Limited Slip Differential

Limited differential as a planetary bevel gear

Libraries:
Powertrain Blockset / Drivetrain / Final Drive Unit
Vehicle Dynamics Blockset / Powertrain / Drivetrain / Final Drive Unit

Description

The Limited Slip Differential block implements a differential as a planetary bevel gear train. The block matches the driveshaft bevel gear to the crown (ring) bevel gear. You can specify:

Carrier-to-driveshaft ratio
Crown wheel location
Viscous and damping coefficients for the axles and carrier
Type of slip coupling

Use the block in system-level driveline analysis to account for the power transfer from the transmission to the wheels. The block is suitable for use in hardware-in-the-loop (HIL) and optimization workflows. All the parameters are tunable.

In a limited slip differential, to prevent one of the wheels from slipping, the differential splits the torque applied to the left and right axles. With different torque applied to the axles, the wheels can move at different angular velocities, preventing slip. The block implements three methods for coupling the different torques applied to the axes:

Pre-loaded ideal clutch
Slip speed-dependent torque data
Input torque dependent torque data

The block uses a coordinate system that produces positive tire and vehicle motion for standard engine, transmission, and differential configurations. The arrows indicate positive motion.

Transmission diagram

Efficiency

To account for the block efficiency, use the Efficiency factors parameter. This table summarizes the block implementation for each setting.

Setting Implementation

Setting	Implementation
`Constant`	Constant efficiency that you can set with the Constant efficiency factor, eta parameter.
`Driveshaft torque, temperature and speed`	Efficiency as a function of base gear input torque, air temperature, and driveshaft speed. Use these parameters to specify the lookup table and breakpoints: Efficiency lookup table, eta_tbl Efficiency torque breakpoints, Trq_bpts Efficiency speed breakpoints, omega_bpts Efficiency temperature breakpoints, Temp_bpts For the air temperature, you can either: Select Input ambient temperature to create an input port. Set a Ambient temperature, Tamb parameter value. To select the interpolation method, use the Interpolation method parameter. For more information, see Interpolation Methods.

Constant

Constant efficiency that you can set with the Constant efficiency factor, eta parameter.

Driveshaft torque, temperature and speed

Efficiency as a function of base gear input torque, air temperature, and driveshaft speed. Use these parameters to specify the lookup table and breakpoints:

Efficiency lookup table, eta_tbl
Efficiency torque breakpoints, Trq_bpts
Efficiency speed breakpoints, omega_bpts
Efficiency temperature breakpoints, Temp_bpts

For the air temperature, you can either:

Select Input ambient temperature to create an input port.
Set a Ambient temperature, Tamb parameter value.

To select the interpolation method, use the Interpolation method parameter. For more information, see Interpolation Methods.

Power Accounting

For the power accounting, the block implements these equations.

Bus Signal			Description	Equations
`PwrInfo`	`PwrTrnsfrd` — Power transferred between blocks Positive signals indicate flow into block Negative signals indicate flow out of block	`PwrDriveshft`	Mechanical power from driveshaft	$η T_{d} ω_{d}$
		`PwrAxl1`	Mechanical power from axle 1	$η T_{1} ω_{1}$
		`PwrAxl2`	Mechanical power from axle 2	$η T_{2} ω_{2}$
	`PwrNotTrnsfrd` — Power crossing the block boundary, but not transferred Positive signals indicate an input Negative signals indicate a loss	`PwrMechLoss`	Total power loss	$\begin{array}{l} {\dot{W}}_{l o s s} = - (P_{t} + P_{d} + P_{c}) + P_{s} \\ P_{t} = η (T_{d} ω_{d} + T_{1} ω_{1} + T_{2} ω_{2}) \end{array}$
		`PwrDampLoss`	Power loss due to damping	$P_{d} = - (b_{1} \| ω_{1} \| + b_{2} \| ω_{2} \| + b_{d} \| ω_{d} \|)$
		`PwrCplngLoss`	Power loss due to clutch	$P_{c} = T_{c} \| \bar{ω} \|$
	`PwrStored` — Stored energy rate of change Positive signals indicate an increase Negative signals indicate a decrease	`PwrStoredShft`	Rate change of stored internal energy	$P_{s} = - (ω_{1} {\dot{ω}}_{1} J_{1} + ω_{2} {\dot{ω}}_{2} J_{2} + ω_{d} {\dot{ω}}_{d} J_{d})$

Dynamics

The Limited Slip Differential block implements these differential equations to represent the mechanical dynamic response for the crown gear, left axle, and right axle.

