Rotational Brake

Rotational brake with disc, drum, mapped, or external torque modes

Since R2024b

Libraries:
Vehicle Dynamics Blockset / Brakes

Description

The Rotational Brake block implements a rotational frictional brake actuator. The brake implementation is similar to that of the Combined Slip Wheel 2DOF block. Use this block to specify an external maximum brake torque to interact with one of these tire models that does not have an integrated brake model:

Combined Slip Wheel CPI model or Combined Slip Wheel STI model
Simscape™ Multibody™ model
Third-party tire model

The Rotational Brake block supports four brake types with or without a rotational degree of freedom.

Block	Brake Type Setting	Rotation type Setting	Brake Implementation
Disc Brake	`Disc`	`Rotational inertia`	Brake that converts the brake cylinder pressure into a braking torque.
Disc Brake	`Disc`	`No inertia`
Drum Brake	`Drum`	`Rotational inertia`	Simplex drum brake that converts the applied force and brake geometry into a net braking torque.
Drum Brake	`Drum`	`No inertia`
Mapped Brake	`Mapped`	`Rotational inertia`	Lookup table that is a function of the wheel speed and applied brake pressure.
Mapped Brake	`Mapped`	`No inertia`
External Torque Brake	`External Torque`	Not applicable. Rotational inertia is always enabled.	User-specified maximum available braking torque for brake implementation.

Brakes

Disc

If you specify the Brake Type parameter as Disc, the block implements a disc brake. This figure shows the side and front views of a disc brake.

Front and side view of disc brake, showing pad, disc, and caliper

A disc brake converts brake cylinder pressure from the brake cylinder into force. The disc brake applies the force at the brake pad mean radius.

The block uses these equations to calculate brake torque for the disc brake.

$T = {\begin{matrix} \frac{μ P π B_{a}^{2} R_{m} N_{p a d s}}{4} when N \neq 0 \\ \frac{μ_{s t a t i c} P π B_{a}^{2} R_{m} N_{p a d s}}{4} when N = 0 \end{matrix}$

$R m = \frac{R o + R i}{2}$

The equations use these variables.

Variable	Value
T	Brake torque
P	Applied brake pressure
N	Wheel speed
N_pads	Number of brake pads in disc brake assembly
μ_static	Disc pad-rotor coefficient of static friction
μ	Disc pad-rotor coefficient of kinetic friction
B_a	Brake actuator bore diameter
R_m	Mean radius of brake pad force application on brake rotor
R_o	Outer radius of brake pad
R_i	Inner radius of brake pad

Drum

If you specify the Brake Type parameter as Drum, the block implements a static (steady-state) simplex drum brake. A simplex drum brake consists of a single two-sided hydraulic actuator and two brake shoes. The brake shoes do not share a common hinge pin.

The simplex drum brake model uses the applied force and brake geometry to calculate a net torque for each brake shoe. The drum model assumes that the actuators and shoe geometry are symmetrical for both sides, allowing a single set of geometry and friction parameters to be used for both shoes.

The block implements equations that are derived from these equations in Fundamentals of Machine Elements.

$\begin{array}{l} T_{r s h o e} = (\frac{π μ c r (\cos θ_{2} - \cos θ_{1}) B_{a}^{2}}{2 μ (2 r (\cos θ_{2} - \cos θ_{1}) + a (\cos^{2} θ_{2} - \cos^{2} θ_{1})) + a (2 θ_{1} - 2 θ_{2} + \sin 2 θ_{2} - \sin 2 θ_{1})}) P \\ T_{l s h o e} = (\frac{π μ c r (\cos θ_{2} - \cos θ_{1}) B_{a}^{2}}{- 2 μ (2 r (\cos θ_{2} - \cos θ_{1}) + a (\cos^{2} θ_{2} - \cos^{2} θ_{1})) + a (2 θ_{1} - 2 θ_{2} + \sin 2 θ_{2} - \sin 2 θ_{1})}) P \end{array}$

$T = {\begin{matrix} T_{r s h o e} + T_{l s h o e} when N \neq 0 \\ (T_{r s h o e} + T_{l s h o e}) \frac{μ_{s t a t i c}}{μ} when N = 0 \end{matrix}$

Side view of drum brake

The equations use these variables.

