Simulation 3D Trailer

Implement trailer in 3D environment

Since R2020b

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Libraries:
Vehicle Dynamics Blockset / Vehicle Scenarios / Sim3D / Sim3D Vehicle / Components

Description

Note

Simulating models with the Simulation 3D Trailer block requires Simulink^® 3D Animation™.

The Simulation 3D Trailer block implements a trailer with one, two or three axles in the 3D simulation environment.

To use the Simulation 3D Trailer block, ensure that the Simulation 3D Scene Configuration block is in your model. If you set the Sample time parameter of the Simulation 3D Trailer block to -1, the block uses the sample time specified in the Simulation 3D Scene Configuration block.

The block input uses the vehicle Z-down right-handed (RH) Cartesian coordinate system defined in SAE J670¹. The coordinate system is inertial and initially aligned with the vehicle geometric center:

• X-axis — Points forward along vehicle longitudinal axis

• Y-axis — Points to the right along vehicle lateral axis

• Z-axis — Points downward

Tip

Verify that the Simulation 3D Trailer block executes before the Simulation 3D Scene Configuration block. That way, Simulation 3D Vehicle prepares the signal data before the Unreal Engine^® 3D visualization environment receives it. To check the block execution order, right-click the blocks and select Properties. On the General tab, confirm these Priority settings:

• Simulation 3D Scene Configuration — 0

• Simulation 3D Trailer — -1

For more information about execution order, see Control and Display Execution Order.

Examples

Three-Axle Tractor Towing a Three-Axle Trailer

Simulates three-axle tractor towing a three-axle trailer for commercial trucking applications. Implements hitch subsystem, sinusoidal wave steering or braking test, and axle torque applied to tractor rear wheels.

• Open Model

Ports

Input

Translation — Vehicle translation

5-by-3 array (default) | 7-by-3 array | 3-by-3 array

Vehicle and wheel translation, in m. The array dimensions are 3-by-3 for a one-axle trailer, 5-by-3 for a two-axle trailer, and 7-by-3 for a three-axle trailer, where:

• Translation(1,1), Translation(1,2), and Translation(1,3) — Vehicle translation along the inertial vehicle Z-down X-, Y-, and Z-axes, respectively.

• Translation(...,1), Translation(...,2), and Translation(...,3) — Wheel translation relative to vehicle, along the vehicle Z-down X-, Y-, and Z-axes, respectively.

The signal contains translation information according to the axle and wheel locations.

For a one-axle trailer:

$$Translation=\left[\begin{array}{ccc}{X}_v& Y_v& Z_v\\ X_L& Y_L& Z_L\\ X_R& Y_R& Z_R\end{array}\right]$$

Translation	Array Element	Translation Axis
Vehicle, Xv	Translation(1,1)	Inertial vehicle Z-down X-axis
Vehicle, Yv	Translation(1,2)	Inertial vehicle Z-down Y-axis
Vehicle, Zv	Translation(1,3)	Inertial vehicle Z-down Z-axis
Left wheel, XL	Translation(2,1)	Vehicle Z-down X-axis
Left wheel, YL	Translation(2,2)	Vehicle Z-down Y-axis
Left wheel, ZL	Translation(2,3)	Vehicle Z-down Z-axis
Right wheel, XR	Translation(3,1)	Vehicle Z-down X-axis
Right wheel, YR	Translation(3,2)	Vehicle Z-down Y-axis
Right wheel, ZR	Translation(3,3)	Vehicle Z-down Z-axis

For a two-axle trailer:

$$Translation=\left[\begin{array}{ccc}{X}_v& Y_v& Z_v\\ X_{FL}& Y_{FL}& Z_{FL}\\ X_{FR}& Y_{FR}& Z_{FR}\\ X_{RL}& Y_{RL}& Z_{RL}\\ X_{RR}& Y_{RR}& Z_{RR}\end{array}\right]$$

