Main Content

Simulation 3D Physics Dump Truck

Dump truck physics model in 3D simulation environment

Since R2024a

expand all in page
  • Sim 3D Physics Dump Truck Block Icon

Libraries:
Offroad Autonomy Library / Simulation 3D

Description

The Simulation 3D Physics Dump Truck block provides an interface to implement a dump truck Simulink® 3D world.

Note

Simulating models with the Simulation 3D Physics Dump Truck block requires Simulink 3D Animation™ and the Robotics System Toolbox™ Offroad Autonomy Library support package. For more information about downloading the support package, see Install Robotics System Toolbox Offroad Autonomy Library Support Package.

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

These illustrations provide insight into the dimensions and locations of the DumpTruck asset parameters relative to the coordinate axes, following the yaw(z), pitch(y), roll(x) sequence. The vehicle layout follows Unreal Engine® co-ordinate system which follows the left-hand rule world coordinate system. For more information, see Coordinate Systems for Unreal Engine Simulation in Robotics System Toolbox.

Unreal Engine Dump Truck Asset Dimensions

Unreal Engine Dump Truck Axle

Ports

Note

This block processes all the input and output values using the right-hand rule world coordinate system. For more information, see Coordinate Systems for Unreal Engine Simulation in Robotics System Toolbox.

Input

expand all

Velocity input to move the dump truck vehicle, specified as a positive or negative scalar value in the range of [-5 , 5]. Positive value of the Velocity input makes the vehicle move in forward direction whereas negative value makes it move in the reverse direction. Unit for the velocity input is meters per second (m/s).

To keep the input truck velocity steady, the system uses a P controller to internally estimate the required acceleration, taking feedback from the current truck velocity.

Data Types: double

Normalized input to drive dump truck, specified as a positive or negative scalar value in the range of [-1 , 1]. Positive value of the Throttle input makes the vehicle move in forward direction whereas negative value makes it move in the reverse direction.

The exact response is characterized by the vehicle powertrain. Maximum torque supported is 200 Newton-meters (Nm) and maximum RPM supported is 6000.

Dependencies

To enable this port, select the Enable throttle (disable velocity) input signal parameter. It replaces the Velocity input port with the Throttle input port.

Data Types: double

Steering angle input to provide direction to the dump truck vehicle, specified as a positive or negative scalar value in the range of [-0.7854 , 0.7854]​. Unit used is radian.

As the z axis points vertically upwards, positive input value executes counterclockwise motion.

Data Types: double

Normalized deceleration torque input to reduce vehicle acceleration, specified as a nonnegative scalar value in the range of [0 , 1]. Maximum strength supported is 200 Newton-meters (Nm).

Dependencies

To enable this port, select the Enable foot brake input signal parameter.

Data Types: double

Truck bed angle input to raise truck bed up and lower it, specified as a nonnegative scalar value in the range of [0 , 0.7854]. Unit used is radian.

Dependencies

To enable this port, select the Enable lift angle input signal parameter.

Data Types: double

Output

expand all

Current ground truth world translation of dump truck, specified as a three-element row vector, in the form [x, y , z]. x, y , and z are the translations along the x, y, and z axes respectively. Units are in meters.

Dependencies

To enable this port, select the Enable ground truth world tranlsation output signal parameter under Dump Truck Outputs.

Data Types: double

Current ground truth world rotation of dump truck, specified as a three-element row vector, in the form [yaw, pitch, roll]. yaw, pitch, and roll are the rotations about the z, y, and x axes respectively. Units are in radians.

Dependencies

To enable this port, select the Enable ground truth world rotation output signal parameter under Dump Truck Outputs.

Data Types: double

Current dump truck velocity, specified as a positive or negative scalar value. Unit used is meters per second (m/s).

Dependencies

To enable this port, select the Enable velocity output signal parameter under Dump Truck Outputs.

Data Types: double

Current dump truck angular velocity, specified as a three-element row vector in the form [wx, wy, wz]. Unit used is radians per second.

Dependencies

To enable this port, select the Enable angular velocity output signal parameter under Dump Truck Outputs.

Data Types: double

Current ground truth world translation of truck bed, specified as a three-element row vector, in the form [x, y , z]. x, y , and z are the translations along the x, y, and z axes respectively. Units are in meters.

Dependencies

To enable this port, select the Enable ground truth world translation output signal parameter under Truck Bed Outputs.

Data Types: double

Current ground truth world rotation of dump truck, specified as a three-element row vector, in the form [yaw, pitch, roll]. yaw, pitch, and roll are the rotations about the z, y, and x axes respectively. Units are in radian.

To enable this port, select the Enable ground truth world rotation output signal parameter under Truck Bed Outputs.

Data Types: double

Current truck bed current elevation, specified as a positive scalar value. Unit used is radian.

To enable this port, select the Enable current lift angle output signals parameter under Truck Bed Outputs.

Data Types: double

Parameters

expand all

To edit block parameters interactively, use the Property Inspector. From the Simulink Toolstrip, on the Simulation tab, in the Prepare gallery, select Property Inspector.

Chassis

Dump truck chassis type, specified as Standard Dump Truck.

Dump truck body color, specified as one of these drop down options:

  • Red

  • Yellow

  • White

Dump truck identifier name, specified as a string scalar.

Initial Values

Dump Truck Initialization

Initial translation of dump truck vehicle, specified as a three-element row vector, in the form [x, y , z]. x, y , and z are the translations along the x, y, and z axes respectively, which uses the right-hand rule world coordinate system. Units are in meters.

Initial rotation of dump truck vehicle, specified as a three-element row vector, in the form [yaw, pitch, roll]. yaw, pitch, and roll are the rotations about the z, y, and x axes respectively, which uses the right-hand rule world coordinate system. Units are in radians.

Inputs

Dump Truck Inputs

Select this parameter to disable velocity and specify throttle at input port to move the dump truck.

Specify foot brake torque at input port to de-accelerate the dump truck vehicle.

Truck Bed Inputs

Specify truck bed lift angle to enable TruckBedAngle signal at input port.

Outputs

Dump Truck Outputs

Select this parameter to output ground truth world translation of dump truck at DumpTruckTranslation output port.

Select this parameter to output ground truth world rotation of dump truck at DumpTruckRotation output port.

Select this parameter to output ground truth world rotation of dump truck at DumpTruckVelocity output port.

Select this parameter to output ground truth world rotation of dump truck at DumpTruckAngularVelocity output port.

Truck Bed Outputs

Select this parameter to output ground truth world translation of truck bed at TruckBedTranslation output port.

Select this parameter to output ground truth world rotation of truck bed at TruckBedRotation output port.

Select this parameter to output current truck bed elevation at CurrentTruckBedAngle output port.

Version History

Introduced in R2024a

See Also

| | | | | |

Topics