How to model four independent motor drive

[Alex Lan]

Hi, I want to model a electric vehicle that is driven by four in-wheel motors. The four motors drive each wheel independently and coordinately. Chrono seems to provide template of shaft-based powertrain with one engine. Is it possible for me to utilize template to implement the four-motor drive? or should I implement it as another class manually by myself?

Best regards.

[Radu Serban]

Alex, support for direct drive motors in Chrono::Vehicle is on the todo list.  But I cannot tell you when I will get a chance to implement that.
For now, you can model that yourself, for example using a custom driveline system.

--Radu

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[Alex Lan]

Ok, thank you very much!

[Thorsten Wittenator]

Hi Radu,

maybe a question regarding the custom driveline: If we would implement the direct drive ourselves, the logic around the driver subsystem does not work anymore since the driving commands are more complex, right? Or can we just insert prop commands that are piped to the other components such as the ground? I am specifically asking for these bits in the simulation loop:

vehicle::DriverInputs driver_inputs = driver->GetInputs();

vehicle.Synchronize(time, driver_inputs, terrain);

terrain.Synchronize(time);

vis->Synchronize(time, driver_inputs);