Trailer Body 3DOF
![](trailorbody3dof.png)
Libraries:
Vehicle Dynamics Blockset /
Vehicle Body
Description
The Trailer Body 3DOF block implements a rigid one-axle, two-axle or three-axle trailer body model to calculate longitudinal, lateral, and yaw motion. Configure the block for a single or dual track. The block accounts for axle and hitch reaction forces due to the trailer acceleration, aerodynamic drag, and steering.
Use this block in vehicle dynamics and automated driving studies to model nonholonomic vehicle motion when vehicle pitch, roll, and vertical motion are not significant.
Use the Vehicle track parameter to specify the number of wheels.
Vehicle Track Setting | Implementation |
---|---|
| Trailer with a single track and one axle.
|
| Trailer with a dual track and one axle. Forces act at the axle hard-point locations. |
| Trailer with a single track and two axles.
|
| Trailer with a dual track and two axles. Forces act at the axle hard-point locations. |
| Trailer with a single track and three axles.
|
| Trailer with a dual track and three axles. Forces act at the axle hard-point locations. |
Use the Axle forces parameter to specify the type of force.
Axle Forces Setting | Implementation |
---|---|
|
|
|
|
|
|
To create additional input ports, under Input signals, select these block parameters.
Input Signals Pane Parameter | Input Port | Description |
---|---|---|
Front wheel steering |
| Front wheel angle, δF |
Middle wheel steering | WhlAngM | Middle wheel angle, δM |
Rear wheel steering | WhlAngR | Rear wheel angle, δR |
External wind |
| Wind speed, WX, WY, and WZ, in an inertial reference frame |
External friction | Mu | Friction coefficient |
External forces | FExt | External force on the vehicle center of gravity (CG), Fx, Fy, and Fz, in the vehicle-fixed frame |
External moments |
| External moment about the vehicle CG, Mx, My, and Mz, in the vehicle-fixed frame |
Front hitch forces | FhF | Hitch force applied to the body at the front hitch location, FhFx, FhFy, and FhFz, in the vehicle-fixed frame |
Front hitch moments | MhF | Hitch moment at the front hitch location, MhFx, MhFy, and MhFz, about the vehicle-fixed frame |
Rear hitch forces | FhR | Hitch force applied to the body at the rear hitch location, FhRx, FhRy, and FhRz, in the vehicle-fixed frame |
Rear hitch moments | MhR | Hitch moment at the rear hitch location, MhRx, MhRy, and MhRz, about the vehicle-fixed frame |
Initial longitudinal position |
| Initial vehicle CG displacement along the earth-fixed X-axis |
Initial yaw angle |
| Initial rotation of the vehicle-fixed frame about the earth-fixed Z-axis (yaw) |
Initial longitudinal velocity |
| Initial vehicle CG velocity along the vehicle-fixed x-axis |
Initial yaw rate |
| Initial vehicle angular velocity about the vehicle-fixed z-axis (yaw rate) |
Initial lateral position |
| Initial vehicle CG displacement along the earth-fixed Y-axis |
Air temperature | AirTemp | Ambient air temperature. Consider this option if you want to vary the temperature during run time. |
Initial lateral velocity |
| Initial vehicle CG velocity along the vehicle-fixed y-axis |
Theory
To determine the vehicle motion, the block solves the rigid body planar dynamics equations of motion.
Calculation | Description |
---|---|
Dynamics | The block solves the rigid-body
planar dynamics equations to determine the vehicle
longitudinal motion. If you set Axle
forces to |
External forces | External forces include both drag and external force inputs. The forces act on the vehicle CG. The block divides the normal forces by the nominal normal load to vary the effective friction parameters during weight and load transfer. The block maintains pitch and roll equilibrium. |
Tire forces | The block uses the ratio of the local, longitudinal, and lateral velocities to determine the slip angles. The block uses the steering angles to transform the tire forces to the vehicle-fixed frame. If you set Axle
forces to |
The illustrations use these variables.
a, b, c | Longitudinal distance of the front, middle, and rear axles, respectively, from the normal projection point of the vehicle CG onto the common axle plane |
h | Height of the tractor CG above the axle plane along the vehicle-fixed z-axis |
d | Lateral distance from the geometric centerline to the center of mass along the vehicle-fixed y-axis |
hh_f, hh_r | Height of the front and rear hitch, respectively, above the axle plane along the vehicle-fixed z-axis |
dh_f, dh_r | Longitudinal distance of the front and rear hitch, respectively, from the normal projection point of tractor CG onto the common axle plane |
wf, wm, wr | Front, middle, and rear track width, respectively |
This table summarizes the block implementation for the drag calculation.
Calculation | Description |
---|---|
Coordinate transformation | The block transforms the wind speeds from the inertial frame to the vehicle-fixed frame. |
Drag forces | To determine a relative airspeed, the block subtracts the wind speed from the CG vehicle velocity. Using the relative airspeed, the block determines the drag forces. |
Drag moments | Using the relative airspeed, the block determines the drag moments. |
To enable the mapped corner stiffness and relaxation length dynamic
parameters, set Axle forces to External
longitudinal forces
or External longitudinal
velocity
.
Parameter Settings | Description | |
---|---|---|
Mapped Corner Stiffness | Include Relaxation Length Dynamics | |
|
| The block uses constant corner stiffness values. The slip angles include the relaxation length dynamic settings. The relaxation length approximates an effective corner stiffness force that is a function of wheel travel. |
|
| The block uses lookup tables that are functions of the corner stiffness data and slip angles. The slip angles include the relaxation length dynamic settings. The relaxation length approximates an effective corner stiffness force that is a function of wheel travel. |
|
| The block uses constant corner stiffness values. |
Ports
Input
WhlAngF — Front wheel steering angles
scalar
| array
Front wheel steering angles, δF, in rad.
Vehicle Track Setting | Variable | Signal Dimension |
---|---|---|
| δF | Scalar –
|
|
| Array – |
Dependencies
To enable this port, under Input signals, select Front wheel steering.
WhlAngM — Middle wheel steering angles
scalar
| array
Middle wheel steering angles, δM, in rad.