Translation	Array Element	Translation Axis
Vehicle, Xv	Translation(1,1)	Inertial vehicle Z-down X-axis
Vehicle, Yv	Translation(1,2)	Inertial vehicle Z-down Y-axis
Vehicle, Zv	Translation(1,3)	Inertial vehicle Z-down Z-axis
Front left wheel, XFL	Translation(2,1)	Vehicle Z-down X-axis
Front left wheel, YFL	Translation(2,2)	Vehicle Z-down Y-axis
Front left wheel, ZFL	Translation(2,3)	Vehicle Z-down Z-axis
Front right wheel, XFR	Translation(3,1)	Vehicle Z-down X-axis
Front right wheel, YFR	Translation(3,2)	Vehicle Z-down Y-axis
Front right wheel, ZFR	Translation(3,3)	Vehicle Z-down Z-axis
Rear left wheel, XRL	Translation(4,1)	Vehicle Z-down X-axis
Rear left wheel, YRL	Translation(4,2)	Vehicle Z-down Y-axis
Rear left wheel, ZRL	Translation(4,3)	Vehicle Z-down Z-axis
Rear right wheel, XRR	Translation(5,1)	Vehicle Z-down X-axis
Rear right wheel, YRR	Translation(5,2)	Vehicle Z-down Y-axis
Rear right wheel, ZRR	Translation(5,3)	Vehicle Z-down Z-axis

For a three-axle trailer:

$$Translation=\left[\begin{array}{ccc}{X}_v& Y_v& Z_v\\ X_{FL}& Y_{FL}& Z_{FL}\\ X_{FR}& Y_{FR}& Z_{FR}\\ X_{ML}& Y_{ML}& Z_{ML}\\ X_{MR}& Y_{MR}& Z_{MR}\\ X_{RL}& Y_{RL}& Z_{RL}\\ X_{RR}& Y_{RR}& Z_{RR}\end{array}\right]$$

Translation	Array Element	Translation Axis
Vehicle, Xv	Translation(1,1)	Inertial vehicle Z-down X-axis
Vehicle, Yv	Translation(1,2)	Inertial vehicle Z-down Y-axis
Vehicle, Zv	Translation(1,3)	Inertial vehicle Z-down Z-axis
Front left wheel, XFL	Translation(2,1)	Vehicle Z-down X-axis
Front left wheel, YFL	Translation(2,2)	Vehicle Z-down Y-axis
Front left wheel, ZFL	Translation(2,3)	Vehicle Z-down Z-axis
Front right wheel, XFR	Translation(3,1)	Vehicle Z-down X-axis
Front right wheel, YFR	Translation(3,2)	Vehicle Z-down Y-axis
Front right wheel, ZFR	Translation(3,3)	Vehicle Z-down Z-axis
Middle left wheel, XML (for three-axle trailer)	Translation(4,1)	Vehicle Z-down X-axis
Middle left wheel, YML	Translation(4,2)	Vehicle Z-down Y-axis
Middle left wheel, ZML	Translation(4,3)	Vehicle Z-down Z-axis
Middle right wheel, XMR	Translation(5,1)	Vehicle Z-down X-axis
Middle right wheel, YMR	Translation(5,2)	Vehicle Z-down Y-axis
Middle right wheel, ZMR	Translation(5,3)	Vehicle Z-down Z-axis
Rear left wheel, XRL	Translation(6,1)	Vehicle Z-down X-axis
Rear left wheel, YRL	Translation(6,2)	Vehicle Z-down Y-axis
Rear left wheel, ZRL	Translation(6,3)	Vehicle Z-down Z-axis
Rear right wheel, XRR	Translation(7,1)	Vehicle Z-down X-axis
Rear right wheel, YRR	Translation(7,2)	Vehicle Z-down Y-axis
Rear right wheel, ZRR	Translation(7,3)	Vehicle Z-down Z-axis

Rotation — Vehicle rotation

5-by-3 array (default) | 7-by-3 array | 3-by-3 array

Vehicle and wheel rotation, in rad. The array dimensions are 3-by-3 for a one-axle trailer, 5-by-3 for a two-axle trailer, and 7-by-3 for a three-axle trailer, where:

• Rotation(1,1), Rotation(1,2), and Rotation(1,3) — Vehicle rotation about the inertial vehicle Z-down X-, Y-, and Z-axes, respectively.