Variable	Value
T	Brake torque
P	Applied brake pressure
N	Wheel speed
μ_static	Disc pad-rotor coefficient of static friction
μ	Disc pad-rotor coefficient of kinetic friction
T_rshoe	Right shoe brake torque
T_lshoe	Left shoe brake torque
a	Distance from drum center to shoe hinge pin center
c	Distance from shoe hinge pin center to brake actuator connection on brake shoe
r	Drum internal radius
B_a	Brake actuator bore diameter
Θ₁	Angle from shoe hinge pin center to start of brake pad material on shoe
Θ₂	Angle from shoe hinge pin center to end of brake pad material on shoe

Mapped

If you specify the Brake Type parameter as Mapped, the block uses a lookup table to determine the brake torque.

$T = {\begin{matrix} f_{b r a k e} (P, N) when N \neq 0 \\ (\frac{μ_{s t a t i c}}{μ}) f_{b r a k e} (P, N) when N = 0 \end{matrix}$

The equations use these variables.

Variable	Value
T	Brake torque
$f_{b r a k e}^{} (P, N)$	Brake torque lookup table
P	Applied brake pressure
N	Wheel speed
μ_static	Friction coefficient of drum pad-face interface under static conditions
μ	Friction coefficient of disc pad-rotor interface

The lookup table for the brake torque, $f_{b r a k e}^{} (P, N)$ , is a function of applied brake pressure and wheel speed, where:

T is brake torque, in N·m.
P is applied brake pressure, in bar.
N is wheel speed, in rpm.

Plot of brake torque as a function of wheel speed and applied brake pressure

Ports

Input

expand all

BrkPrs — Brake pressure
scalar | N-by-`1` vector

Brake pressure, in Pa.

Vector is the number of wheels, N, by 1. If you provide a scalar value, the block assumes that number of wheels is one.

Dependencies

To enable this parameter, set Brake Type to Disc, Drum, or Mapped.

Omega — Wheel angular velocity
scalar | N-by-`1` vector

Wheel angular velocity, ω, about wheel-fixed y-axis, in rad/s.

Vector is the number of wheels, N, by 1. If you provide a scalar value, the block assumes that number of wheels is one.

Dependencies

To enable this parameter, set Rotation type to No inertia.

BrkTrqMax — Maximum brake torque
scalar | N-by-`1` vector

Maximum brake torque, in N·m. This torque represents the maximum available resistive frictional braking torque and is applied accordingly to the rotational dynamics. You do not need to consider the wheel direction. BrkTrqMax differs from BrkTrq, which is the instantaneous torque due to friction calculated based on speed, applied brake pressure, or other friction brake characteristics.

Vector is the number of wheels, N, by 1. If you provide a scalar value, the block assumes that number of wheels is one.

Dependencies

To enable this parameter, set Brake Type to External Torque.

AxlTrq — Axle torque
scalar | N-by-`1` vector

Axle torque, T_a, about wheel spin axis, in N·m.

Vector is the number of wheels, N, by 1. If you provide a scalar value, the block assumes that number of wheels is one.

Dependencies

To enable this parameter, set Rotation type to Rotational Inertia.

WhlTrq — Wheel torque
scalar | N-by-`1` vector

Wheel torque, in N·m. The wheel torque is the combined moment from a tire model about the spin axis. This value includes the tractive and rolling resistance moments as projected onto the spin axis plane.

Vector is the number of wheels, N, by 1. If you provide a scalar value, the block assumes that number of wheels is one.

Dependencies

To enable this parameter, set Rotation type to Rotational Inertia.

Output

expand all

Info — Block data
bus

Bus containing these block values.