Vehicle Track Setting | Variable | Signal Dimension |
---|---|---|
Single 3-axle | δM | Scalar –
|
Dual 3-axle |
| Array – |
Dependencies
To enable this port:
Set Vehicle track to
Single 3-axle
orDual 3-axle
.To enable this port, under Input signals, select Middle wheel steering.
WhlAngR — Rear wheel steering angles
scalar
| array
Rear wheel steering angles, δR, in rad.
Vehicle Track Setting | Variable | Signal Dimension |
---|---|---|
| δR | Scalar –
|
|
| Array – |
Dependencies
To enable this port, under Input signals, select Rear wheel steering.
xdotin — Longitudinal velocity
scalar
Vehicle CG velocity along the vehicle-fixed x-axis, in m/s.
Dependencies
To enable this port, set Axle forces to
External longitudinal
velocity
.
FwF — Total force on the front wheels
scalar
| array
Force on the front wheels, FwF, along the vehicle-fixed axis, in N.
Vehicle Track Setting | Axle Forces Setting | Description | Variable | Signal Dimension |
---|---|---|---|---|
| External longitudinal
forces | Longitudinal force on the front wheel |
| Scalar –
|
External
forces | Longitudinal and lateral forces on the front wheel |
| Array – | |
| External longitudinal
forces | Longitudinal force on the front wheels |
| Array – |
External
forces | Longitudinal and lateral forces on the front wheels |
| Array –
|
Dependencies
To enable this port, set Axle forces to one of these options:
External longitudinal forces
External forces
FwM — Total force on the middle wheels
scalar
| array
Force on the middle wheels, FwM, along the vehicle-fixed axis, in N.
Vehicle Track Setting | Axle Forces Setting | Description | Variable | Signal Dimension |
---|---|---|---|---|
| External longitudinal
forces | Longitudinal force on the middle wheel |
| Scalar –
|
External
forces | Longitudinal and lateral forces on the middle wheel |
| Array – | |
| External longitudinal
forces | Longitudinal force on the middle wheels |
| Array – |
External
forces | Longitudinal and lateral forces on the middle wheels |
| Array –
|
Dependencies
To enable this port, set:
Vehicle track to
Single 3-axle
orDual 3-axle
.Axle forces to
External longitudinal forces
orExternal forces
.
FwR — Total force on the rear wheels
scalar
| array
Force on the rear wheels, FwR, along the vehicle-fixed axis, in N.
Vehicle Track Setting | Axle Forces Setting | Description | Variable | Signal Dimension |
---|---|---|---|---|
| External longitudinal
forces | Longitudinal force on the rear wheel |
| Scalar –
|
External
forces | Longitudinal and lateral forces on the rear wheel |
| Array – | |
| External longitudinal
forces | Longitudinal force on the rear wheels |
| Array – |
External
forces | Longitudinal and lateral forces on the rear wheels |
| Array –
|
Dependencies
To enable this port, set:
Vehicle track to
Single 3-axle
,Single 2-axle
,Dual 3-axle
orDual 2-axle
.Axle forces to
External longitudinal forces
orExternal forces
.
FExt — External force on the vehicle CG
array
External forces applied to the vehicle CG,
Fxext,
Fyext,
Fzext, in
vehicle-fixed frame, in N. The signal vector dimensions are
[1x3]
or [3x1]
.
Dependencies
To enable this port, under Input signals, select External forces.
MExt — External moment about vehicle CG
array
External moment about the vehicle CG,
Mx,
My,
Mz, in the
vehicle-fixed frame, in N·m. The signal vector dimensions are
[1x3]
or [3x1]
.
Dependencies
To enable this port, under Input signals, select External moments.
FhF — Front hitch force on the body
array
Hitch force applied to the body at the front hitch location,
FhFx,
FhFy,
FhFz, in the vehicle-fixed frame, in
N, specified as a 1-by-3
or 3-by-1
array.
Dependencies
To enable this port, under Input signals, select Front hitch forces.
MhF — Front hitch moment about body
array
Hitch moment at the front hitch location,
MhFx,
MhFy,
MhFz, about the
vehicle-fixed frame, in N·m, specified as a 1-by-3
or
3-by-1
array.
Dependencies
To enable this port, under Input signals, select Front hitch moments.
FhR — Rear hitch force on the body
array
Hitch force applied to the body at the rear hitch location,
FhRx,
FhRy,
FhRz, in the vehicle-fixed frame, in
N, specified as a 1-by-3
or 3-by-1
array.
Dependencies
To enable this port, under Input signals, select Rear hitch forces.
MhR — Rear hitch moment about body
array
Hitch moment at the rear hitch location,
MhRx,
MhRy,
MhRz, about the
vehicle-fixed frame, in N·m, specified as a 1-by-3
or
3-by-1
array.
Dependencies
To enable this port, under Input signals, select Rear hitch moments.
WindXYZ — Wind speed
array
Wind speed, Wx,
Wy,
Wz, along the inertial
X-, Y-, and
Z-axes, in m/s. The signal vector dimensions
are 1-by-3
or 3-by-1
.
Dependencies
To enable this port, under Input signals, select External wind.
Mu — Tire friction coefficient
array
Tire friction coefficient, μ. The value is dimensionless.
Vehicle Track Setting | Description | Variable | Signal Dimension |
---|---|---|---|
Single 1-axle | Friction coefficient on the wheels |
| Array – |
Dual 1-axle | Friction coefficient on the wheels |
| Array – |
Single 2-axle | Friction coefficient on the wheels |
| Array – |
Dual 2-axle | Friction coefficient on the wheels |
| Array – |
Single 3-axle | Friction coefficient on the wheels |
| Array – |
Dual 3-axle | Friction coefficient on the wheels |
| Array – |
Dependencies
To enable this port, under Input signals, select External friction.
AirTemp — Ambient air temperature
scalar
Ambient air temperature, in K.
Dependencies
To enable this port, under Input signals, select Air temperature.
X_o — Initial longitudinal position
scalar
Initial vehicle CG displacement along the earth-fixed X-axis, in m.
Dependencies
To enable this port, under Input signals, select Initial longitudinal position.
Y_o — Initial lateral position
scalar
Initial vehicle CG displacement along the earth-fixed Y-axis, in m.