• Rotation(...,1), Rotation(...,2), and Rotation(...,3) — Wheel rotation relative to vehicle, about the vehicle Z-down X-, Y-, and Z-axes, respectively.

The signal contains rotation information according to the axle and wheel locations.

For a one-axle trailer:

$$Rotation=\left[\begin{array}{ccc}Rol{l}_v& Pitc{h}_v& Ya{w}_v\\ Rol{l}_L& Pitc{h}_L& Ya{w}_L\\ Rol{l}_R& Pitc{h}_R& Ya{w}_R\end{array}\right]$$

Rotation	Array Element	Rotation Axis
Vehicle, Rollv	Rotation(1,1)	Inertial vehicle Z-down X-axis
Vehicle, Pitchv	Rotation(1,2)	Inertial vehicle Z-down Y-axis
Vehicle, Yawv	Rotation(1,3)	Inertial vehicle Z-down Z-axis
Left wheel, RollL	Rotation(2,1)	Vehicle Z-down X-axis
Left wheel, PitchL	Rotation(2,2)	Vehicle Z-down Y-axis
Left wheel, YawL	Rotation(2,3)	Vehicle Z-down Z-axis
Right wheel, RollR	Rotation(3,1)	Vehicle Z-down X-axis
Right wheel, PitchR	Rotation(3,2)	Vehicle Z-down Y-axis
Right wheel, YawR	Rotation(3,3)	Vehicle Z-down Z-axis

For a two-axle trailer:

$$Rotation=\left[\begin{array}{ccc}Rol{l}_v& Pitc{h}_v& Ya{w}_v\\ Rol{l}_{FL}& Pitc{h}_{FL}& Ya{w}_{FL}\\ Rol{l}_{FR}& Pitc{h}_{FR}& Ya{w}_{FR}\\ Rol{l}_{RL}& Pitc{h}_{RL}& Ya{w}_{RL}\\ Rol{l}_{RR}& Pitc{h}_{RR}& Ya{w}_{RR}\end{array}\right]$$

Rotation	Array Element	Rotation Axis
Vehicle, Rollv	Rotation(1,1)	Inertial vehicle Z-down X-axis
Vehicle, Pitchv	Rotation(1,2)	Inertial vehicle Z-down Y-axis
Vehicle, Yawv	Rotation(1,3)	Inertial vehicle Z-down Z-axis
Front left wheel, RollFL	Rotation(2,1)	Vehicle Z-down X-axis
Front left wheel, PitchFL	Rotation(2,2)	Vehicle Z-down Y-axis
Front left wheel, YawFL	Rotation(2,3)	Vehicle Z-down Z-axis
Front right wheel, RollFR	Rotation(3,1)	Vehicle Z-down X-axis
Front right wheel, PitchFR	Rotation(3,2)	Vehicle Z-down Y-axis
Front right wheel, YawFR	Rotation(3,3)	Vehicle Z-down Z-axis
Rear left wheel, RollRL	Rotation(4,1)	Vehicle Z-down X-axis
Rear left wheel, PitchRL	Rotation(4,2)	Vehicle Z-down Y-axis
Rear left wheel, YawRL	Rotation(4,3)	Vehicle Z-down Z-axis
Rear right wheel, RollRR	Rotation(5,1)	Vehicle Z-down X-axis
Rear right wheel, PitchRR	Rotation(5,2)	Vehicle Z-down Y-axis
Rear right wheel, YawRR	Rotation(5,3)	Vehicle Z-down Z-axis

For a three-axle trailer:

$$Rotation=\left[\begin{array}{ccc}Rol{l}_v& Pitc{h}_v& Ya{w}_v\\ Rol{l}_{FL}& Pitc{h}_{FL}& Ya{w}_{FL}\\ Rol{l}_{FR}& Pitc{h}_{FR}& Ya{w}_{FR}\\ Rol{l}_{ML}& Pitc{h}_{ML}& Ya{w}_{ML}\\ Rol{l}_{MR}& Pitc{h}_{MR}& Ya{w}_{MR}\\ Rol{l}_{RL}& Pitc{h}_{RL}& Ya{w}_{RL}\\ Rol{l}_{RR}& Pitc{h}_{RR}& Ya{w}_{RR}\end{array}\right]$$