Mechanical Dynamic Response	Differential Equation
Crown Gear	${\dot{ω}}_{d} J_{d} = η T_{d} - ω_{d} b_{d} - T_{i}$
Left Axle	${\dot{ω}}_{1} J_{1} = η T_{1} - ω_{1} b_{1} - T_{i 1}$
Right Axle	${\dot{ω}}_{2} J_{2} = η T_{2} - ω_{2} b_{2} - T_{i 2}$

Mechanical Dynamic Response

Differential Equation

Crown Gear

${\dot{ω}}_{d} J_{d} = η T_{d} - ω_{d} b_{d} - T_{i}$

Left Axle

${\dot{ω}}_{1} J_{1} = η T_{1} - ω_{1} b_{1} - T_{i 1}$

Right Axle

${\dot{ω}}_{2} J_{2} = η T_{2} - ω_{2} b_{2} - T_{i 2}$

The block assumes rigid coupling between the crown gear and axles. These constraint equations apply.

$\begin{array}{l} η T_{1} = \frac{N}{2} T_{i} - \frac{1}{2} T_{c} \\ η T_{2} = \frac{N}{2} T_{i} + \frac{1}{2} T_{c} \end{array}$

$ω_{d} = \frac{N}{2} (ω_{1} + ω_{2})$

The equations use these variables.

N	Carrier-to-driveshaft gear ratio
J_d	Rotational inertia of the crown gear assembly
b_d	Crown gear linear viscous damping
ω_d	Driveshaft angular speed
$ϖ$	Slip speed
J₁	Axle 1 rotational inertia
b₁	Axle 1 linear viscous damping
ω₁	Axle 1 speed
J₂	Axle 2 rotational inertia
b₂	Axle 2 linear viscous damping
ω₂	Axle 2 angular speed
η	Efficiency
T_d	Driveshaft torque
T₁	Axle 1 torque
T₂	Axle 2 torque
T_i	Axle internal resistance torque
T_i1	Axle 1 internal resistance torque
T_i2	Axle 2 internal resistance torque
μ	Coefficient of friction
$R_{e f f}$	Effective clutch radius
$R_{o}$	Annular disk outer radius
R_i	Annular disk inner radius
F_c	Clutch force
T_c	Clutch torque
μ	Coefficient of friction

Table blocks in the Limited Slip Differential have these parameter settings:

Interpolation method — Linear
Extrapolation method — Clip

Ideal Clutch Coupling

The ideal clutch coupling model uses the axle slip speed and friction to calculate the clutch torque. The friction coefficient is a function of the slip speed.

$T_{c} = F_{c} N μ (| ϖ |) R_{e f f} \tanh (4 | ϖ |)$

The disc radii determine the effective clutch radius over which the clutch force acts.

$R_{e f f} = \frac{2 (R_{o}^{3} - R_{i}^{3})}{3 (R_{o}^{2} - R_{i}^{2})}$

The angular velocities of the axles determine the slip speed.

$ϖ = ω_{1} - ω_{2}$

Slip Speed Coupling

To calculate the clutch torque, the slip speed coupling model uses torque data that is a function of slip speed. The angular velocities of the axles determine the slip speed.

$ϖ = ω_{1} - ω_{2}$

Input Torque Coupling

To calculate the clutch torque, the input torque coupling model uses torque data that is a function of input torque.

The Open Differential block assumes rigid coupling between the crown gear and axles. These constraint equations apply.

$η T_{i 1} = η T_{i 2} = \frac{N}{2} T_{i}$

$ω_{d} = \frac{N}{2} (ω_{1} + ω_{2})$

Ports

Inputs

expand all

DriveshftTrq — Torque
`scalar`

Applied input torque, typically from the engine crankshaft, in N·m.

Axl1Trq — Torque
`scalar`

Axle 1 torque, T₁, in N·m.

Axl2Trq — Torque
`scalar`

Axle 2 torque, T₂, in N·m.

Temp — Temperature
`scalar`

Temperature, in K.

Dependencies

To enable this port:

Set Efficiency factors to Driveshaft torque, speed and temperature.
Select Input temperature.

Output

expand all

Info — Bus signal
bus

Bus signal containing these block calculations.

