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Simulation 3D Dolly

Implement dolly in 3D environment

Since R2021b

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  • Simulation 3D Dolly block

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

Description

Note

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

The Simulation 3D Dolly block implements a dolly in the 3D simulation environment.

To use this block, ensure that the Simulation 3D Scene Configuration block is in your model. If you set the Sample time parameter of this 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 — Along vehicle longitudinal axis, points forward

  • Y-axis — Along vehicle lateral axis, points to the right

  • Z-axis — Points downward

Tip

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

  • Simulation 3D Scene Configuration — 0

  • Simulation 3D Dolly — -1

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

Examples

Three-Axle Tractor Towing Two Three-Axle Trailers

Three-Axle Tractor Towing Two Three-Axle Trailers

Simulate a three-axle tractor towing two three-axle trailers for a commercial trucking application. Model implements hitch subsystems, sinusoidal wave steering input, and an axle torque applied to the rear wheels of the tractor.

Ports

Input

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Dolly, axle, and wheel translation along the vehicle Z-down X-, Y-, and Z- axes, respectively, in m. Array dimensions depend on the Type parameter.

Type Parameter

Array Dimension

One-axle dolly (default)5-by-3 array
Two-axle dolly8-by-3 array
Three-axle dolly11-by-3 array

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

Signal Index

Description

Translation(1,1)

Translation(1,2)

Translation(1,3)

Dolly translation, Vehicle, along the vehicle Z-down X-, Y-, and Z- axes

Translation(2,1)

Translation(2,2)

Translation(2,3)

Hitch socket, HitchSocket, translation along the vehicle Z-down X-, Y-, and Z- axes

Translation(3,1)

Translation(3,2)

Translation(3,3)

Axle one, Axle1, translation along the vehicle Z-down X-, Y-, and Z- axes

Translation(4,1)

Translation(4,2)

Translation(4,3)

Axle one left wheel, Wheel_L1, translation along the vehicle Z-down X-, Y-, and Z- axes

Translation(5,1)

Translation(5,2)

Translation(5,3)

Axle one right wheel, Wheel_R1, translation along the vehicle Z-down X-, Y-, and Z- axes

Translation(6,1)

Translation(6,2)

Translation(6,3)

Axle two, Axle2, translation along the vehicle Z-down X-, Y-, and Z- axes

Translation(7,1)

Translation(7,2)

Translation(7,3)

Axle two left wheel, Wheel_L2, translation along the vehicle Z-down X-, Y-, and Z- axes

Translation(8,1)

Translation(8,2)

Translation(8,3)

Axle two right wheel, Wheel_R2, translation along the vehicle Z-down X-, Y-, and Z- axes

Translation(9,1)

Translation(9,2)

Translation(9,3)

Axle three, Axle3, translation along the vehicle Z-down X-, Y-, and Z- axes

Translation(10,1)

Translation(10,2)

Translation(10,3)

Axle three left wheel, Wheel_L3, translation along the vehicle Z-down X-, Y-, and Z- axes

Translation(11,1)

Translation(11,2)

Translation(11,3)

Axle three right wheel, Wheel_R3, translation along the vehicle Z-down X-, Y-, and Z- axes

Dolly, axle, and wheel rotation about the vehicle Z-down X-, Y-, and Z- axes, respectively, in m. Array dimensions depend on the Type parameter.

Type Parameter

Array Dimension

One-axle dolly (default)5-by-3 array
Two-axle dolly8-by-3 array
Three-axle dolly11-by-3 array

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

Signal Index

Description

Rotation(1,1)

Rotation(1,2)

Rotation(1,3)

Dolly rotation, Vehicle, about the vehicle Z-down X-, Y-, and Z- axes

Rotation(2,1)

Rotation(2,2)

Rotation(2,3)

Hitch socket, HitchSocket, rotation about the vehicle Z-down X-, Y-, and Z- axes

Rotation(3,1)

Rotation(3,2)

Rotation(3,3)

Axle one, Axle1, rotation about the vehicle Z-down X-, Y-, and Z- axes

Rotation(4,1)

Rotation(4,2)

Rotation(4,3)

Axle one left wheel, Wheel_L1, rotation about the vehicle Z-down X-, Y-, and Z- axes

Rotation(5,1)

Rotation(5,2)

Rotation(5,3)

Axle one right wheel, Wheel_R1, rotation about the vehicle Z-down X-, Y-, and Z- axes

Rotation(6,1)

Rotation(6,2)

Rotation(6,3)

Axle two, Axle2, rotation about the vehicle Z-down X-, Y-, and Z- axes

Rotation(7,1)

Rotation(7,2)

Rotation(7,3)

Axle two left wheel, Wheel_L2, rotation about the vehicle Z-down X-, Y-, and Z- axes

Rotation(8,1)

Rotation(8,2)

Rotation(8,3)

Axle two right wheel, Wheel_R2, rotation about the vehicle Z-down X-, Y-, and Z- axes

Rotation(9,1)

Rotation(9,2)

Rotation(9,3)

Axle three, Axle3, rotation about the vehicle Z-down X-, Y-, and Z- axes

Rotation(10,1)

Rotation(10,2)

Rotation(10,3)

Axle three left wheel, Wheel_L3, rotation about the vehicle Z-down X-, Y-, and Z- axes

Rotation(11,1)

Rotation(11,2)

Rotation(11,3)

Axle three right wheel, Wheel_R3, rotation about the vehicle Z-down X-, Y-, and Z- axes

Parameters

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Vehicle Parameters

Use the Type parameter to specify the number of axles on the dolly. This table provides links to the dolly dimensions.