Rotation	Array Element	Rotation Axis
Vehicle, Rollv	Rotation(1,1)	Inertial vehicle Z-down X-axis
Vehicle, Pitchv	Rotation(1,2)	Inertial vehicle Z-down Y-axis
Vehicle, Yawv	Rotation(1,3)	Inertial vehicle Z-down Z-axis
Front left wheel, RollFL	Rotation(2,1)	Vehicle Z-down X-axis
Front left wheel, PitchFL	Rotation(2,2)	Vehicle Z-down Y-axis
Front left wheel, YawFL	Rotation(2,3)	Vehicle Z-down Z-axis
Front right wheel, RollFR	Rotation(3,1)	Vehicle Z-down X-axis
Front right wheel, PitchFR	Rotation(3,2)	Vehicle Z-down Y-axis
Front right wheel, YawFR	Rotation(3,3)	Vehicle Z-down Z-axis
Middle left wheel, RollML	Rotation(4,1)	Vehicle Z-down X-axis
Middle left wheel, PitchML	Rotation(4,2)	Vehicle Z-down Y-axis
Middle left wheel, YawML	Rotation(4,3)	Vehicle Z-down Z-axis
Middle right wheel, RollMR	Rotation(5,1)	Vehicle Z-down X-axis
Middle right wheel, PitchMR	Rotation(5,2)	Vehicle Z-down Y-axis
Middle right wheel, YawMR	Rotation(5,3)	Vehicle Z-down Z-axis
Rear left wheel, RollRL	Rotation(6,1)	Vehicle Z-down X-axis
Rear left wheel, PitchRL	Rotation(6,2)	Vehicle Z-down Y-axis
Rear left wheel, YawRL	Rotation(6,3)	Vehicle Z-down Z-axis
Rear right wheel, RollRR	Rotation(7,1)	Vehicle Z-down X-axis
Rear right wheel, PitchRR	Rotation(7,2)	Vehicle Z-down Y-axis
Rear right wheel, YawRR	Rotation(7,3)	Vehicle Z-down Z-axis

Parameters

Vehicle Parameters

Type — Trailer type

Two-axle trailer (default) | Three-axle trailer | One-axle trailer

Trailer type. For the trailer dimensions, see:

• One-Axle Trailer

• Two-Axle Trailer

• Three-Axle Trailer

Name — Name of vehicle

SimulinkVehicle1 (default) | character vector

Name of vehicle. By default, when you use the block in your model, the block sets the Name parameter to SimulinkVehicleX. The value of X depends on the number of Simulation 3D Vehicle with Ground Following and Simulation 3D Vehicle blocks that you have in your model.

Initial Values

Initial array values to translate vehicle per part, Translation — Vehicle initial translation

zeros( 5, 3 ) (default) | zeros( 7, 3 ) | zeros( 3, 3 )

Initial vehicle and wheel translation, in m. The array dimensions are 3-by-3 for a one-axle trailer, 5-by-3 for a two-axle trailer and 7-by-3 for a three-axle trailer, where:

• Translation(1,1), Translation(1,2), and Translation(1,3) — Initial vehicle translation along the inertial vehicle Z-down coordinate system X-, Y-, and Z-axes, respectively.

• Translation(...,1), Translation(...,2), and Translation(...,3) — Initial wheel translation relative to vehicle, along the vehicle Z-down X-, Y-, and Z-axes, respectively.

The signal contains translation information according to the axle and wheel locations.

