Simulation 3D Trailer

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
`5`-by-`3` array (default) | `7`-by-`3` array | `3`-by-`3` array

Vehicle and wheel translation, in m. The array dimensions are 3-by-3 for a one-axle trailer, 5-by-3 for a two-axle trailer, and 7-by-3 for a three-axle trailer, 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.

For a one-axle trailer:

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

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
Left wheel, X_L	`Translation(2,1)`	Vehicle Z-down X-axis
Left wheel, Y_L	`Translation(2,2)`	Vehicle Z-down Y-axis
Left wheel, Z_L	`Translation(2,3)`	Vehicle Z-down Z-axis
Right wheel, X_R	`Translation(3,1)`	Vehicle Z-down X-axis
Right wheel, Y_R	`Translation(3,2)`	Vehicle Z-down Y-axis
Right wheel, Z_R	`Translation(3,3)`	Vehicle Z-down Z-axis

For a two-axle trailer:

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

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
Rear left wheel, X_RL	`Translation(4,1)`	Vehicle Z-down X-axis
Rear left wheel, Y_RL	`Translation(4,2)`	Vehicle Z-down Y-axis
Rear left wheel, Z_RL	`Translation(4,3)`	Vehicle Z-down Z-axis
Rear right wheel, X_RR	`Translation(5,1)`	Vehicle Z-down X-axis
Rear right wheel, Y_RR	`Translation(5,2)`	Vehicle Z-down Y-axis
Rear right wheel, Z_RR	`Translation(5,3)`	Vehicle Z-down Z-axis

For a three-axle trailer:

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

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 (for three-axle trailer)	`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
`5`-by-`3` array (default) | `7`-by-`3` array | `3`-by-`3` array

Vehicle and wheel rotation, in rad. The array dimensions are 3-by-3 for a one-axle trailer, 5-by-3 for a two-axle trailer, and 7-by-3 for a three-axle trailer, 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.

For a one-axle trailer:

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

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
Left wheel, Roll_L	`Rotation(2,1)`	Vehicle Z-down X-axis
Left wheel, Pitch_L	`Rotation(2,2)`	Vehicle Z-down Y-axis
Left wheel, Yaw_L	`Rotation(2,3)`	Vehicle Z-down Z-axis
Right wheel, Roll_R	`Rotation(3,1)`	Vehicle Z-down X-axis
Right wheel, Pitch_R	`Rotation(3,2)`	Vehicle Z-down Y-axis
Right wheel, Yaw_R	`Rotation(3,3)`	Vehicle Z-down Z-axis

For a two-axle trailer:

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

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
Rear left wheel, Roll_RL	`Rotation(4,1)`	Vehicle Z-down X-axis
Rear left wheel, Pitch_RL	`Rotation(4,2)`	Vehicle Z-down Y-axis
Rear left wheel, Yaw_RL	`Rotation(4,3)`	Vehicle Z-down Z-axis
Rear right wheel, Roll_RR	`Rotation(5,1)`	Vehicle Z-down X-axis
Rear right wheel, Pitch_RR	`Rotation(5,2)`	Vehicle Z-down Y-axis
Rear right wheel, Yaw_RR	`Rotation(5,3)`	Vehicle Z-down Z-axis

For a three-axle trailer:

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

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 — Trailer type
`Two-axle trailer` (default) | `Three-axle trailer` | `One-axle trailer`

Trailer type. For the trailer dimensions, see:

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

Name of 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( 5, 3 ) (default) | zeros( 7, 3 ) | zeros( 3, 3 )

Initial vehicle and wheel translation, in m. The array dimensions are 3-by-3 for a one-axle trailer, 5-by-3 for a two-axle trailer and 7-by-3 for a three-axle trailer, 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 vehicle, along the vehicle Z-down X-, Y-, and Z-axes, respectively.

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

For a one-axle trailer:

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

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
Left wheel, X_L	`Translation(2,1)`	Vehicle Z-down X-axis
Left wheel, Y_L	`Translation(2,2)`	Vehicle Z-down Y-axis
Left wheel, Z_L	`Translation(2,3)`	Vehicle Z-down Z-axis
Right wheel, X_R	`Translation(3,1)`	Vehicle Z-down X-axis
Right wheel, Y_R	`Translation(3,2)`	Vehicle Z-down Y-axis
Right wheel, Z_R	`Translation(3,3)`	Vehicle Z-down Z-axis

For a two-axle trailer:

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

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
Rear left wheel, X_RL	`Translation(4,1)`	Vehicle Z-down X-axis
Rear left wheel, Y_RL	`Translation(4,2)`	Vehicle Z-down Y-axis
Rear left wheel, Z_RL	`Translation(4,3)`	Vehicle Z-down Z-axis
Rear right wheel, X_RR	`Translation(5,1)`	Vehicle Z-down X-axis
Rear right wheel, Y_RR	`Translation(5,2)`	Vehicle Z-down Y-axis
Rear right wheel, Z_RR	`Translation(5,3)`	Vehicle Z-down Z-axis

For a three-axle trailer:

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

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 (for three-axle trailer)	`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( 5, 3 ) (default) | zeros( 7, 3 ) | zeros( 3, 3 )

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

The array dimensions are 5-by-3 for a two-axle trailer and 7-by-3 for a three-axle trailer, where:

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

For a one-axle trailer:

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

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
Left wheel, Roll_L	`Rotation(2,1)`	Vehicle Z-down X-axis
Left wheel, Pitch_L	`Rotation(2,2)`	Vehicle Z-down Y-axis
Left wheel, Yaw_L	`Rotation(2,3)`	Vehicle Z-down Z-axis
Right wheel, Roll_R	`Rotation(3,1)`	Vehicle Z-down X-axis
Right wheel, Pitch_R	`Rotation(3,2)`	Vehicle Z-down Y-axis
Right wheel, Yaw_R	`Rotation(3,3)`	Vehicle Z-down Z-axis

For a two-axle trailer:

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

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
Rear left wheel, Roll_RL	`Rotation(4,1)`	Vehicle Z-down X-axis
Rear left wheel, Pitch_RL	`Rotation(4,2)`	Vehicle Z-down Y-axis
Rear left wheel, Yaw_RL	`Rotation(4,3)`	Vehicle Z-down Z-axis
Rear right wheel, Roll_RR	`Rotation(5,1)`	Vehicle Z-down X-axis
Rear right wheel, Pitch_RR	`Rotation(5,2)`	Vehicle Z-down Y-axis
Rear right wheel, Yaw_RR	`Rotation(5,3)`	Vehicle Z-down Z-axis

For a three-axle trailer:

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

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

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

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

Version History

Introduced in R2020b

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R2024a: Requires Simulink 3D Animation

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

Simulation 3D Trailer

Description

Examples

Three-Axle Tractor Towing a Three-Axle Trailer

Ports

Input

Translation — Vehicle translation
`5`-by-`3` array (default) | `7`-by-`3` array | `3`-by-`3` array

Rotation — Vehicle rotation
`5`-by-`3` array (default) | `7`-by-`3` array | `3`-by-`3` array

Parameters

Type — Trailer type
`Two-axle trailer` (default) | `Three-axle trailer` | `One-axle trailer`

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

Initial array values to translate vehicle per part, Translation — Vehicle initial translation
zeros( 5, 3 ) (default) | zeros( 7, 3 ) | zeros( 3, 3 )

Initial array values to rotate vehicle per part, Rotation — Vehicle initial rotation
zeros( 5, 3 ) (default) | zeros( 7, 3 ) | zeros( 3, 3 )

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

References

Version History

R2024a: Requires Simulink 3D Animation

See Also

Topics

Simulation 3D Trailer

Description

Examples

Three-Axle Tractor Towing a Three-Axle Trailer

Ports

Input

Translation — Vehicle translation 5-by-3 array (default) | 7-by-3 array | 3-by-3 array

Rotation — Vehicle rotation 5-by-3 array (default) | 7-by-3 array | 3-by-3 array

Parameters

Type — Trailer type Two-axle trailer (default) | Three-axle trailer | One-axle trailer

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

Initial array values to translate vehicle per part, Translation — Vehicle initial translation zeros( 5, 3 ) (default) | zeros( 7, 3 ) | zeros( 3, 3 )

Initial array values to rotate vehicle per part, Rotation — Vehicle initial rotation zeros( 5, 3 ) (default) | zeros( 7, 3 ) | zeros( 3, 3 )

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

References

Version History

R2024a: Requires Simulink 3D Animation

See Also

Topics

Translation — Vehicle translation
`5`-by-`3` array (default) | `7`-by-`3` array | `3`-by-`3` array

Rotation — Vehicle rotation
`5`-by-`3` array (default) | `7`-by-`3` array | `3`-by-`3` array

Type — Trailer type
`Two-axle trailer` (default) | `Three-axle trailer` | `One-axle trailer`

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

Initial array values to translate vehicle per part, Translation — Vehicle initial translation
zeros( 5, 3 ) (default) | zeros( 7, 3 ) | zeros( 3, 3 )

Initial array values to rotate vehicle per part, Rotation — Vehicle initial rotation
zeros( 5, 3 ) (default) | zeros( 7, 3 ) | zeros( 3, 3 )

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