Signal		Description	Units
`Trq`	`Axl`	Axle torque about body-fixed y-axis	N·m
	`Whl`	Wheel torque about body-fixed y-axis	N·m
	`Damp`	Damping torque about body-fixed y-axis	N·m
	`Brk`	Brake torque about body-fixed y-axis	N·m
`Omega`		Wheel angular velocity about body-fixed y-axis	rad/s
`Omegadot`		Wheel angular acceleration about body-fixed y-axis	rad/s^2

Dependencies

To enable this parameter, select Output Info bus.

Omega — Wheel angular velocity
scalar | N-by-`1` vector

Wheel angular velocity, ω, about wheel-fixed y-axis, in rad/s.

Vector is the number of wheels, N, by 1. If you provide a scalar value, the block assumes that number of wheels is one.

Dependencies

To enable this parameter, set Rotation type to Rotational inertia or set Brake Type to External torque.

BrkTrqMax — Maximum brake torque
scalar | N-by-`1` vector

Vector is the number of wheels, N, by 1. If you provide a scalar value, the block assumes that number of wheels is one.

Dependencies

To enable this parameter, set Brake Type to Disc, Drum, or Mapped.

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.

Tire Options

Brake type — Brake type
`Disc` | `Drum` | `Mapped` | `External torque`

Use the Brake Type parameter to select the brake type.

Action	Brake Type Setting
Implement brake that converts the brake cylinder pressure into a braking force.	`Disc`
Implement simplex drum brake that converts the applied force and brake geometry into a net braking torque.	`Drum`
Implement lookup table that is a function of the wheel speed and applied brake pressure.	`Mapped`
Specify maximum available braking torque for brake implementation.	`External torque`

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	`BrakeType`
Values:	`Disc` \| `Drum` \| `Mapped` \| `External torque`
Data Types:	`char`

Rotation type — Rotation type
`Rotational inertia` (default) | `No inertia`

Specify the rotation type as Rotational inertia or No inertia

Dependencies

To enable this parameter, set Brake type to Disc, Drum, or Mapped.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	`rotType`
Values:	`Rotational inertia` (default) \| `No inertia`
Data Types:	`char`

Output Info bus — Option to output Info bus
`off` (default) | `on`

Select this parameter to enable the Info output port.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	`extInfo`
Values:	`off` (default) \| `on`
Data Types:	`char`

Wheel and Tire Parameters

Wheel inertia, Iyy — Wheel inertia
scalar | N-by-`1` vector

Wheel inertia, specified as a scalar or N-by-1 vector, in kg·m². If you specify a scalar, the block uses that value for all wheels. If you specify a vector, you must specify vectors for the other rotational parameters.

N is the number of wheels and must match the input signal dimensions.

Dependencies

To enable this parameter, set Rotation type to Rotational inertia.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	`Iyy`
Values:	scalar \| N-by-`1` vector
Data Types:	`char`

Axle viscous damping coefficient, br — Axle viscous damping coefficient
scalar | N-by-`1` vector

Axle viscous damping coefficient, specified as a scalar or N-by-1 vector, in N·m·s/rad. If you specify a scalar, the block uses that value for all wheels. If you specify a vector, you must specify vectors for the other rotational parameters.

N is the number of wheels and must match the input signal dimensions.

Dependencies

To enable this parameter, set Rotation type to Rotational inertia.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	`br`
Values:	scalar \| N-by-`1` vector
Data Types:	`double`

Wheel initial angular velocity, omegao — Wheel initial angular velocity
scalar | N-by-`1` vector

Wheel initial angular velocity, specified as a scalar or N-by-1 vector, in rad/s. If you specify a scalar, the block uses that value for all wheels. If you specify a vector, you must specify vectors for the other rotational parameters.

N is the number of wheels and must match the input signal dimensions.

