Simulation 3D Tractor

Implement tractor in 3D environment

Since R2020b

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

Description

Note

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

The Simulation 3D Tractor block implements a tree-axle tractor in the 3D simulation environment.

To use the Simulation 3D Tractor block, ensure that the Simulation 3D Scene Configuration block is in your model. If you set the Sample time parameter of the Simulation 3D Tractor 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 Tractor 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 Tractor — -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

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Translation — Vehicle translation
`7`-by-`3` array

Vehicle and wheel translation, in m. The array dimensions are 7-by-3, 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.

$T r a n s l a t i o n = [\begin{matrix} X_{v} & Y_{v} & Z_{v} \\ X_{F L} & Y_{F L} & Z_{F L} \\ X_{F R} & Y_{F R} & Z_{F R} \\ X_{M L} & Y_{M L} & Z_{M L} \\ X_{M R} & Y_{M R} & Z_{M R} \\ X_{R L} & Y_{R L} & Z_{R L} \\ X_{R R} & Y_{R R} & Z_{R R} \end{matrix}]$

Translation	Array Element	Translation Axis
Vehicle, X_v	`Translation(1,1)`	Inertial vehicle Z-down X-axis
Vehicle, Y_v	`Translation(1,2)`	Inertial vehicle Z-down Y-axis
Vehicle, Z_v	`Translation(1,3)`	Inertial vehicle Z-down Z-axis
Front left wheel, X_FL	`Translation(2,1)`	Vehicle Z-down X-axis
Front left wheel, Y_FL	`Translation(2,2)`	Vehicle Z-down Y-axis
Front left wheel, Z_FL	`Translation(2,3)`	Vehicle Z-down Z-axis
Front right wheel, X_FR	`Translation(3,1)`	Vehicle Z-down X-axis
Front right wheel, Y_FR	`Translation(3,2)`	Vehicle Z-down Y-axis
Front right wheel, Z_FR	`Translation(3,3)`	Vehicle Z-down Z-axis
Middle left wheel, X_ML	`Translation(4,1)`	Vehicle Z-down X-axis
Middle left wheel, Y_ML	`Translation(4,2)`	Vehicle Z-down Y-axis
Middle left wheel, Z_ML	`Translation(4,3)`	Vehicle Z-down Z-axis
Middle right wheel, X_MR	`Translation(5,1)`	Vehicle Z-down X-axis
Middle right wheel, Y_MR	`Translation(5,2)`	Vehicle Z-down Y-axis
Middle right wheel, Z_MR	`Translation(5,3)`	Vehicle Z-down Z-axis
Rear left wheel, X_RL	`Translation(6,1)`	Vehicle Z-down X-axis
Rear left wheel, Y_RL	`Translation(6,2)`	Vehicle Z-down Y-axis
Rear left wheel, Z_RL	`Translation(6,3)`	Vehicle Z-down Z-axis
Rear right wheel, X_RR	`Translation(7,1)`	Vehicle Z-down X-axis
Rear right wheel, Y_RR	`Translation(7,2)`	Vehicle Z-down Y-axis
Rear right wheel, Z_RR	`Translation(7,3)`	Vehicle Z-down Z-axis

Rotation — Vehicle rotation
`7`-by-`3` array

Vehicle and wheel rotation, in rad. The array dimensions are 7-by-3, 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.

$R o t a t i o n = [\begin{matrix} R o l l_{v} & P i t c h_{v} & Y a w_{v} \\ R o l l_{F L} & P i t c h_{F L} & Y a w_{F L} \\ R o l l_{F R} & P i t c h_{F R} & Y a w_{F R} \\ R o l l_{M L} & P i t c h_{M L} & Y a w_{M L} \\ R o l l_{M R} & P i t c h_{M R} & Y a w_{M R} \\ R o l l_{R L} & P i t c h_{R L} & Y a w_{R L} \\ R o l l_{R R} & P i t c h_{R R} & Y a w_{R R} \end{matrix}]$