Dependencies
To enable this port, under Input signals, select Initial lateral position.
xdot_o — Initial longitudinal position
scalar
Initial vehicle CG velocity along the vehicle-fixed x-axis, in m/s.
Dependencies
To enable this port:
Set Axle forces to one of these options:
External longitudinal forces
External forces
Under Input signals, select Initial longitudinal velocity
ydot_o — Initial lateral position
scalar
Initial vehicle CG velocity along the vehicle-fixed y-axis, in m/s.
Dependencies
To enable this port, under Input signals, select Initial lateral velocity.
psi_o — Initial yaw angle
scalar
Rotation of the vehicle-fixed frame about the earth-fixed Z-axis (yaw), in rad.
Dependencies
To enable this port, under Input signals, select Initial yaw angle.
r_o — Initial yaw rate
scalar
Vehicle angular velocity about the vehicle-fixed z-axis (yaw rate), in rad/s.
Dependencies
To enable this port, under Input signals, select Initial yaw rate.
Output
Info — Trailer data
bus
Trailer data, returned as a bus signal containing these block values.
Signal | Description | Value | Units | |||||
---|---|---|---|---|---|---|---|---|
InertFrm | Cg | Disp | X | Vehicle CG displacement along the earth-fixed X-axis | Computed | m | ||
Y | Vehicle CG displacement along the earth-fixed Y-axis | Computed | m | |||||
Z | Vehicle CG displacement along the earth-fixed Z-axis | 0 | m | |||||
Vel | Xdot | Vehicle CG velocity along the earth-fixed X-axis | Computed | m/s | ||||
Ydot | Vehicle CG velocity along the earth-fixed Y-axis | Computed | m/s | |||||
Zdot | Vehicle CG velocity along the earth-fixed Z-axis | 0 | m/s | |||||
Ang | phi | Rotation of the vehicle-fixed frame about the earth-fixed X-axis (roll) | 0 | rad | ||||
theta | Rotation of the vehicle-fixed frame about the earth-fixed Y-axis (pitch) | 0 | rad | |||||
psi | Rotation of the vehicle-fixed frame about the earth-fixed Z-axis (yaw) | Computed | rad | |||||
FrntAxl | Lft | Disp | X | Front left wheel displacement along the earth-fixed X-axis | Computed | m | ||
Y | Front left wheel displacement along the earth-fixed Y-axis | Computed | m | |||||
Z | Front left wheel displacement along the earth-fixed Z-axis | 0 | m | |||||
Vel | Xdot | Front left wheel velocity along the earth-fixed X-axis | Computed | m/s | ||||
Ydot | Front left wheel velocity along the earth-fixed Y-axis | Computed | m/s | |||||
Zdot | Front left wheel velocity along the earth-fixed Z-axis | 0 | m/s | |||||
Rght | Disp | X | Front right wheel displacement along the earth-fixed X-axis | Computed | m | |||
Y | Front right wheel displacement along the earth-fixed Y-axis | Computed | m | |||||
Z | Front right wheel displacement along the earth-fixed Z-axis | 0 | m | |||||
Vel | Xdot | Front right wheel velocity along the earth-fixed X-axis | Computed | m/s | ||||
Ydot | Front right wheel velocity along the earth-fixed Y-axis | Computed | m/s | |||||
Zdot | Front right wheel velocity along the earth-fixed Z-axis | 0 | m/s | |||||
MidlAxl | Lft | Disp | X | Middle left wheel displacement along the earth-fixed X-axis | Computed | m | ||
Y | Middle left wheel displacement along the earth-fixed Y-axis | Computed | m | |||||
Z | Middle left wheel displacement along the earth-fixed Z-axis | 0 | m | |||||
Vel | Xdot | Middle left wheel velocity along the earth-fixed X-axis | Computed | m/s | ||||
Ydot | Middle left wheel velocity along the earth-fixed Y-axis | Computed | m/s | |||||
Zdot | Middle left wheel velocity along the earth-fixed Z-axis | 0 | m/s | |||||
Rght | Disp | X | Middle right wheel displacement along the earth-fixed X-axis | Computed | m | |||
Y | Middle right wheel displacement along the earth-fixed Y-axis | Computed | m | |||||
Z | Middle right wheel displacement along the earth-fixed Z-axis | 0 | m | |||||
Vel | Xdot | Middle right wheel velocity along the earth-fixed X-axis | Computed | m/s | ||||
Ydot | Middle right wheel velocity along the earth-fixed Y-axis | Computed | m/s | |||||
Zdot | Middle right wheel velocity along the earth-fixed Z-axis | 0 | m/s | |||||
RearAxl | Lft | Disp | X | Rear left wheel displacement along the earth-fixed X-axis | Computed | m | ||
Y | Rear left wheel displacement along the earth-fixed Y-axis | Computed | m | |||||
Z | Rear left wheel displacement along the earth-fixed Z-axis | 0 | m | |||||
Vel | Xdot | Rear left wheel velocity along the earth-fixed X-axis | Computed | m/s | ||||
Ydot | Rear left wheel velocity along the earth-fixed Y-axis | Computed | m/s | |||||
Zdot | Rear left wheel velocity along the earth-fixed Z-axis | 0 | m/s | |||||
Rght | Disp | X | Rear right wheel displacement along the earth-fixed X-axis | Computed | m | |||
Y | Rear right wheel displacement along the earth-fixed Y-axis | Computed | m | |||||
Z | Rear right wheel displacement along the earth-fixed Z-axis | 0 | m | |||||
Vel | Xdot | Rear right wheel velocity along the earth-fixed X-axis | Computed | m/s | ||||
Ydot | Rear right wheel velocity along the earth-fixed Y-axis | Computed | m/s | |||||
Zdot | Rear right wheel velocity along the earth-fixed Z-axis | 0 | m/s | |||||
Geom | Disp | X | Trailer body offset from the axle plane along the earth-fixed X-axis | Computed | m | |||
Y | Trailer body offset from the center plane along the earth-fixed Y-axis | Computed | m | |||||
Z | Trailer body offset from the axle plane along the earth-fixed Z-axis | Computed | m | |||||
Vel | Xdot | Trailer body offset velocity along the earth-fixed X-axis | Computed | m/s | ||||
Ydot | Trailer body offset velocity along the earth-fixed Y-axis | Computed | m/s | |||||
