceElementTire
	ChForceElementTire (const std::string &name)
	Construct a tire with the specified name.

virtual TerrainForce	GetTireForce () const override
	Get the tire force and moment. 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.

Protected Member Functions inherited from chrono::vehicle::ChTire
	ChTire (const std::string &name)
	Construct a tire subsystem with given name.

void	CalculateKinematics (const WheelState &wheel_state, const ChCoordsys<> &tire_frame)
	Calculate kinematics quantities based on the given state of the associated wheel body. More...

double	GetOffset () const
	Get offset from spindle center. More...

std::shared_ptr< ChVisualShapeTriangleMesh >	AddVisualizationMesh (const std::string &mesh_file_left, const std::string &mesh_file_right)
	Add mesh visualization to the body associated with this tire (a wheel spindle body). 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.

Protected Attributes
bool	m_use_startup_transition

double	m_time

double	m_begin_start_transition

double	m_end_start_transition

double	m_vnum

double	m_unloaded_radius
	reference tire radius

double	m_width
	tire width

double	m_rim_radius
	tire rim radius

double	m_bottom_radius
	radius where tire bottoming begins

double	m_bottom_stiffness
	stiffness of the tire/bottom contact

double	m_rolling_resistance
	actual rolling friction coeff

double	m_d1
	polynomial coefficient for stiffness interpolation, linear

double	m_d2
	polynomial coefficient for stiffness interpolation, quadratic

double	m_vcoulomb

double	m_frblend_begin

double	m_frblend_end

VehicleSide	m_measured_side

TMeasyCoeff	m_par

TireStates	m_states

const bool	m_use_bdf1 {false}

Protected Attributes inherited from chrono::vehicle::ChForceElementTire
ContactData	m_data
	tire-terrain collision information

TerrainForce	m_tireforce
	tire forces (in tire contact frame)

ChFunctionInterp	m_areaDep
	lookup table for estimation of penetration depth from intersection area

std::shared_ptr< ChVisualShape >	m_cyl_shape
	visualization cylinder asset

bool	m_verbose
	verbose output

Protected Attributes inherited from chrono::vehicle::ChTire
std::shared_ptr< ChWheel >	m_wheel
	associated wheel subsystem

double	m_stepsize
	tire integration step size (if applicable)

double	m_pressure
	internal tire pressure

CollisionType	m_collision_type
	method used for tire-terrain collision

ContactSurfaceType	m_contact_surface_type
	type of contact surface model (node cloud or mesh)

double	m_contact_surface_dim
	contact surface dimension (node radius or mesh thickness)

int	m_collision_family
	collision family for this tire

std::string	m_vis_mesh_file
	name of OBJ file for visualization of this tire (may be empty)

double	m_slip_angle

double	m_longitudinal_slip

double	m_camber_angle

Protected Attributes inherited from chrono::vehicle::ChPart
std::string	m_name
	subsystem name

bool	m_initialized
	specifies whether or not the part is fully constructed

bool	m_output
	specifies whether or not output is generated for this subsystem

std::shared_ptr< ChPart >	m_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

int	m_obj_tag
	tag for part objects

Additional Inherited Members
Public Types inherited from chrono::vehicle::ChTire
enum	CollisionType { SINGLE_POINT, FOUR_POINTS, ENVELOPE }
	Collision detection type. More...

enum	ContactSurfaceType { NODE_CLOUD, TRIANGLE_MESH }
	Contact surface type. More...

Static Protected Member Functions inherited from chrono::vehicle::ChTire
static bool	DiscTerrainCollision (CollisionType method, const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, double width, const ChFunctionInterp &areaDep, ChCoordsys<> &contact, double &depth, float &mu)
	Perform disc-terrain collision detection, using the specified method. More...

static void	ConstructAreaDepthTable (double disc_radius, ChFunctionInterp &areaDep)
	Utility function to construct a loopkup table for penetration depth as function of intersection area, for a given tire radius. More...

static bool	DiscTerrainCollision1pt (const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, ChCoordsys<> &contact, double &depth, float &mu)
	Perform disc-terrain collision detection. More...

static bool	DiscTerrainCollision4pt (const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, double width, ChCoordsys<> &contact, double &depth, float &mu)
	Perform disc-terrain collision detection considering the curvature of the road surface. More...

static bool	DiscTerrainCollisionEnvelope (const ChTerrain &terrain, const ChVector3d &disc_center, const ChVector3d &disc_normal, double disc_radius, double width, const ChFunctionInterp &areaDep, ChCoordsys<> &contact, double &depth, float &mu)
	Collsion algorithm based on a paper of J. 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).

Member Function Documentation

◆ GetLongitudinalSlip_internal()

double chrono::vehicle::ChTMeasyTire::GetLongitudinalSlip_internal ( ) const

inline

Get the tire longitudinal slip computed internally by the TMsimple model.