For a one-axle trailer:

$$Translation=\left[\begin{array}{ccc}{X}_v& Y_v& Z_v\\ X_L& Y_L& Z_L\\ X_R& Y_R& Z_R\end{array}\right]$$

Translation	Array Element	Translation Axis
Vehicle, Xv	Translation(1,1)	Inertial vehicle Z-down X-axis
Vehicle, Yv	Translation(1,2)	Inertial vehicle Z-down Y-axis
Vehicle, Zv	Translation(1,3)	Inertial vehicle Z-down Z-axis
Left wheel, XL	Translation(2,1)	Vehicle Z-down X-axis
Left wheel, YL	Translation(2,2)	Vehicle Z-down Y-axis
Left wheel, ZL	Translation(2,3)	Vehicle Z-down Z-axis
Right wheel, XR	Translation(3,1)	Vehicle Z-down X-axis
Right wheel, YR	Translation(3,2)	Vehicle Z-down Y-axis
Right wheel, ZR	Translation(3,3)	Vehicle Z-down Z-axis

For a two-axle trailer:

$$Translation=\left[\begin{array}{ccc}{X}_v& Y_v& Z_v\\ X_{FL}& Y_{FL}& Z_{FL}\\ X_{FR}& Y_{FR}& Z_{FR}\\ X_{RL}& Y_{RL}& Z_{RL}\\ X_{RR}& Y_{RR}& Z_{RR}\end{array}\right]$$

Translation	Array Element	Translation Axis
Vehicle, Xv	Translation(1,1)	Inertial vehicle Z-down X-axis
Vehicle, Yv	Translation(1,2)	Inertial vehicle Z-down Y-axis
Vehicle, Zv	Translation(1,3)	Inertial vehicle Z-down Z-axis
Front left wheel, XFL	Translation(2,1)	Vehicle Z-down X-axis
Front left wheel, YFL	Translation(2,2)	Vehicle Z-down Y-axis
Front left wheel, ZFL	Translation(2,3)	Vehicle Z-down Z-axis
Front right wheel, XFR	Translation(3,1)	Vehicle Z-down X-axis
Front right wheel, YFR	Translation(3,2)	Vehicle Z-down Y-axis
Front right wheel, ZFR	Translation(3,3)	Vehicle Z-down Z-axis
Rear left wheel, XRL	Translation(4,1)	Vehicle Z-down X-axis
Rear left wheel, YRL	Translation(4,2)	Vehicle Z-down Y-axis
Rear left wheel, ZRL	Translation(4,3)	Vehicle Z-down Z-axis
Rear right wheel, XRR	Translation(5,1)	Vehicle Z-down X-axis
Rear right wheel, YRR	Translation(5,2)	Vehicle Z-down Y-axis
Rear right wheel, ZRR	Translation(5,3)	Vehicle Z-down Z-axis

For a three-axle trailer:

$$Translation=\left[\begin{array}{ccc}{X}_v& Y_v& Z_v\\ X_{FL}& Y_{FL}& Z_{FL}\\ X_{FR}& Y_{FR}& Z_{FR}\\ X_{ML}& Y_{ML}& Z_{ML}\\ X_{MR}& Y_{MR}& Z_{MR}\\ X_{RL}& Y_{RL}& Z_{RL}\\ X_{RR}& Y_{RR}& Z_{RR}\end{array}\right]$$

Translation	Array Element	Translation Axis
Vehicle, Xv	Translation(1,1)	Inertial vehicle Z-down X-axis
Vehicle, Yv	Translation(1,2)	Inertial vehicle Z-down Y-axis
Vehicle, Zv	Translation(1,3)	Inertial vehicle Z-down Z-axis
Front left wheel, XFL	Translation(2,1)	Vehicle Z-down X-axis
Front left wheel, YFL	Translation(2,2)	Vehicle Z-down Y-axis
Front left wheel, ZFL	Translation(2,3)	Vehicle Z-down Z-axis
Front right wheel, XFR	Translation(3,1)	Vehicle Z-down X-axis
Front right wheel, YFR	Translation(3,2)	Vehicle Z-down Y-axis
Front right wheel, ZFR	Translation(3,3)	Vehicle Z-down Z-axis
Middle left wheel, XML (for three-axle trailer)	Translation(4,1)	Vehicle Z-down X-axis
Middle left wheel, YML	Translation(4,2)	Vehicle Z-down Y-axis
Middle left wheel, ZML	Translation(4,3)	Vehicle Z-down Z-axis
Middle right wheel, XMR	Translation(5,1)	Vehicle Z-down X-axis
Middle right wheel, YMR	Translation(5,2)	Vehicle Z-down Y-axis
Middle right wheel, ZMR	Translation(5,3)	Vehicle Z-down Z-axis
Rear left wheel, XRL	Translation(6,1)	Vehicle Z-down X-axis
Rear left wheel, YRL	Translation(6,2)	Vehicle Z-down Y-axis
Rear left wheel, ZRL	Translation(6,3)	Vehicle Z-down Z-axis
Rear right wheel, XRR	Translation(7,1)	Vehicle Z-down X-axis
Rear right wheel, YRR	Translation(7,2)	Vehicle Z-down Y-axis
Rear right wheel, ZRR	Translation(7,3)	Vehicle Z-down Z-axis