Zdot | Trailer body offset velocity along the earth-fixed Z-axis | Computed | m/s | |||||
HitchF | Disp | X | Trailer front hitch offset from the axle plane along the earth-fixed X-axis | Computed | m | |||
Y | Trailer front hitch offset from the center plane along the earth-fixed Y-axis | Computed | m | |||||
Z | Trailer front hitch offset from the axle plane along the earth-fixed Z-axis | Computed | m | |||||
Vel | Xdot | Trailer front hitch offset velocity along the earth-fixed X-axis | Computed | m/s | ||||
Ydot | Trailer front hitch offset velocity along the earth-fixed Y-axis | Computed | m/s | |||||
Zdot | Trailer front hitch offset velocity along the earth-fixed Z-axis | Computed | m/s | |||||
HitchR | Disp | X | Trailer rear hitch offset from the axle plane along the earth-fixed X-axis | Computed | m | |||
Y | Trailer rear hitch offset from the center plane along the earth-fixed Y-axis | Computed | m | |||||
Z | Trailer rear hitch offset from the axle plane along the earth-fixed Z-axis | Computed | m | |||||
Vel | Xdot | Trailer rear hitch offset velocity along the earth-fixed X-axis | Computed | m/s | ||||
Ydot | Trailer rear hitch offset velocity along the earth-fixed Y-axis | Computed | m/s | |||||
Zdot | Trailer rear hitch offset velocity along the earth-fixed Z-axis | Computed | m/s | |||||
BdyFrm | Cg | Vel | xdot | Vehicle CG velocity along the vehicle-fixed x-axis | Computed | m/s | ||
ydot | Vehicle CG velocity along the vehicle-fixed y-axis | Computed | m/s | |||||
zdot | Vehicle CG velocity along the vehicle-fixed z-axis | 0 | m/s | |||||
Ang | Beta | Body slip angle, β
| Computed | rad | ||||
AngVel | p | Vehicle angular velocity about the vehicle-fixed x-axis (roll rate) | 0 | rad/s | ||||
q | Vehicle angular velocity about the vehicle-fixed y-axis (pitch rate) | 0 | rad/s | |||||
r | Vehicle angular velocity about the vehicle-fixed z-axis (yaw rate) | Computed | rad/s | |||||
Acc | ax | Vehicle CG acceleration along the vehicle-fixed x-axis | Computed | gn | ||||
ay | Vehicle CG acceleration along the vehicle-fixed y-axis | Computed | gn | |||||
az | Vehicle CG acceleration along the vehicle-fixed z-axis | 0 | gn | |||||
xddot | Vehicle CG acceleration along the vehicle-fixed x-axis | Computed | m/s^2 | |||||
yddot | Vehicle CG acceleration along the vehicle-fixed y-axis | Computed | m/s^2 | |||||
zddot | Vehicle CG acceleration along the vehicle-fixed z-axis | 0 | m/s^2 | |||||
AngAcc | pdot | Vehicle angular acceleration about the vehicle-fixed x-axis | 0 | rad/s | ||||
qdot | Vehicle angular acceleration about the vehicle-fixed y-axis | 0 | rad/s | |||||
rdot | Vehicle angular acceleration about the vehicle-fixed z-axis | Computed | rad/s | |||||
Forces | Body | Fx | Net force on the vehicle CG along the vehicle-fixed x-axis | Computed | N | |||
Fy | Net force on the vehicle CG along the vehicle-fixed y-axis | Computed | N | |||||
Fz | Net force on the vehicle CG along the vehicle-fixed z-axis | 0 | N | |||||
Ext | Fx | External force on the vehicle CG along the vehicle-fixed x-axis | Computed | N | ||||
Fy | External force on the vehicle CG along the vehicle-fixed y-axis | Computed | N | |||||
Fz | External force on the vehicle CG along the vehicle-fixed z-axis | 0 | N | |||||
HitchF | Fx | Hitch front force applied to the body at the hitch location along the vehicle-fixed x-axis | Computed | N | ||||
Fy | Hitch front force applied to the body at the hitch location along the vehicle-fixed y-axis | Computed | N | |||||
Fz | Hitch front force applied to the body at the hitch location along the vehicle-fixed z-axis | Computed | N | |||||
HitchR | Fx | Hitch rear force applied to the body at the hitch location along the vehicle-fixed x-axis | Computed | N | ||||
Fy | Hitch rear force applied to the body at the hitch location along the vehicle-fixed y-axis | Computed | N | |||||
Fz | Hitch rear force applied to the body at the hitch location along the vehicle-fixed z-axis | Computed | N | |||||
FrntAxl | Lft | Fx | Longitudinal force on the left front wheel along the vehicle-fixed x-axis | Computed | N | |||
Fy | Lateral force on the left front wheel along the vehicle-fixed y-axis | Computed | N | |||||
Fz | Normal force on the left front wheel along the vehicle-fixed z-axis | Computed | N | |||||
Rght | Fx | Longitudinal force on the right front wheel along the vehicle-fixed x-axis | Computed | N | ||||
Fy | Lateral force on the right front wheel along the vehicle-fixed y-axis | Computed | N | |||||
Fz | Normal force on the right front wheel along the vehicle-fixed z-axis | Computed | N | |||||
MidlAxl | Lft | Fx | Longitudinal force on the left middle wheel along the vehicle-fixed x-axis | Computed | N | |||
Fy | Lateral force on the left middle wheel along the vehicle-fixed y-axis | Computed | N | |||||
Fz | Normal force on the left middle wheel along the vehicle-fixed z-axis | Computed | N | |||||
Rght | Fx | Longitudinal force on the right middle wheel along the vehicle-fixed x-axis | Computed | N | ||||
Fy | Lateral force on the right middle wheel along the vehicle-fixed y-axis | Computed | N | |||||
Fz | Normal force on the right middle wheel along the vehicle-fixed z-axis | Computed | N | |||||
RearAxl | Lft | Fx | Longitudinal force on the left rear wheel along the vehicle-fixed x-axis | Computed | N | |||
Fy | Lateral force on the left rear wheel along the vehicle-fixed y-axis | Computed | N | |||||
Fz | Normal force on the left rear wheel along the vehicle-fixed z-axis | Computed | N | |||||