Dependencies

To enable this parameter, set Rotation type to Rotational inertia.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	`omegao`
Values:	scalar \| N-by-`1` vector
Data Types:	`double`

Brake

Static friction coefficient, mu_static — Static friction coefficient
`0.3` (default) | scalar | N-by-`1` vector

Static friction coefficient, specified as a scalar or N-by-1 vector, dimensionless. If you specify a scalar, the block uses that value for all wheels. If you specify a vector, you must specify vectors for the other brake parameters.

N is the number of wheels and must match the input signal dimensions.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	`mu_static`
Values:	`0.3` (default) \| scalar \| N-by-`1` vector
Data Types:	`double`

Kinetic friction coefficient, mu_kinetic — Kinetic friction
`0.2` (default) | scalar | N-by-`1` vector

Kinematic friction coefficient, specified as a scalar or N-by-1 vector, dimensionless. If you specify a scalar, the block uses that value for all wheels. If you specify a vector, you must specify vectors for the other brake parameters.

N is the number of wheels and must match the input signal dimensions.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	`mu_kinetic`
Values:	`0.2` (default) \| scalar \| N-by-`1` vector
Data Types:	`double`

Disc

Disc brake actuator bore, disc_abore — Bore distance
`0.05` (default) | scalar | N-by-`1` vector

Disc brake actuator bore, specified as a scalar or N-by-1 vector, in m. If you specify a scalar, the block uses that value for all wheels. If you specify a vector, you must specify vectors for the other brake parameters.

N is the number of wheels and must match the input signal dimensions.

Dependencies

To enable this parameter, set Brake Type to Disc.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	`disc_abore`
Values:	`0.05` (default) \| scalar \| N-by-`1` vector
Data Types:	`double`

Brake pad mean radius, Rm — Radius
`0.177` (default) | scalar | N-by-`1` vector

Brake pad mean radius, specified as a scalar or N-by-1 vector, in m. If you specify a scalar, the block uses that value for all wheels. If you specify a vector, you must specify vectors for the other brake parameters.

N is the number of wheels and must match the input signal dimensions.

Dependencies

To enable this parameter, set Brake Type to Disc.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	`Rm`
Values:	`0.177` (default) \| scalar \| N-by-`1` vector
Data Types:	`double`

Number of brake pads, num_pads — Number of brake pads
`2` (default) | scalar | N-by-`1` vector

Number of brake pads, specified as a scalar or N-by-1 vector, dimensionless. If you specify a scalar, the block uses that value for all wheels. If you specify a vector, you must specify vectors for the other brake parameters.

N is the number of wheels and must match the input signal dimensions.

Dependencies

To enable this parameter, set Brake Type to Disc.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	`num_pads`
Values:	`2` (default) \| scalar \| N-by-`1` vector
Data Types:	`double`

Drum

Drum brake actuator bore, drum_abore — Bore distance
`0.0508` (default) | scalar | N-by-`1` vector

Drum brake actuator bore, specified as a scalar or N-by-1 vector, in m. If you specify a scalar, the block uses that value for all wheels. If you specify a vector, you must specify vectors for the other brake parameters.

N is the number of wheels and must match the input signal dimensions.

Dependencies

To enable this parameter, set Brake Type to Drum.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	`drum_abore`
Values:	`0.0508` (default) \| scalar \| N-by-`1` vector
Data Types:	`double`

Shoe pin to drum center distance, drum_a — Shoe pin to drum center distance
`0.123` (default) | scalar

Shoe pin to drum center distance, in m.

Dependencies

To enable this parameter, set Brake Type to Drum.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	`drum_a`
Values:	`0.123` (default) \| scalar
Data Types:	`double`

Shoe pin center to force application point distance, drum_c — Shoe pin center to force application point distance
`0.212` (default) | scalar

Shoe pin center to force application point distance, in m.

Dependencies

To enable this parameter, set Brake Type to Drum.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	`drum_c`
Values:	`0.212` (default) \| scalar
Data Types:	`double`

Drum internal radius, drum_r — Drum internal radius
`0.15` (default) | scalar

Drum internal radius, in m.