Type SettingDolly Dimensions
One-axle dolly

One-Axle Dolly

Two-axle dolly

Two-Axle Dolly

Three-axle dolly

Three-Axle Dolly

Name of dolly. 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 blocks that you have in your model.

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

Initial Values

Initial dolly, axle, and wheel translation along the vehicle Z-down X-, Y-, and Z- axes, respectively, in m. Array dimensions depend on the Type parameter.

Type Parameter

Array Dimension

One-axle dolly (default)5-by-3 array
Two-axle dolly8-by-3 array
Three-axle dolly11-by-3 array

The parameter contains the initial translation values according to the dolly, axle, and wheel locations.

Signal Index

Description

Translation(1,1)

Translation(1,2)

Translation(1,3)

Dolly translation, Vehicle, along the vehicle Z-down X-, Y-, and Z- axes

Translation(2,1)

Translation(2,2)

Translation(2,3)

Hitch socket, HitchSocket, translation along the vehicle Z-down X-, Y-, and Z- axes

Translation(3,1)

Translation(3,2)

Translation(3,3)

Axle one, Axle1, translation along the vehicle Z-down X-, Y-, and Z- axes

Translation(4,1)

Translation(4,2)

Translation(4,3)

Axle one left wheel, Wheel_L1, translation along the vehicle Z-down X-, Y-, and Z- axes

Translation(5,1)

Translation(5,2)

Translation(5,3)

Axle one right wheel, Wheel_R1, translation along the vehicle Z-down X-, Y-, and Z- axes

Translation(6,1)

Translation(6,2)

Translation(6,3)

Axle two, Axle2, translation along the vehicle Z-down X-, Y-, and Z- axes

Translation(7,1)

Translation(7,2)

Translation(7,3)

Axle two left wheel, Wheel_L2, translation along the vehicle Z-down X-, Y-, and Z- axes

Translation(8,1)

Translation(8,2)

Translation(8,3)

Axle two right wheel, Wheel_R2, translation along the vehicle Z-down X-, Y-, and Z- axes

Translation(9,1)

Translation(9,2)

Translation(9,3)

Axle three, Axle3, translation along the vehicle Z-down X-, Y-, and Z- axes

Translation(10,1)

Translation(10,2)

Translation(10,3)

Axle three left wheel, Wheel_L3, translation along the vehicle Z-down X-, Y-, and Z- axes

Translation(11,1)

Translation(11,2)

Translation(11,3)

Axle three right wheel, Wheel_R3, translation along the vehicle Z-down X-, Y-, and Z- axes

Initial dolly, axle, and wheel rotation about the vehicle Z-down X-, Y-, and Z- axes, respectively, in m. Array dimensions depend on the Type parameter.

Type Parameter

Array Dimension

One-axle dolly (default)5-by-3 array
Two-axle dolly8-by-3 array
Three-axle dolly11-by-3 array

The parameter contains the initial rotation values according to the dolly, axle, and wheel locations.

Signal Index

Description

Rotation(1,1)

Rotation(1,2)

Rotation(1,3)

Dolly rotation, Vehicle, about the vehicle Z-down X-, Y-, and Z- axes

Rotation(2,1)

Rotation(2,2)

Rotation(2,3)

Hitch socket, HitchSocket, rotation about the vehicle Z-down X-, Y-, and Z- axes

Rotation(3,1)

Rotation(3,2)

Rotation(3,3)

Axle one, Axle1, rotation about the vehicle Z-down X-, Y-, and Z- axes

Rotation(4,1)

Rotation(4,2)

Rotation(4,3)

Axle one left wheel, Wheel_L1, rotation about the vehicle Z-down X-, Y-, and Z- axes

Rotation(5,1)

Rotation(5,2)

Rotation(5,3)

Axle one right wheel, Wheel_R1, rotation about the vehicle Z-down X-, Y-, and Z- axes

Rotation(6,1)

Rotation(6,2)

Rotation(6,3)

Axle two, Axle2, rotation about the vehicle Z-down X-, Y-, and Z- axes

Rotation(7,1)

Rotation(7,2)

Rotation(7,3)

Axle two left wheel, Wheel_L2, rotation about the vehicle Z-down X-, Y-, and Z- axes

Rotation(8,1)

Rotation(8,2)

Rotation(8,3)

Axle two right wheel, Wheel_R2, rotation about the vehicle Z-down X-, Y-, and Z- axes

Rotation(9,1)

Rotation(9,2)

Rotation(9,3)

Axle three, Axle3, rotation about the vehicle Z-down X-, Y-, and Z- axes

Rotation(10,1)

Rotation(10,2)

Rotation(10,3)

Axle three left wheel, Wheel_L3, rotation about the vehicle Z-down X-, Y-, and Z- axes

Rotation(11,1)

Rotation(11,2)

Rotation(11,3)

Axle three right wheel, Wheel_R3, rotation about the vehicle Z-down X-, Y-, and Z- axes

References

[1] Vehicle Dynamics Standards Committee. Vehicle Dynamics Terminology J670. Warrendale, PA: SAE International, 2008.

Version History

Introduced in R2021b

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See Also

Topics