Rght | Fx | Longitudinal force on the right rear wheel along the vehicle-fixed x-axis | Computed | N | ||||
Fy | Lateral force on the right rear wheel along the vehicle-fixed y-axis | Computed | N | |||||
Fz | Normal force on the right rear wheel along the vehicle-fixed z-axis | Computed | N | |||||
Tires | FrntTires | Lft | Fx | Front left tire force along the vehicle-fixed x-axis | Computed | N | ||
Fy | Front left tire force along the vehicle-fixed y-axis | Computed | N | |||||
Fz | Front left tire force along the vehicle-fixed z-axis | Computed | N | |||||
Rght | Fx | Front right tire force along the vehicle-fixed x-axis | Computed | N | ||||
Fy | Front right tire force along the vehicle-fixed y-axis | Computed | N | |||||
Fz | Front right tire force along the vehicle-fixed z-axis | Computed | N | |||||
RearTires | Lft | Fx | Rear left tire force along the vehicle-fixed x-axis | Computed | N | |||
Fy | Rear left tire force along the vehicle-fixed y-axis | Computed | N | |||||
Fz | Rear left tire force along the vehicle-fixed z-axis | Computed | N | |||||
Rght | Fx | Rear right tire force along the vehicle-fixed x-axis | Computed | N | ||||
Fy | Rear right tire force along the vehicle-fixed y-axis | Computed | N | |||||
Fz | Rear right tire force along the vehicle-fixed z-axis | Computed | ||||||
Drag | Fx | Drag force on the vehicle CG along the vehicle-fixed x-axis | Computed | N | ||||
Fy | Drag force on the vehicle CG along the vehicle-fixed y-axis | Computed | N | |||||
Fz | Drag force on the vehicle CG along the vehicle-fixed z-axis | Computed | N | |||||
Grvty | Fx | Gravity force on the vehicle CG along the vehicle-fixed x-axis | Computed | N | ||||
Fy | Gravity force on the vehicle CG along the vehicle-fixed y-axis | Computed | N | |||||
Fz | Gravity force on the vehicle CG along the vehicle-fixed z-axis | Computed | N | |||||
Moments | Body | Mx | Body moment on the vehicle CG about the vehicle-fixed x-axis | 0 | N·m | |||
My | Body moment on the vehicle CG about the vehicle-fixed y-axis | Computed | N·m | |||||
Mz | Body moment on the vehicle CG about the vehicle-fixed z-axis | 0 | N·m | |||||
Drag | Mx | Drag moment on the vehicle CG about the vehicle-fixed x-axis | 0 | N·m | ||||
My | Drag moment on the vehicle CG about the vehicle-fixed y-axis | Computed | N·m | |||||
Mz | Drag moment on the vehicle CG about the vehicle-fixed z-axis | 0 | N·m | |||||
Ext | Mx | External moment on the vehicle CG about the vehicle-fixed x-axis | 0 | N·m | ||||
My | External moment on the vehicle CG about the vehicle-fixed y-axis | Computed | N·m | |||||
Mz | External moment on the vehicle CG about the vehicle-fixed z-axis | 0 | N·m | |||||
HitchF | Mx | Hitch moment at the front hitch location about vehicle-fixed x-axis | 0 | N·m | ||||
My | Hitch moment at the front hitch location about vehicle-fixed y-axis | Computed | N·m | |||||
Mz | Hitch moment at the front hitch location about vehicle-fixed z-axis | 0 | N·m | |||||
HitchR | Mx | Hitch moment at the rear hitch location about vehicle-fixed x-axis | 0 | N·m | ||||
My | Hitch moment at the rear hitch location about vehicle-fixed y-axis | Computed | N·m | |||||
Mz | Hitch moment at the rear hitch location about vehicle-fixed z-axis | 0 | N·m | |||||
FrntAxl | Lft | Disp | x | Front left wheel displacement along the vehicle-fixed x-axis | Computed | m | ||
y | Front left wheel displacement along the vehicle-fixed y-axis | Computed | m | |||||
z | Front left wheel displacement along the vehicle-fixed z-axis | Computed | m | |||||
Vel | xdot | Front left wheel velocity along the vehicle-fixed x-axis | Computed | m/s | ||||
ydot | Front left wheel velocity along the vehicle-fixed y-axis | Computed | m/s | |||||
zdot | Front left wheel velocity along the vehicle-fixed z-axis | 0 | m/s | |||||
Rght | Disp | x | Front right wheel displacement along the vehicle-fixed x-axis | Computed | m | |||
y | Front right wheel displacement along the vehicle-fixed y-axis | Computed | m | |||||
z | Front right wheel displacement along the vehicle-fixed z-axis | Computed | m | |||||
Vel | xdot | Front right wheel velocity along the vehicle-fixed x-axis | Computed | m/s | ||||
ydot | Front right wheel velocity along the vehicle-fixed y-axis | Computed | m/s | |||||
zdot | Front right wheel velocity along the vehicle-fixed z-axis | 0 | m/s | |||||
Steer | WhlAngFL | Front left wheel steering angle | Computed | rad | ||||
WhlAngFR | Front right wheel steering angle | Computed | rad | |||||
MidlAxl | Lft | Disp | x | Middle left wheel displacement along the vehicle-fixed x-axis | Computed | m | ||
y | Middle left wheel displacement along the vehicle-fixed y-axis | Computed | m | |||||
z | Middle left wheel displacement along the vehicle-fixed z-axis | Computed | m | |||||
Vel | xdot | Middle left wheel velocity along the vehicle-fixed x-axis | Computed | m/s | ||||
ydot | Middle left wheel velocity along the vehicle-fixed y-axis | Computed | m/s | |||||
zdot | Middle left wheel velocity along the vehicle-fixed z-axis | 0 | m/s | |||||
Rght | Disp | x | Middle right wheel displacement along the vehicle-fixed x-axis | Computed | m | |||
y | Middle right wheel displacement along the vehicle-fixed y-axis | Computed | m | |||||
z | Middle right wheel displacement along the vehicle-fixed z-axis | Computed | m | |||||
Vel | xdot | Middle right wheel velocity along the vehicle-fixed x-axis | Computed | m/s | ||||
ydot | Middle right wheel velocity along the vehicle-fixed y-axis | Computed | m/s | |||||
zdot | Middle right wheel velocity along the vehicle-fixed z-axis | 0 | m/s | |||||