Initial array values to rotate vehicle per part, Rotation — Vehicle initial rotation

zeros( 5, 3 ) (default) | zeros( 7, 3 ) | zeros( 3, 3 )

Initial vehicle and wheel rotation, about the vehicle Z-down X-, Y-, and Z-axes, in rad.

The array dimensions are 5-by-3 for a two-axle trailer and 7-by-3 for a three-axle trailer, where:

• Rotation(1,1), Rotation(1,2), and Rotation(1,3) — Initial vehicle rotation about the inertial vehicle Z-down coordinate system X-, Y-, and Z-axes, respectively.

• Rotation(...,1), Rotation(...,2), and Rotation(...,3) — Initial wheel rotation relative to the vehicle, about the vehicle Z-down X-, Y-, and Z-axes, respectively.

The signal contains translation information according to the axle and wheel locations.

For a one-axle trailer:

$$Rotation=\left[\begin{array}{ccc}Rol{l}_v& Pitc{h}_v& Ya{w}_v\\ Rol{l}_L& Pitc{h}_L& Ya{w}_L\\ Rol{l}_R& Pitc{h}_R& Ya{w}_R\end{array}\right]$$

Rotation	Array Element	Rotation Axis
Vehicle, Rollv	Rotation(1,1)	Inertial vehicle Z-down X-axis
Vehicle, Pitchv	Rotation(1,2)	Inertial vehicle Z-down Y-axis
Vehicle, Yawv	Rotation(1,3)	Inertial vehicle Z-down Z-axis
Left wheel, RollL	Rotation(2,1)	Vehicle Z-down X-axis
Left wheel, PitchL	Rotation(2,2)	Vehicle Z-down Y-axis
Left wheel, YawL	Rotation(2,3)	Vehicle Z-down Z-axis
Right wheel, RollR	Rotation(3,1)	Vehicle Z-down X-axis
Right wheel, PitchR	Rotation(3,2)	Vehicle Z-down Y-axis
Right wheel, YawR	Rotation(3,3)	Vehicle Z-down Z-axis

For a two-axle trailer:

$$Rotation=\left[\begin{array}{ccc}Rol{l}_v& Pitc{h}_v& Ya{w}_v\\ Rol{l}_{FL}& Pitc{h}_{FL}& Ya{w}_{FL}\\ Rol{l}_{FR}& Pitc{h}_{FR}& Ya{w}_{FR}\\ Rol{l}_{RL}& Pitc{h}_{RL}& Ya{w}_{RL}\\ Rol{l}_{RR}& Pitc{h}_{RR}& Ya{w}_{RR}\end{array}\right]$$

Rotation	Array Element	Rotation Axis
Vehicle, Rollv	Rotation(1,1)	Inertial vehicle Z-down X-axis
Vehicle, Pitchv	Rotation(1,2)	Inertial vehicle Z-down Y-axis
Vehicle, Yawv	Rotation(1,3)	Inertial vehicle Z-down Z-axis
Front left wheel, RollFL	Rotation(2,1)	Vehicle Z-down X-axis
Front left wheel, PitchFL	Rotation(2,2)	Vehicle Z-down Y-axis
Front left wheel, YawFL	Rotation(2,3)	Vehicle Z-down Z-axis
Front right wheel, RollFR	Rotation(3,1)	Vehicle Z-down X-axis
Front right wheel, PitchFR	Rotation(3,2)	Vehicle Z-down Y-axis
Front right wheel, YawFR	Rotation(3,3)	Vehicle Z-down Z-axis
Rear left wheel, RollRL	Rotation(4,1)	Vehicle Z-down X-axis
Rear left wheel, PitchRL	Rotation(4,2)	Vehicle Z-down Y-axis
Rear left wheel, YawRL	Rotation(4,3)	Vehicle Z-down Z-axis
Rear right wheel, RollRR	Rotation(5,1)	Vehicle Z-down X-axis
Rear right wheel, PitchRR	Rotation(5,2)	Vehicle Z-down Y-axis
Rear right wheel, YawRR	Rotation(5,3)	Vehicle Z-down Z-axis