Signal			Description	Units
`Driveshft`	`DriveshftTrq`		Driveshaft torque	N·m
`Driveshft`	`DriveshftSpd`		Driveshaft speed	rad/s
`Axl1`	`Axl1Trq`		Axle 1 torque	N·m
`Axl1`	`Axl1Spd`		Axle 1 speed	rad/s
`Axl2`	`Axl2Trq`		Axle 2 torque	N·m
`Axl2`	`Axl2Spd`		Axle 2 speed	rad/s
`Cplng`	`CplngTrq`		Torque coupling	N·m
`Cplng`	`CplngSlipSpd`		Slip speed	rad/s
`PwrInfo`	`PwrTrnsfrd`	`PwrDriveshft`	Mechanical power from driveshaft	W
		`PwrAxl1`	Mechanical power from axle 1	W
		`PwrAxl2`	Mechanical power from axle 2	W
	`PwrNotTrnsfrd`	`PwrMechLoss`	Total power loss	W
		`PwrDampLoss`	Power loss due to damping	W
		`PwrCplngLoss`	Power loss due to clutch	W
	`PwrStoredShft`	`PwrStoredShft`	Rate change of stored internal energy	W

DriveshftSpd — Angular speed
`scalar`

Driveshaft angular speed, ω_d, in rad/s.

Axl1Spd — Angular speed
`scalar`

Axle 1 angular speed, ω₁, in rad/s.

Axl2Spd — Angular speed
`scalar`

Axle 2 angular speed, ω₂, in rad/s.

Parameters

expand all

Block Options

Efficiency factors — Specify configuration
`Constant` (default) | `Driveshaft torque, speed and temperature`

To account for the block efficiency, use the Efficiency factors parameter. This table summarizes the block implementation for each setting.

Setting Implementation

Setting	Implementation
`Constant`	Constant efficiency that you can set with the Constant efficiency factor, eta parameter.
`Driveshaft torque, temperature and speed`	Efficiency as a function of base gear input torque, air temperature, and driveshaft speed. Use these parameters to specify the lookup table and breakpoints: Efficiency lookup table, eta_tbl Efficiency torque breakpoints, Trq_bpts Efficiency speed breakpoints, omega_bpts Efficiency temperature breakpoints, Temp_bpts For the air temperature, you can either: Select Input ambient temperature to create an input port. Set a Ambient temperature, Tamb parameter value. To select the interpolation method, use the Interpolation method parameter. For more information, see Interpolation Methods.

Constant

Constant efficiency that you can set with the Constant efficiency factor, eta parameter.

Driveshaft torque, temperature and speed

Efficiency as a function of base gear input torque, air temperature, and driveshaft speed. Use these parameters to specify the lookup table and breakpoints:

Efficiency lookup table, eta_tbl
Efficiency torque breakpoints, Trq_bpts
Efficiency speed breakpoints, omega_bpts
Efficiency temperature breakpoints, Temp_bpts

For the air temperature, you can either:

Select Input ambient temperature to create an input port.
Set a Ambient temperature, Tamb parameter value.

To select the interpolation method, use the Interpolation method parameter. For more information, see Interpolation Methods.

Interpolation method — Method
`Flat` | `Nearest` | `Linear point-slope` | `Linear Lagrange` | `Cubic spline`

For more information, see Interpolation Methods.

Dependencies

To enable this parameter, set Efficiency factors to Driveshaft torque, speed and temperature.

Input ambient temperature — Create input port
`off` (default) | `on`

Select to create input port Temp for the temperature.

Dependencies

To enable this parameter, set Efficiency factors to Driveshaft torque, speed and temperature.

Open Differential

Crown wheel (ring gear) located — Specify crown wheel connection
`To the left of center-line` (default) | `To the right of center-line`

Specify the crown wheel connection to the driveshaft.

Carrier to drive shaft ratio, NC/ND — Ratio
`4` (default) | `scalar`

Carrier-to-driveshaft gear ratio, N.

Carrier inertia, Jd — Inertia
`.1` (default) | `scalar`

Rotational inertia of the crown gear assembly, J_d, in kg·m^2. You can include the driveshaft inertia.

Carrier damping, bd — Damping
`1e-3` (default) | `scalar`

Crown gear linear viscous damping, b_d, in N·m·s/rad.

Axle 1 inertia, Jw1 — Inertia
`.1` (default) | `scalar`

Axle 1 rotational inertia, J₁, in kg·m^2.