Steer | WhlAngRL | Middle left wheel steering angle | Computed | rad | ||||
WhlAngRR | Middle right wheel steering angle | Computed | rad | |||||
RearAxl | Lft | Disp | x | Rear left wheel displacement along the vehicle-fixed x-axis | Computed | m | ||
y | Rear left wheel displacement along the vehicle-fixed y-axis | Computed | m | |||||
z | Rear left wheel displacement along the vehicle-fixed z-axis | Computed | m | |||||
Vel | xdot | Rear left wheel velocity along the vehicle-fixed x-axis | Computed | m/s | ||||
ydot | Rear left wheel velocity along the vehicle-fixed y-axis | Computed | m/s | |||||
zdot | Rear left wheel velocity along the vehicle-fixed z-axis | 0 | m/s | |||||
Rght | Disp | x | Rear right wheel displacement along the vehicle-fixed x-axis | Computed | m | |||
y | Rear right wheel displacement along the vehicle-fixed y-axis | Computed | m | |||||
z | Rear right wheel displacement along the vehicle-fixed z-axis | Computed | m | |||||
Vel | xdot | Rear right wheel velocity along the vehicle-fixed x-axis | Computed | m/s | ||||
ydot | Rear right wheel velocity along the vehicle-fixed y-axis | Computed | m/s | |||||
zdot | Rear right wheel velocity along the vehicle-fixed z-axis | 0 | m/s | |||||
Steer | WhlAngRL | Rear left wheel steering angle | Computed | rad | ||||
WhlAngRR | Rear right wheel steering angle | Computed | rad | |||||
HitchF | Disp | x | Front hitch offset from axle plane along the vehicle-fixed x-axis | Input | m | |||
y | Front hitch offset from center plane along the vehicle-fixed y-axis | Input | m | |||||
z | Front hitch offset from axle plane along the earth-fixed z-axis | Input | m | |||||
Vel | xdot | Front hitch offset velocity along the vehicle-fixed x-axis | Computed | m/s | ||||
ydot | Front hitch offset velocity along the vehicle-fixed y-axis | Computed | m/s | |||||
zdot | Front hitch offset velocity along the vehicle-fixed z-axis | 0 | m/s | |||||
HitchR | Disp | x | Rear hitch offset from axle plane along the vehicle-fixed x-axis | Input | m | |||
y | Rear hitch offset from center plane along the vehicle-fixed y-axis | Input | m | |||||
z | Rear hitch offset from axle plane along the earth-fixed z-axis | Input | m | |||||
Vel | xdot | Rear hitch offset velocity along the vehicle-fixed x-axis | Computed | m/s | ||||
ydot | Rear hitch offset velocity along the vehicle-fixed y-axis | Computed | m/s | |||||
zdot | Rear hitch offset velocity along the vehicle-fixed z-axis | 0 | m/s | |||||
Pwr | Ext | Applied external power | Computed | W | ||||
HitchF | Front hitch power | Computed | W | |||||
HitchR | Rear hitch power | Computed | W | |||||
Drag | Power loss due to drag | Computed | W | |||||
Geom | Disp | x | Trailer offset from axle plane along the vehicle-fixed x-axis | Input | m | |||
y | Trailer offset from center plane along the vehicle-fixed y-axis | Input | m | |||||
z | Trailer offset from axle plane along the vehicle-fixed z-axis | Input | m | |||||
Vel | xdot | Trailer offset velocity along the vehicle-fixed x-axis | Computed | m/s | ||||
ydot | Trailer offset velocity along the vehicle-fixed y-axis | Computed | m/s | |||||
zdot | Trailer offset velocity along the vehicle-fixed z-axis | 0 | m/s | |||||
Ang | Beta | Body slip angle, β
| Computed | rad |
Signal | Description | Value | Units | |||
---|---|---|---|---|---|---|
PwrInfo | PwrTrnsfrd | PwrFxExt | Externally applied longitudinal force power | Computed | W | |
PwrFyExt | Externally applied lateral force power | Computed | W | |||
PwrMzExt | Externally applied yaw moment power | Computed | W | |||
PwrFwFLx | Longitudinal force applied at the front left axle power | Computed | W | |||
PwrFwFLy | Lateral force applied at the front left axle power | Computed | W | |||
PwrFwFRx | Longitudinal force applied at the front right axle power | Computed | W | |||
PwrFwFRy | Lateral force applied at the front right axle power | Computed | W | |||
PwrFwMLx | Longitudinal force applied at the middle left axle power | Computed | W | |||
PwrFwMLy | Lateral force applied at the middle left axle power | Computed | W | |||
PwrFwMRx | Longitudinal force applied at the middle right axle power | Computed | W | |||
PwrFwMRy | Lateral force applied at the middle right axle power | Computed | W | |||
PwrFwRLx | Longitudinal force applied at the rear left axle power | Computed | W | |||
PwrFwRLy | Lateral force applied at the rear left axle power | Computed | W | |||
PwrFwRRx | Longitudinal force applied at the rear right axle power | Computed | W | |||
PwrFwRRy | Lateral force applied at the rear right axle power | Computed | W | |||
PwrNotTrnsfrd | PwrFxDrag | Longitudinal drag force power | Computed | W | ||
PwrFyDrag | Lateral drag force power | Computed | W | |||
PwrMzDrag | Drag pitch moment power | Computed | W | |||
PwrStored | PwrStoredGrvty | Rate change in gravitational potential energy | Computed | W | ||
PwrStoredxdot | Rate of change of longitudinal kinetic energy | Computed | W | |||
PwrStoredydot | Rate of change of lateral kinetic energy | Computed | W | |||
PwrStoredr | Rate of change of rotational yaw kinetic energy | Computed | W |
xdot — Trailer longitudinal velocity
scalar
Trailer CG velocity along the vehicle-fixed x-axis, in m/s.
ydot — Trailer lateral velocity
scalar
Trailer CG velocity along the vehicle-fixed y-axis, in m/s.
psi — Yaw
scalar
Rotation of the vehicle-fixed frame about the earth-fixed Z-axis (yaw), in rad.
r — Yaw rate
scalar
Vehicle angular velocity, r, about the vehicle-fixed z-axis (yaw rate), in rad/s.