For a three-axle trailer:

$$Rotation=\left[\begin{array}{ccc}Rol{l}_v& Pitc{h}_v& Ya{w}_v\\ Rol{l}_{FL}& Pitc{h}_{FL}& Ya{w}_{FL}\\ Rol{l}_{FR}& Pitc{h}_{FR}& Ya{w}_{FR}\\ Rol{l}_{ML}& Pitc{h}_{ML}& Ya{w}_{ML}\\ Rol{l}_{MR}& Pitc{h}_{MR}& Ya{w}_{MR}\\ Rol{l}_{RL}& Pitc{h}_{RL}& Ya{w}_{RL}\\ Rol{l}_{RR}& Pitc{h}_{RR}& Ya{w}_{RR}\end{array}\right]$$

Rotation	Array Element	Rotation Axis
Vehicle, Rollv	Rotation(1,1)	Inertial vehicle Z-down X-axis
Vehicle, Pitchv	Rotation(1,2)	Inertial vehicle Z-down Y-axis
Vehicle, Yawv	Rotation(1,3)	Inertial vehicle Z-down Z-axis
Front left wheel, RollFL	Rotation(2,1)	Vehicle Z-down X-axis
Front left wheel, PitchFL	Rotation(2,2)	Vehicle Z-down Y-axis
Front left wheel, YawFL	Rotation(2,3)	Vehicle Z-down Z-axis
Front right wheel, RollFR	Rotation(3,1)	Vehicle Z-down X-axis
Front right wheel, PitchFR	Rotation(3,2)	Vehicle Z-down Y-axis
Front right wheel, YawFR	Rotation(3,3)	Vehicle Z-down Z-axis
Middle left wheel, RollML	Rotation(4,1)	Vehicle Z-down X-axis
Middle left wheel, PitchML	Rotation(4,2)	Vehicle Z-down Y-axis
Middle left wheel, YawML	Rotation(4,3)	Vehicle Z-down Z-axis
Middle right wheel, RollMR	Rotation(5,1)	Vehicle Z-down X-axis
Middle right wheel, PitchMR	Rotation(5,2)	Vehicle Z-down Y-axis
Middle right wheel, YawMR	Rotation(5,3)	Vehicle Z-down Z-axis
Rear left wheel, RollRL	Rotation(6,1)	Vehicle Z-down X-axis
Rear left wheel, PitchRL	Rotation(6,2)	Vehicle Z-down Y-axis
Rear left wheel, YawRL	Rotation(6,3)	Vehicle Z-down Z-axis
Rear right wheel, RollRR	Rotation(7,1)	Vehicle Z-down X-axis
Rear right wheel, PitchRR	Rotation(7,2)	Vehicle Z-down Y-axis
Rear right wheel, YawRR	Rotation(7,3)	Vehicle Z-down Z-axis

Sample time — Sample time

-1 (default) | scalar

Sample time, T_s. The graphics frame rate is the inverse of the sample time.

References

[1] Vehicle Dynamics Standards Committee. Vehicle Dynamics Terminology. SAE J670. Warrendale, PA: Society of Automotive Engineers, 2008.

[2] Technical Committee. Road vehicles — Vehicle dynamics and road-holding ability — Vocabulary. ISO 8855:2011. Geneva, Switzerland: International Organization for Standardization, 2011.

Version History

Introduced in R2020b

R2024a: Requires Simulink 3D Animation

Simulating models with the Simulation 3D Trailer block requires Simulink 3D Animation.