Axle 1 damping, bw1 — Damping
`1e-3` (default) | `scalar`

Axle 1 linear viscous damping, b₁, in N·m·s/rad.

Axle 2 inertia, Jw2 — Inertia
`.1` (default) | `scalar`

Axle 2 rotational inertia, J₂, in kg·m^2.

Axle 2 damping, bw2 — Damping
`1e-3` (default) | `scalar`

Axle 2 linear viscous damping, b₂, in N·m·s/rad.

Axle 1 initial velocity, omegaw1o — Angular velocity
`0` (default) | `scalar`

Axle 1 initial velocity, ω_o1, in rad/s.

Axle 2 initial velocity, omegaw2o — Angular velocity
`0` (default) | `scalar`

Axle 2 initial velocity, ω_o2, in rad/s.

Constant efficiency factor, eta — Efficiency
`1` (default) | `scalar`

Constant efficiency, η.

Dependencies

To enable this parameter, set Efficiency factors to Constant.

Efficiency lookup table, eta_tbl — Lookup table
`M`-by-`N`-by-`L` array

Dimensionless array of values for efficiency as a function of:

M input torques
N input speed
L air temperatures

Each value specifies the efficiency for a specific combination of torque, speed, and temperature. The array size must match the dimensions defined by the torque, speed, and temperature breakpoint vectors.

Dependencies

To enable this parameter, set Efficiency factors to Driveshaft torque, speed and temperature.

Efficiency torque breakpoints, Trq_bpts — Torque breakpoints
`[25, 50, 75, 100, 150, 200, 250]` (default) | `1`-by-`M` vector

Vector of input torque, breakpoints for efficiency, in N·m.

Dependencies

To enable this parameter, set Efficiency factors to Driveshaft torque, speed and temperature.

Efficiency speed breakpoints, omega_bpts — Speed breakpoints
`[52.4 78.5 105 131 157 183 209 262 314 419 524]` (default) | `1`-by-`N` vector

Vector of speed, breakpoints for efficiency, in rad/s.

Dependencies

To enable this parameter, set Efficiency factors to Driveshaft torque, speed and temperature.

Efficiency temperature breakpoints, Temp_bpts — Temperature breakpoints
`[290 358]` (default) | `1`-by-`L` vector

Vector of ambient temperature breakpoints for efficiency, in K.

Dependencies

To enable this parameter, set Efficiency factors to Driveshaft torque, speed and temperature.

Ambient temperature, Tamb — Ambient temperature
`297.15` (default) | `scalar`

Ambient air temperature, T_air, in K.

Dependencies

To enable this parameter:

Set Efficiency factors to Driveshaft torque, speed and temperature.
Clear Input ambient temperature.

Slip Coupling

Coupling type — Torque coupling
`Pre-loaded ideal clutch` (default) | `Slip speed dependent torque data` | `Input torque dependent torque data`

Specify the type of torque coupling.

Number of disks, Ndisks — Torque coupling
`4` (default) | `scalar`

Number of disks.

Dependencies

To enable the ideal clutch parameters, select Pre-loaded ideal clutch for the Coupling type parameter.

Effective radius, Reff — Radius
`.20` (default) | `scalar`

The effective radius, $R_{e f f}$ , used with the applied clutch friction force to determine the friction force. The effective radius is defined as:

$R_{e f f} = \frac{2 (R_{o}^{3} - R_{i}^{3})}{3 (R_{o}^{2} - R_{i}^{2})}$

The equation uses these variables.

$R_{o}$	Annular disk outer radius
$R_{i}$	Annular disk inner radius

Dependencies

To enable the clutch parameters, select Pre-loaded ideal clutch for the Coupling type parameter.

Nominal preload force, Fc — Force
`500` (default) | `scalar`

Nominal preload force, in N.

Dependencies

To enable the clutch parameters, select Pre-loaded ideal clutch for the Coupling type parameter.

Friction coefficient vector, muc — Friction
`[.16 0.13 0.115 0.11 0.105 0.1025 0.10125]` (default) | `vector`

Friction coefficient vector.

Dependencies

To enable the clutch parameters, select Pre-loaded ideal clutch for the Coupling type parameter.

Slip speed vector, dw — Angular velocity
`[0 10 20 40 60 80 100]` (default) | `vector`

Slip speed vector, in rad/s.

Dependencies

To enable the clutch parameters, select Pre-loaded ideal clutch for the Coupling type parameter.