Rotation	Array Element	Rotation Axis
Vehicle, Roll_v	`Rotation(1,1)`	Inertial vehicle Z-down X-axis
Vehicle, Pitch_v	`Rotation(1,2)`	Inertial vehicle Z-down Y-axis
Vehicle, Yaw_v	`Rotation(1,3)`	Inertial vehicle Z-down Z-axis
Front left wheel, Roll_FL	`Rotation(2,1)`	Vehicle Z-down X-axis
Front left wheel, Pitch_FL	`Rotation(2,2)`	Vehicle Z-down Y-axis
Front left wheel, Yaw_FL	`Rotation(2,3)`	Vehicle Z-down Z-axis
Front right wheel, Roll_FR	`Rotation(3,1)`	Vehicle Z-down X-axis
Front right wheel, Pitch_FR	`Rotation(3,2)`	Vehicle Z-down Y-axis
Front right wheel, Yaw_FR	`Rotation(3,3)`	Vehicle Z-down Z-axis
Middle left wheel, Roll_ML	`Rotation(4,1)`	Vehicle Z-down X-axis
Middle left wheel, Pitch_ML	`Rotation(4,2)`	Vehicle Z-down Y-axis
Middle left wheel, Yaw_ML	`Rotation(4,3)`	Vehicle Z-down Z-axis
Middle right wheel, Roll_MR	`Rotation(5,1)`	Vehicle Z-down X-axis
Middle right wheel, Pitch_MR	`Rotation(5,2)`	Vehicle Z-down Y-axis
Middle right wheel, Yaw_MR	`Rotation(5,3)`	Vehicle Z-down Z-axis
Rear left wheel, Roll_RL	`Rotation(6,1)`	Vehicle Z-down X-axis
Rear left wheel, Pitch_RL	`Rotation(6,2)`	Vehicle Z-down Y-axis
Rear left wheel, Yaw_RL	`Rotation(6,3)`	Vehicle Z-down Z-axis
Rear right wheel, Roll_RR	`Rotation(7,1)`	Vehicle Z-down X-axis
Rear right wheel, Pitch_RR	`Rotation(7,2)`	Vehicle Z-down Y-axis
Rear right wheel, Yaw_RR	`Rotation(7,3)`	Vehicle Z-down Z-axis

Parameters

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Vehicle Parameters

Type — Tractor type
`Conventional tractor` (default) | `Cab-over tractor`

Type of tractor. For the dimensions, see:

Color — Vehicle color
`Red` (default) | `Orange` | `Yellow` | `Green` | `Blue` | `Black` | `White` | `Silver` | `Dazzle camouflage`

Specify the vehicle color.

Name — Name of vehicle
`SimulinkVehicle1` (default) | character vector

Name of the 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( 7, 3 ) (default) | `7`-by-`3` array

Initial vehicle and wheel translation, in m. The array dimensions are 7-by-3, 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 the vehicle, along the vehicle Z-down X-, Y-, and Z-axes, respectively.

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

Translation	Array Element	Translation Axis
Vehicle, X_v	`Translation(1,1)`	Inertial vehicle Z-down X-axis
Vehicle, Y_v	`Translation(1,2)`	Inertial vehicle Z-down Y-axis
Vehicle, Z_v	`Translation(1,3)`	Inertial vehicle Z-down Z-axis
Front left wheel, X_FL	`Translation(2,1)`	Vehicle Z-down X-axis
Front left wheel, Y_FL	`Translation(2,2)`	Vehicle Z-down Y-axis
Front left wheel, Z_FL	`Translation(2,3)`	Vehicle Z-down Z-axis
Front right wheel, X_FR	`Translation(3,1)`	Vehicle Z-down X-axis
Front right wheel, Y_FR	`Translation(3,2)`	Vehicle Z-down Y-axis
Front right wheel, Z_FR	`Translation(3,3)`	Vehicle Z-down Z-axis
Middle left wheel, X_ML	`Translation(4,1)`	Vehicle Z-down X-axis
Middle left wheel, Y_ML	`Translation(4,2)`	Vehicle Z-down Y-axis
Middle left wheel, Z_ML	`Translation(4,3)`	Vehicle Z-down Z-axis
Middle right wheel, X_MR	`Translation(5,1)`	Vehicle Z-down X-axis
Middle right wheel, Y_MR	`Translation(5,2)`	Vehicle Z-down Y-axis
Middle right wheel, Z_MR	`Translation(5,3)`	Vehicle Z-down Z-axis
Rear left wheel, X_RL	`Translation(6,1)`	Vehicle Z-down X-axis
Rear left wheel, Y_RL	`Translation(6,2)`	Vehicle Z-down Y-axis
Rear left wheel, Z_RL	`Translation(6,3)`	Vehicle Z-down Z-axis
Rear right wheel, X_RR	`Translation(7,1)`	Vehicle Z-down X-axis
Rear right wheel, Y_RR	`Translation(7,2)`	Vehicle Z-down Y-axis
Rear right wheel, Z_RR	`Translation(7,3)`	Vehicle Z-down Z-axis

Initial array values to rotate vehicle per part, Rotation — Vehicle initial rotation
zeros( 7, 3 ) (default) | `7`-by-`3` array

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

The array dimensions are 7-by-3.

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 parameter contains rotation information according to the axle and wheel locations.

