Description

Drawbar-pull rig mechanism with imposed slip.

This mechanism allows imposing known (fixed) vehicle forward linear velocity and wheel angular velocity to maintain a prescribed value of the longitudinal slip. The actuation specifies if the linear velocity or angular velocity is considered as "base velocity", with the other one derived from the slip value. The DBP force is extracted as the reaction force required to enforce the vehicle forward linear velocity (at steady state). Each run of this experiment produces one point on the slip-DBP curve.

#include <ChVehicleCosimDBPRig.h>

Inheritance diagram for chrono::vehicle::ChVehicleCosimDBPRigImposedSlip:

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Collaboration diagram for chrono::vehicle::ChVehicleCosimDBPRigImposedSlip:

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Public Types
enum	ActuationType { ActuationType::SET_LIN_VEL, ActuationType::SET_ANG_VEL, ActuationType::UNKNOWN }
	Type of drawbar pull actuation type. More...

Public Types inherited from chrono::vehicle::ChVehicleCosimDBPRig
enum	Type { Type::IMPOSED_SLIP, Type::IMPOSED_ANG_VEL }
	Type of DBP rig. More...

Public Member Functions
	ChVehicleCosimDBPRigImposedSlip (ActuationType act_type, double base_vel, double slip)

virtual Type	GetType () const override
	Get rig type.

ActuationType	GetActuationType () const
	Return the actuation type.

virtual double	GetSlip () const override
	Return the current slip value.

virtual double	GetLinVel () const override
	Return current rig linear speed.

virtual double	GetAngVel () const override
	Return current wheel angular speed.

virtual double	GetDBP () const override
	Return current raw drawbar-pull value.

void	SetRampingIntervals (double delay, double ramp_time)
	Set the delay and ramping time intervals for reaching the prescribed linear and angular velocities. More...

Public Member Functions inherited from chrono::vehicle::ChVehicleCosimDBPRig
void	SetDBPFilterWindow (double window)
	Set window (in seconds) for the running average filter for drawbar pull reporting (default: 0.1 s).

void	SetSlipFilterWindow (double window)
	Set window (in seconds) for the running average filter for slip reporting (default: 0.1 s).

double	GetFilteredDBP () const
	Return current filtered drawbar-pull value.

double	GetFilteredSlip () const
	Return current filtered slip value.

Static Public Member Functions
static std::string	GetActuationTypeAsString (ActuationType type)
	Return a string describing the actuation type.

static ActuationType	GetActuationTypeFromString (const std::string &type)
	Infer the actuation type from the given string.

Additional Inherited Members
Protected Attributes inherited from chrono::vehicle::ChVehicleCosimDBPRig
bool	m_verbose
	verbose messages during simulation?

double	m_delay_time
	initialization (ramping up) time

Member Enumeration Documentation

◆ ActuationType

enum chrono::vehicle::ChVehicleCosimDBPRigImposedSlip::ActuationType

strong

Type of drawbar pull actuation type.

Enumerator
SET_LIN_VEL	fixed carrier linear velocity
SET_ANG_VEL	fixed wheel angular velocity
UNKNOWN	unknown actuation type

Constructor & Destructor Documentation

◆ ChVehicleCosimDBPRigImposedSlip()

chrono::vehicle::ChVehicleCosimDBPRigImposedSlip::ChVehicleCosimDBPRigImposedSlip	(	ActuationType	act_type,
		double	base_vel,
		double	slip
	)

Parameters

act_type	actuation type
base_vel	constant linear or angular velocity
slip	desired longitudinal slip

Member Function Documentation

◆ SetRampingIntervals()

void chrono::vehicle::ChVehicleCosimDBPRigImposedSlip::SetRampingIntervals	(	double	delay,
		double	ramp_time
	)

Set the delay and ramping time intervals for reaching the prescribed linear and angular velocities.

By default, the velocities are kept zero for 0.2 s and then increased to their final values in 0.5 s.

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

/builds/uwsbel/chrono/src/chrono_vehicle/cosim/ChVehicleCosimDBPRig.h
/builds/uwsbel/chrono/src/chrono_vehicle/cosim/ChVehicleCosimDBPRig.cpp

Description

Public Types

Public Member Functions