Torque - slip speed vector, Tdw — Torque
`[-100, -90, -50, -5, 0, 5, 50, 90, 100]` (default) | `vector`

Torque vector, in N·m.

Dependencies

To enable the slip speed parameters, select Slip speed dependent torque data for the Coupling type parameter.

Slip speed vector, dwT — Angular velocity
`[-200, -175, -100, - 50, 0, 50, 100, 175, 200]` (default) | `vector`

Slip speed vector, in rad/s.

Dependencies

To enable the slip speed parameters, select Slip speed dependent torque data for the Coupling type parameter.

Torque - input torque vector, TTin — Torque
`[-200 -175 -100 - 50 0 50 100 175 200]` (default) | `vector`

Torque vector, in N·m.

Dependencies

To enable the input torque parameters, select Input torque dependent torque data for the Coupling type parameter.

Input torque vector, Tin — Torque
`[-200 -175 -100 - 50 0 50 100 175 200]` (default) | `vector`

Torque vector, in N·m.

Dependencies

To enable the input torque parameters, select Input torque dependent torque data for the Coupling type parameter.

Coupling time constant, tauC — Constant
`.01` (default) | `scalar`

Coupling time constant, in s.

References

[1] Deur, J., Ivanović, V., Hancock, M., and Assadian, F. "Modeling of Active Differential Dynamics." In ASME proceedings. Transportation Systems. Vol. 17, pp: 427-436.

Extended Capabilities

C/C++ Code Generation
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Version History

Introduced in R2017a

Limited Slip Differential

Description

Efficiency

Power Accounting

Dynamics

Ports

Inputs

DriveshftTrq — Torque scalar

Axl1Trq — Torque scalar

Axl2Trq — Torque scalar

Temp — Temperature scalar

Dependencies

Output

Info — Bus signal bus

DriveshftSpd — Angular speed scalar

Axl1Spd — Angular speed scalar

Axl2Spd — Angular speed scalar

Parameters

Efficiency factors — Specify configuration Constant (default) | Driveshaft torque, speed and temperature

Interpolation method — Method Flat | Nearest | Linear point-slope | Linear Lagrange | Cubic spline

Dependencies

Input ambient temperature — Create input port off (default) | on

Dependencies

Crown wheel (ring gear) located — Specify crown wheel connection To the left of center-line (default) | To the right of center-line

Carrier to drive shaft ratio, NC/ND — Ratio 4 (default) | scalar

Carrier inertia, Jd — Inertia .1 (default) | scalar

Carrier damping, bd — Damping 1e-3 (default) | scalar

Axle 1 inertia, Jw1 — Inertia .1 (default) | scalar

Axle 1 damping, bw1 — Damping 1e-3 (default) | scalar

Axle 2 inertia, Jw2 — Inertia .1 (default) | scalar

Axle 2 damping, bw2 — Damping 1e-3 (default) | scalar

Axle 1 initial velocity, omegaw1o — Angular velocity 0 (default) | scalar

Axle 2 initial velocity, omegaw2o — Angular velocity 0 (default) | scalar

Constant efficiency factor, eta — Efficiency 1 (default) | scalar

Dependencies

Efficiency lookup table, eta_tbl — Lookup table M-by-N-by-L array

Dependencies

Efficiency torque breakpoints, Trq_bpts — Torque breakpoints [25, 50, 75, 100, 150, 200, 250] (default) | 1-by-M vector

Dependencies

Efficiency speed breakpoints, omega_bpts — Speed breakpoints [52.4 78.5 105 131 157 183 209 262 314 419 524] (default) | 1-by-N vector

Dependencies

Efficiency temperature breakpoints, Temp_bpts — Temperature breakpoints [290 358] (default) | 1-by-L vector

Dependencies

Ambient temperature, Tamb — Ambient temperature 297.15 (default) | scalar

Dependencies

Coupling type — Torque coupling Pre-loaded ideal clutch (default) | Slip speed dependent torque data | Input torque dependent torque data

Number of disks, Ndisks — Torque coupling 4 (default) | scalar

Dependencies

Effective radius, Reff — Radius .20 (default) | scalar

Dependencies

Nominal preload force, Fc — Force 500 (default) | scalar

Dependencies

Friction coefficient vector, muc — Friction [.16 0.13 0.115 0.11 0.105 0.1025 0.10125] (default) | vector

Dependencies

Slip speed vector, dw — Angular velocity [0 10 20 40 60 80 100] (default) | vector