The reported value will be similar to that reported by ChTire::GetLongitudinalSlip.

◆ GetSlipAngle_internal()

double chrono::vehicle::ChTMeasyTire::GetSlipAngle_internal ( ) const

inline

Get the tire slip angle computed internally by the TMsimple model (in radians).

The reported value will be similar to that reported by ChTire::GetSlipAngle.

◆ GuessPassCar70Par() [1/2]

void chrono::vehicle::ChTMeasyTire::GuessPassCar70Par	(	double	loadForce,
		double	tireWidth,
		double	ratio,
		double	rimDia,
		double	pinfl_li = `1.0`,
		double	pinfl_use = `1.0`,
		double	damping_ratio = `0.5`
	)

Parameters

loadForce	tire nominal load force [N]
tireWidth	tire width [m]
ratio	use 0.75 meaning 75%
rimDia	rim diameter [m]
pinfl_li	inflation pressure at load index
pinfl_use	inflation pressure in this configuration
damping_ratio	scaling factor for normal damping coefficient

◆ GuessPassCar70Par() [2/2]

void chrono::vehicle::ChTMeasyTire::GuessPassCar70Par	(	unsigned int	li,
		double	tireWidth,
		double	ratio,
		double	rimDia,
		double	pinfl_li = `1.0`,
		double	pinfl_use = `1.0`,
		double	damping_ratio = `0.5`
	)

Guess Tire Parameters from characteristic passenger car tire parameter pattern (Ratio = 70%).

Parameters

li	tire load index
tireWidth	tire width [m]
ratio	use 0.75 meaning 75%
rimDia	rim diameter [m]
pinfl_li	inflation pressure at load index
pinfl_use	inflation pressure in this configuration
damping_ratio	scaling factor for normal damping coefficient

◆ GuessTruck80Par() [1/2]

void chrono::vehicle::ChTMeasyTire::GuessTruck80Par	(	double	loadForce,
		double	tireWidth,
		double	ratio,
		double	rimDia,
		double	pinfl_li = `1.0`,
		double	pinfl_use = `1.0`,
		double	damping_ratio = `0.5`
	)

Parameters

loadForce	tire nominal load force [N]
tireWidth	tire width [m]
ratio	use 0.75 meaning 75%
rimDia	rim diameter [m]
pinfl_li	inflation pressure at load index
pinfl_use	inflation pressure in this configuration
damping_ratio	scaling factor for normal damping coefficient

◆ GuessTruck80Par() [2/2]

void chrono::vehicle::ChTMeasyTire::GuessTruck80Par	(	unsigned int	li,
		double	tireWidth,
		double	ratio,
		double	rimDia,
		double	pinfl_li = `1.0`,
		double	pinfl_use = `1.0`,
		double	damping_ratio = `0.5`
	)

Guess Tire Parameters from characteristic truck tire parameter pattern (Ratio = 80%).

Parameters

li	tire load index
tireWidth	tire width [m]
ratio	use 0.75 meaning 75%
rimDia	rim diameter [m]
pinfl_li	inflation pressure at load index
pinfl_use	inflation pressure in this configuration
damping_ratio	scaling factor for normal damping coefficient

◆ SetVerticalStiffness()

void chrono::vehicle::ChTMeasyTire::SetVerticalStiffness	(	std::vector< double > &	defl,
		std::vector< double > &	frc
	)

Set vertical tire stiffness as nonlinear function by coefficients at nominal load 1 [N/m] and nominal load 2 [N/m].

void SetVerticalStiffness(double Cz1, double Cz2); Set vertical tire stiffness as nonlinear function by calculation from tire test data (least squares).

◆ Synchronize()

void chrono::vehicle::ChTMeasyTire::Synchronize	(	double	time,
		const ChTerrain &	terrain
	)

overrideprotectedvirtual

Update the state of this tire system at the current time.

Parameters

[in]	time	current time
[in]	terrain	reference to the terrain system

Reimplemented from chrono::vehicle::ChTire.

◆ WritePlots()

void chrono::vehicle::ChTMeasyTire::WritePlots	(	const std::string &	plFileName,
		const std::string &	plTireFormat
	)

Generate basic tire plots.

This function creates a Gnuplot script file with the specified name.

The documentation for this class was generated from the following files:

/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChTMeasyTire.h
/builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/tire/ChTMeasyTire.cpp

Description

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Member Function Documentation

◆ GetLongitudinalSlip_internal()

◆ GetSlipAngle_internal()

◆ GuessPassCar70Par() [1/2]

◆ GuessPassCar70Par() [2/2]

◆ GuessTruck80Par() [1/2]

◆ GuessTruck80Par() [2/2]

◆ SetVerticalStiffness()

◆ Synchronize()

◆ WritePlots()