Dependencies

To enable this parameter, set Brake Type to Drum.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	`drum_r`
Values:	`0.15` (default) \| scalar
Data Types:	`double`

Shoe pin to pad start angle, drum_theta1 — Shoe pin to pad start angle
`0` (default) | scalar

Shoe pin to pad start angle, in deg.

Dependencies

To enable this parameter, set Brake Type to Drum.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	`drum_theta1`
Values:	`0` (default) \| scalar
Data Types:	`double`

Shoe pin to pad end angle, drum_theta2 — Shoe pin to pad end angle
`126` (default) | scalar

Shoe pin to pad end angle, in deg.

Dependencies

To enable this parameter, set Brake Type to Drum.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	`drum_theta2`
Values:	`126` (default) \| scalar
Data Types:	`double`

Mapped

Brake actuator pressure breakpoints, brake_p_bpt — Brake actuator pressure breakpoints
vector

Brake actuator pressure breakpoints, in bar.

Dependencies

To enable this parameter, set Brake Type to Mapped.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	`brake_p_bpt`
Values:	vector
Data Types:	`double`

Wheel speed breakpoints, brake_n_bpt — Wheel speed breakpoints
vector

Wheel speed breakpoints, in rpm.

Dependencies

To enable this parameter, set Brake Type to Mapped.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	`brake_n_bpt`
Values:	vector
Data Types:	`double`

Brake torque map, f_brake_t — Lookup table for brake torque
array

The lookup table for the brake torque, $f_{b r a k e}^{} (P, N)$ , is a function of applied brake pressure and wheel speed, where:

T is brake torque, in N·m.
P is applied brake pressure, in bar.
N is wheel speed, in rpm.

Plot showing brake torque as a function of wheel speed and applied brake pressure

Dependencies

To enable this parameter, set Brake Type to Mapped.

Programmatic Use

To set the block parameter value programmatically, use the set_param function.

To get the block parameter value programmatically, use the get_param function.

Parameter:	`f_brake_t`
Values:	vector
Data Types:	`double`

Extended Capabilities

C/C++ Code Generation
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Version History

Introduced in R2024b

Rotational Brake

Description

Brakes

Ports

Input

BrkPrs — Brake pressure scalar | N-by-1 vector

Dependencies

Omega — Wheel angular velocity scalar | N-by-1 vector

Dependencies

BrkTrqMax — Maximum brake torque scalar | N-by-1 vector

Dependencies

AxlTrq — Axle torque scalar | N-by-1 vector

Dependencies

WhlTrq — Wheel torque scalar | N-by-1 vector

Dependencies

Output

Info — Block data bus

Dependencies

Omega — Wheel angular velocity scalar | N-by-1 vector

Dependencies

BrkTrqMax — Maximum brake torque scalar | N-by-1 vector

Dependencies

Parameters

Tire Options

Brake type — Brake type Disc | Drum | Mapped | External torque

Programmatic Use

Rotation type — Rotation type Rotational inertia (default) | No inertia

Dependencies

Programmatic Use

Output Info bus — Option to output Info bus off (default) | on

Programmatic Use

Wheel and Tire Parameters

Wheel inertia, Iyy — Wheel inertia scalar | N-by-1 vector

Dependencies

Programmatic Use

Axle viscous damping coefficient, br — Axle viscous damping coefficient scalar | N-by-1 vector

Dependencies

Programmatic Use

Wheel initial angular velocity, omegao — Wheel initial angular velocity scalar | N-by-1 vector

Dependencies

Programmatic Use

Brake

Static friction coefficient, mu_static — Static friction coefficient 0.3 (default) | scalar | N-by-1 vector

Programmatic Use

Kinetic friction coefficient, mu_kinetic — Kinetic friction 0.2 (default) | scalar | N-by-1 vector

Programmatic Use

Disc brake actuator bore, disc_abore — Bore distance 0.05 (default) | scalar | N-by-1 vector