Dependencies

Torque - slip speed vector, Tdw — Torque [-100, -90, -50, -5, 0, 5, 50, 90, 100] (default) | vector

Dependencies

Slip speed vector, dwT — Angular velocity [-200, -175, -100, - 50, 0, 50, 100, 175, 200] (default) | vector

Dependencies

Torque - input torque vector, TTin — Torque [-200 -175 -100 - 50 0 50 100 175 200] (default) | vector

Dependencies

Input torque vector, Tin — Torque [-200 -175 -100 - 50 0 50 100 175 200] (default) | vector

Dependencies

Coupling time constant, tauC — Constant .01 (default) | scalar

References

Extended Capabilities

C/C++ Code Generation Generate C and C++ code using Simulink® Coder™.

Version History

See Also

DriveshftTrq — Torque
`scalar`

Axl1Trq — Torque
`scalar`

Axl2Trq — Torque
`scalar`

Temp — Temperature
`scalar`

Info — Bus signal
bus

DriveshftSpd — Angular speed
`scalar`

Axl1Spd — Angular speed
`scalar`

Axl2Spd — Angular speed
`scalar`

Efficiency factors — Specify configuration
`Constant` (default) | `Driveshaft torque, speed and temperature`

Interpolation method — Method
`Flat` | `Nearest` | `Linear point-slope` | `Linear Lagrange` | `Cubic spline`

Input ambient temperature — Create input port
`off` (default) | `on`

Crown wheel (ring gear) located — Specify crown wheel connection
`To the left of center-line` (default) | `To the right of center-line`

Carrier to drive shaft ratio, NC/ND — Ratio
`4` (default) | `scalar`

Carrier inertia, Jd — Inertia
`.1` (default) | `scalar`

Carrier damping, bd — Damping
`1e-3` (default) | `scalar`

Axle 1 inertia, Jw1 — Inertia
`.1` (default) | `scalar`

Axle 1 damping, bw1 — Damping
`1e-3` (default) | `scalar`

Axle 2 inertia, Jw2 — Inertia
`.1` (default) | `scalar`

Axle 2 damping, bw2 — Damping
`1e-3` (default) | `scalar`

Axle 1 initial velocity, omegaw1o — Angular velocity
`0` (default) | `scalar`

Axle 2 initial velocity, omegaw2o — Angular velocity
`0` (default) | `scalar`

Constant efficiency factor, eta — Efficiency
`1` (default) | `scalar`

Efficiency lookup table, eta_tbl — Lookup table
`M`-by-`N`-by-`L` array

Efficiency torque breakpoints, Trq_bpts — Torque breakpoints
`[25, 50, 75, 100, 150, 200, 250]` (default) | `1`-by-`M` vector

Efficiency speed breakpoints, omega_bpts — Speed breakpoints
`[52.4 78.5 105 131 157 183 209 262 314 419 524]` (default) | `1`-by-`N` vector

Efficiency temperature breakpoints, Temp_bpts — Temperature breakpoints
`[290 358]` (default) | `1`-by-`L` vector

Ambient temperature, Tamb — Ambient temperature
`297.15` (default) | `scalar`

Coupling type — Torque coupling
`Pre-loaded ideal clutch` (default) | `Slip speed dependent torque data` | `Input torque dependent torque data`

Number of disks, Ndisks — Torque coupling
`4` (default) | `scalar`

Effective radius, Reff — Radius
`.20` (default) | `scalar`

Nominal preload force, Fc — Force
`500` (default) | `scalar`

Friction coefficient vector, muc — Friction
`[.16 0.13 0.115 0.11 0.105 0.1025 0.10125]` (default) | `vector`

Slip speed vector, dw — Angular velocity
`[0 10 20 40 60 80 100]` (default) | `vector`

Torque - slip speed vector, Tdw — Torque
`[-100, -90, -50, -5, 0, 5, 50, 90, 100]` (default) | `vector`

Slip speed vector, dwT — Angular velocity
`[-200, -175, -100, - 50, 0, 50, 100, 175, 200]` (default) | `vector`

Torque - input torque vector, TTin — Torque
`[-200 -175 -100 - 50 0 50 100 175 200]` (default) | `vector`

Input torque vector, Tin — Torque
`[-200 -175 -100 - 50 0 50 100 175 200]` (default) | `vector`

Coupling time constant, tauC — Constant
`.01` (default) | `scalar`

C/C++ Code Generation
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