Rotation	Array Element	Rotation Axis
Vehicle, Roll_v	`Rotation(1,1)`	Inertial vehicle Z-down X-axis
Vehicle, Pitch_v	`Rotation(1,2)`	Inertial vehicle Z-down Y-axis
Vehicle, Yaw_v	`Rotation(1,3)`	Inertial vehicle Z-down Z-axis
Front left wheel, Roll_FL	`Rotation(2,1)`	Vehicle Z-down X-axis
Front left wheel, Pitch_FL	`Rotation(2,2)`	Vehicle Z-down Y-axis
Front left wheel, Yaw_FL	`Rotation(2,3)`	Vehicle Z-down Z-axis
Front right wheel, Roll_FR	`Rotation(3,1)`	Vehicle Z-down X-axis
Front right wheel, Pitch_FR	`Rotation(3,2)`	Vehicle Z-down Y-axis
Front right wheel, Yaw_FR	`Rotation(3,3)`	Vehicle Z-down Z-axis
Middle left wheel, Roll_ML	`Rotation(4,1)`	Vehicle Z-down X-axis
Middle left wheel, Pitch_ML	`Rotation(4,2)`	Vehicle Z-down Y-axis
Middle left wheel, Yaw_ML	`Rotation(4,3)`	Vehicle Z-down Z-axis
Middle right wheel, Roll_MR	`Rotation(5,1)`	Vehicle Z-down X-axis
Middle right wheel, Pitch_MR	`Rotation(5,2)`	Vehicle Z-down Y-axis
Middle right wheel, Yaw_MR	`Rotation(5,3)`	Vehicle Z-down Z-axis
Rear left wheel, Roll_RL	`Rotation(6,1)`	Vehicle Z-down X-axis
Rear left wheel, Pitch_RL	`Rotation(6,2)`	Vehicle Z-down Y-axis
Rear left wheel, Yaw_RL	`Rotation(6,3)`	Vehicle Z-down Z-axis
Rear right wheel, Roll_RR	`Rotation(7,1)`	Vehicle Z-down X-axis
Rear right wheel, Pitch_RR	`Rotation(7,2)`	Vehicle Z-down Y-axis
Rear right wheel, Yaw_RR	`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

expand all

R2024b: New Simulation 3D Tractor block color option

Starting in R2024b, you can specify Color as Dazzle Camouflage for the Simulation 3D Tractor block.

R2024a: Requires Simulink 3D Animation

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

Simulation 3D Tractor

Description

Examples

Three-Axle Tractor Towing a Three-Axle Trailer

Ports

Input

Translation — Vehicle translation
`7`-by-`3` array

Rotation — Vehicle rotation
`7`-by-`3` array

Parameters

Type — Tractor type
`Conventional tractor` (default) | `Cab-over tractor`

Color — Vehicle color
`Red` (default) | `Orange` | `Yellow` | `Green` | `Blue` | `Black` | `White` | `Silver` | `Dazzle camouflage`

Name — Name of vehicle
`SimulinkVehicle1` (default) | character vector

Initial array values to translate vehicle per part, Translation — Vehicle initial translation
zeros( 7, 3 ) (default) | `7`-by-`3` array

Initial array values to rotate vehicle per part, Rotation — Vehicle initial rotation
zeros( 7, 3 ) (default) | `7`-by-`3` array

Sample time — Sample time
`-1` (default) | `scalar`

References

Version History

R2024b: New Simulation 3D Tractor block color option

R2024a: Requires Simulink 3D Animation

See Also

Topics

Simulation 3D Tractor

Description

Examples

Three-Axle Tractor Towing a Three-Axle Trailer

Ports

Input

Translation — Vehicle translation 7-by-3 array

Rotation — Vehicle rotation 7-by-3 array

Parameters

Type — Tractor type Conventional tractor (default) | Cab-over tractor

Color — Vehicle color Red (default) | Orange | Yellow | Green | Blue | Black | White | Silver | Dazzle camouflage

Name — Name of vehicle SimulinkVehicle1 (default) | character vector

Initial array values to translate vehicle per part, Translation — Vehicle initial translation zeros( 7, 3 ) (default) | 7-by-3 array

Initial array values to rotate vehicle per part, Rotation — Vehicle initial rotation zeros( 7, 3 ) (default) | 7-by-3 array

Sample time — Sample time -1 (default) | scalar

References

Version History

R2024b: New Simulation 3D Tractor block color option

R2024a: Requires Simulink 3D Animation

See Also

Topics

Translation — Vehicle translation
`7`-by-`3` array

Rotation — Vehicle rotation
`7`-by-`3` array

Type — Tractor type
`Conventional tractor` (default) | `Cab-over tractor`

Color — Vehicle color
`Red` (default) | `Orange` | `Yellow` | `Green` | `Blue` | `Black` | `White` | `Silver` | `Dazzle camouflage`

Name — Name of vehicle
`SimulinkVehicle1` (default) | character vector

Initial array values to translate vehicle per part, Translation — Vehicle initial translation
zeros( 7, 3 ) (default) | `7`-by-`3` array

Initial array values to rotate vehicle per part, Rotation — Vehicle initial rotation
zeros( 7, 3 ) (default) | `7`-by-`3` array

Sample time — Sample time
`-1` (default) | `scalar`