Dependencies

Programmatic Use

Brake pad mean radius, Rm — Radius 0.177 (default) | scalar | N-by-1 vector

Dependencies

Programmatic Use

Number of brake pads, num_pads — Number of brake pads 2 (default) | scalar | N-by-1 vector

Dependencies

Programmatic Use

Drum brake actuator bore, drum_abore — Bore distance 0.0508 (default) | scalar | N-by-1 vector

Dependencies

Programmatic Use

Shoe pin to drum center distance, drum_a — Shoe pin to drum center distance 0.123 (default) | scalar

Dependencies

Programmatic Use

Shoe pin center to force application point distance, drum_c — Shoe pin center to force application point distance 0.212 (default) | scalar

Dependencies

Programmatic Use

Drum internal radius, drum_r — Drum internal radius 0.15 (default) | scalar

Dependencies

Programmatic Use

Shoe pin to pad start angle, drum_theta1 — Shoe pin to pad start angle 0 (default) | scalar

Dependencies

Programmatic Use

Shoe pin to pad end angle, drum_theta2 — Shoe pin to pad end angle 126 (default) | scalar

Dependencies

Programmatic Use

Brake actuator pressure breakpoints, brake_p_bpt — Brake actuator pressure breakpoints vector

Dependencies

Programmatic Use

Wheel speed breakpoints, brake_n_bpt — Wheel speed breakpoints vector

Dependencies

Programmatic Use

Brake torque map, f_brake_t — Lookup table for brake torque array

BrkPrs — Brake pressure
scalar | N-by-`1` vector

Omega — Wheel angular velocity
scalar | N-by-`1` vector

BrkTrqMax — Maximum brake torque
scalar | N-by-`1` vector

AxlTrq — Axle torque
scalar | N-by-`1` vector

WhlTrq — Wheel torque
scalar | N-by-`1` vector

Info — Block data
bus

Omega — Wheel angular velocity
scalar | N-by-`1` vector

BrkTrqMax — Maximum brake torque
scalar | N-by-`1` vector

Brake type — Brake type
`Disc` | `Drum` | `Mapped` | `External torque`

Rotation type — Rotation type
`Rotational inertia` (default) | `No inertia`

Output Info bus — Option to output Info bus
`off` (default) | `on`

Wheel inertia, Iyy — Wheel inertia
scalar | N-by-`1` vector

Axle viscous damping coefficient, br — Axle viscous damping coefficient
scalar | N-by-`1` vector

Wheel initial angular velocity, omegao — Wheel initial angular velocity
scalar | N-by-`1` vector

Static friction coefficient, mu_static — Static friction coefficient
`0.3` (default) | scalar | N-by-`1` vector

Kinetic friction coefficient, mu_kinetic — Kinetic friction
`0.2` (default) | scalar | N-by-`1` vector

Disc brake actuator bore, disc_abore — Bore distance
`0.05` (default) | scalar | N-by-`1` vector

Brake pad mean radius, Rm — Radius
`0.177` (default) | scalar | N-by-`1` vector

Number of brake pads, num_pads — Number of brake pads
`2` (default) | scalar | N-by-`1` vector

Drum brake actuator bore, drum_abore — Bore distance
`0.0508` (default) | scalar | N-by-`1` vector

Shoe pin to drum center distance, drum_a — Shoe pin to drum center distance
`0.123` (default) | scalar

Shoe pin center to force application point distance, drum_c — Shoe pin center to force application point distance
`0.212` (default) | scalar

Drum internal radius, drum_r — Drum internal radius
`0.15` (default) | scalar

Shoe pin to pad start angle, drum_theta1 — Shoe pin to pad start angle
`0` (default) | scalar

Shoe pin to pad end angle, drum_theta2 — Shoe pin to pad end angle
`126` (default) | scalar

Brake actuator pressure breakpoints, brake_p_bpt — Brake actuator pressure breakpoints
vector

Wheel speed breakpoints, brake_n_bpt — Wheel speed breakpoints
vector

Brake torque map, f_brake_t — Lookup table for brake torque
array

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