chrono::vehicle::ChVehicleCosimDBPRigImposedSlip Class Reference
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:
Collaboration diagram for chrono::vehicle::ChVehicleCosimDBPRigImposedSlip:
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 | GetAngVel () const override |
| Return current wheel angular speed. | |
| virtual double | GetDBP () const override |
| Return current raw drawbar-pull value. | |
| Public Member Functions inherited from chrono::vehicle::ChVehicleCosimDBPRig | |
| void | SetVerbose (bool verbose) |
| Set verbose flag. | |
| 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). | |
| void | SetRampingIntervals (double delay, double ramp_time) |
| Set the delay and ramping time intervals for reaching the prescribed angular velocity. More... | |
| double | GetTimeDelay () |
| Get total time delay. More... | |
| std::shared_ptr< ChFunction > | GetMotorFunction () const |
| Return the function specifying spindle angular speed. | |
| double | GetLocation () const |
| Return current rig location. | |
| double | GetLinVel () const |
| Return current rig linear speed. | |
| double | GetSlip () const |
| Return current value of longitudinal slip. | |
| 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_time_delay |
| initial interval with zero motor velocities | |
| double | m_time_ramp |
| time interval to ramp up motor velocities to prescribed value | |
| double | m_wheel_radius |
| wheel radius | |
| std::shared_ptr< ChBody > | m_ground |
| ground body | |
| std::shared_ptr< ChBody > | m_carrier |
| rig carrier body | |
| std::shared_ptr< ChFunction > | m_rot_motor_func |
| imposed spindle angular speed | |
Member Enumeration Documentation
◆ ActuationType
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
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