FzF — Normal force on the front wheels
scalar
| array
Normal force on the front wheels, FzF, along the vehicle-fixed z-axis, in N.
Vehicle Track Setting | Description | Variable | Signal Dimension |
---|---|---|---|
| Normal force on the front axle |
| Scalar – |
| Normal force on the front wheels |
| Array – |
FzM — Normal force on the middle wheels
scalar
| array
Normal force on the middle wheels, FzM, along the vehicle-fixed z-axis, in N.
Vehicle Track Setting | Description | Variable | Signal Dimension |
---|---|---|---|
| Normal force on the middle axle |
| Scalar – |
| Normal force on the right and left middle wheels |
| Array – |
Dependencies
To enable this port, set Vehicle track to
Single 3-axle
or Dual
3-axle
.
FzR — Normal force on the rear wheels
scalar
| array
Normal force on the rear wheels, FzR, along the vehicle-fixed z-axis, in N.
Vehicle Track Setting | Description | Variable | Signal Dimension |
---|---|---|---|
| Normal force on the rear wheel |
| Scalar – |
| Normal force on the rear wheels |
| Array – |
Fhz — Normal component of hitch force on the body
scalar
Normal hitch force applied to the body at the hitch location, Fhz, in the vehicle-fixed frame z-axis, in N.
If you enable the Hitch forces parameter, the block offsets the normal hitch force, Fhz, with the value of the Fh input port component along the vehicle-fixed z-axis.
Parameters
Vehicle track — Type of vehicle track
Dual 2-axle
(default) | Single 1-axle
| Dual 1-axle
| Single 2-axle
| Dual 3-axle
Use the Vehicle track parameter to specify the number of wheels.
Vehicle Track Setting | Implementation |
---|---|
| Trailer with a single track and one axle.
|
| Trailer with a dual track and one axle. Forces act at the axle hard-point locations. |
| Trailer with a single track and two axles.
|
| Trailer with a dual track and two axles. Forces act at the axle hard-point locations. |
| Trailer with a single track and three axles.
|
| Trailer with a dual track and three axles. Forces act at the axle hard-point locations. |
Axle forces — Type of axle force
External forces
(default) | External longitudinal velocity
| External longitudinal forces
Use the Axle forces parameter to specify the type of force.
Axle Forces Setting | Implementation |
---|---|
|
|
|
|
|
|
Front wheel steering — WhlAngF
input port
off
(default) | on
Select to create input port WhlAngF
.
Middle wheel steering — WhlAngM
input port
off
(default) | on
Select to create input port WhlAngM
.
Dependencies
To enable this parameter, set Vehicle track to
Single 3-axle
or Dual
3-axle
.
Rear wheel steering — WhlAngR
input port
off
(default) | on
Select to create input port WhlAngR
.
Dependencies
To enable this parameter, set Vehicle track to
Single 2-axle
, Dual
2-axle
, Single 3-axle
, or
Dual 3-axle
.
External wind — WindXYZ
input port
off
(default) | on
Select to create input port WindXYZ
.
External friction — Mu
input port
off
(default) | on
Select to create input port Mu
.
Dependencies
To enable this parameter, set Axle forces to one of these options:
External longitudinal forces
External forces
External forces — FExt
input port
off
(default) | on
Select to create input port FExt
.
External moments — MExt
input port
off
(default) | on
Select to create input port MExt
.
Front hitch forces — FhF
input port
on
(default) | off
Select to create input port Fh
.
Front hitch moments — MhF
input port
on
(default) | off
Select to create input port Mh
.
Rear hitch forces — FhR
input port
off
(default) | on
Select to create input port Fh
.
Rear hitch moments — MhR
input port
off
(default) | on
Select to create input port Mh
.
Initial longitudinal position — X_o
input port
off
(default) | on
Select to create input port X_o
.
Initial yaw angle — psi_o
input port
off
(default) | on
Select to create input port psi_o
.
Initial longitudinal velocity — xdot_o
input port
off
(default) | on
Select to create input port xdot_o
.
Dependencies
To enable this parameter, set Axle forces to
External longitudinal forces
or
External forces
.
Initial yaw rate — r_o
input port
off
(default) | on
Select to create input port r_o
.
Initial lateral position — Y_o
input port
off
(default) | on
Select to create input port Y_o
.
Air temperature — AirTemp
input port
off
(default) | on
Select to create input port AirTemp
.
Initial lateral velocity — ydot_o
input port
off
(default) | on
Select to create input port ydot_o
.
Number of wheels on front axle, NF — Front wheel count
2
(default) | scalar
Number of wheels on the front axle, NF. The value is dimensionless.
Number of wheels on middle axle, NM — Middle wheel count
2
(default) | scalar
Number of wheels on the middle axle, NM. The value is dimensionless.
Dependencies
To enable this parameter, set Vehicle track to
Single 3-axle
or Dual
3-axle
.
Number of wheels on rear axle, NR — Rear wheel count
2
(default) | scalar
Number of wheels on the rear axle, NR. The value is dimensionless.
To enable this parameter, set Vehicle track to
Single 2-axle
, Single
3-axle
, Dual 2-axle
, or
Dual 3-axle
.
Vehicle mass, m — Vehicle mass
26000
(default) | scalar
Vehicle mass, m, in kg.
Longitudinal distance from center of mass to front axle, a — Distance from CM to front axle
4
(default) | scalar
Distance from the vehicle CM to the front axle, a, in m.
Longitudinal distance from center of mass to middle axle, b — Distance from CM to middle axle
4.5
(default) | scalar
Distance from vehicle CM to middle axle, b, in m.
Dependencies
To enable this parameter, set Vehicle track to
Single 3-axle
or Dual
3-axle
.
Longitudinal distance from center of mass to rear axle, c — Distance from CM to rear axle
5
(default) | scalar
Distance from vehicle CM to the front axle, c, in m.
Dependencies
To enable this parameter, set Vehicle track to
Single 2-axle
, Single
3-axle
, Single 3-axle
, or
Dual 3-axle
.
Vertical distance from center of mass to axle plane, h — Distance from CM to axle plane
2
(default) | scalar
Vertical distance from vehicle CM to the axle plane, h, in m.
Longitudinal distance from center of mass to front hitch, dh_f — Distance to front hitch
7.5
(default) | scalar
Longitudinal distance from the center of mass to the front hitch, dh_f, in m.
Dependencies
To enable this parameter, on the Input signals pane, select Front hitch forces or Front hitch moments.
Vertical distance from front hitch to axle plane, hh_f — Distance from front hitch to axle plane
0.6
(default) | scalar
Vertical distance from the front hitch to the axle plane, hh_f, in m.
Dependencies
To enable this parameter, on the Input signals pane, select Front hitch forces or Front hitch moments.
Longitudinal distance from center of mass to rear hitch, dh_r — Distance to front hitch
7.5
(default) | scalar
Longitudinal distance from the center of mass to the rear hitch, dh_r, in m.
Dependencies
To enable this parameter, on the Input signals pane, select Rear hitch forces or Rear hitch moments.
Vertical distance from front hitch to axle plane, hh_r — Distance from rear hitch to axle plane
0.6
(default) | scalar
Vertical distance from the rear hitch to the axle plane, hh_r, in m.
Dependencies
To enable this parameter, on the Input signals pane, select Rear hitch forces or Rear hitch moments.
Initial inertial frame longitudinal position, X_o — Initial inertial X location
0
(default) | scalar
Initial vehicle CG displacement along the earth-fixed X-axis, in m.
Initial longitudinal velocity, xdot_o — Initial velocity
0
(default) | scalar
Initial vehicle CG velocity along the vehicle-fixed x-axis, in m/s.
Dependencies
To enable this parameter, set Axle forces to one of these options:
External longitudinal forces
External forces
Mapped corner stiffness — Selection
off
(default) | on
Enables mapped corner stiffness calculation.
Dependencies
To enable this parameter, set Axle forces to one of these options:
External longitudinal velocity
External longitudinal forces
Include relaxation length dynamics — Enable relaxation length dynamics
on
(default) | off
Enables relaxation length dynamics.
Dependencies
To enable this parameter:
Set Axle forces to one of these options:
External longitudinal velocity
External longitudinal forces
Clear Mapped corner stiffness.
Lateral distance from geometric centerline to center of mass, d — Distance from centerline to CM
0
(default) | scalar
Lateral distance from the geometric centerline to the center of mass, d, in m, along the vehicle-fixed y. Positive values indicate that the trailer CM is to the right of the geometric centerline. Negative values indicate that the trailer CM is to the left of the geometric centerline.
Lateral distance from geometric centerline to front hitch, hl_f — Distance from centerline to front hitch
0
(default) | scalar
Lateral distance from the geometric centerline to the front hitch, hl_f, in m, along the vehicle-fixed y. Positive values indicate that the trailer hitch is to the right of the geometric centerline. Negative values indicate that the trailer hitch is to the left of the geometric centerline.
Dependencies
To enable this parameter, on the Input signals pane, select Front hitch forces or Front hitch moments.
Lateral distance from geometric centerline to rear hitch, hl_r — Distance from centerline to rear hitch
0
(default) | scalar
Lateral distance from the geometric centerline to the rear hitch, hl_r, in m, along the vehicle-fixed y. Positive values indicate that the trailer hitch is to the right of the geometric centerline. Negative values indicate that the trailer hitch is to the left of the geometric centerline.
Dependencies
To enable this parameter, on the Input signals pane, select Rear hitch forces or Rear hitch moments.
Front track width, w_f — Front track width
1.82
(default) | scalar
Front track width, wf, in m.
Dependencies
To enable this parameter, set Vehicle track to
Dual 2-axle
, Dual
2-axle
, or Dual
3-axle
.
Middle track width, w_m — Middle track width
1.82
(default) | scalar
Middle track width, wm, in m.
Dependencies
To enable this parameter, set Vehicle track to
Dual 3-axle
.
Rear track width, w_r — Rear track width
1.82
(default) | scalar
Rear track width, wr, in m.
Dependencies
To enable this parameter, set Vehicle track to
Dual 2-axle
or Dual
3-axle
.
Front axle tire corner stiffness, Cy_f — Front axle tire stiffness
12.3
(default) | scalar
Front tire corner stiffness, Cyf, in N/rad.
Dependencies
To enable this parameter:
Set Axle forces to one of these options:
External longitudinal velocity
External longitudinal forces
Clear Mapped corner stiffness.
Middle axle tire corner stiffness, Cy_m — Middle axle tire stiffness
11.3
(default) | scalar
Middle tire corner stiffness, Cym, in N/rad.
Dependencies
To enable this parameter:
Set Vehicle track to one of these options:
Single 3-axle
Dual 3-axle
Set Axle forces to one of these options:
External longitudinal velocity
External longitudinal forces
Clear Mapped corner stiffness.
Rear axle tire corner stiffness, Cy_r — Rear axle tire stiffness
11.3
(default) | scalar
Rear tire corner stiffness, Cyr, in N/rad.
Dependencies
To enable this parameter:
Set Vehicle track to one of these options:
Single 2-axle
Dual 2-axle
Single 3-axle
Dual 3-axle
Set Axle forces to one of these options:
External longitudinal velocity
External longitudinal forces
Clear Mapped corner stiffness.
Front tire(s) relaxation length, sigma_f — Relaxation length
.1
(default) | scalar
Front tire relaxation length, σf, in m.
Dependencies
To enable this parameter:
Set Vehicle track to one of these options:
Single 2-axle
Dual 2-axle
Single 3-axle
Dual 3-axle
Set Axle forces to one of these options:
External longitudinal velocity
External longitudinal forces
Do either of these:
Select Mapped corner stiffness.
Clear Mapped corner stiffness and select Include relaxation length dynamics.
Middle tire(s) relaxation length, sigma_m — Relaxation length
.1
(default) | scalar
Middle tire relaxation length, σm, in m.
Dependencies
To enable this parameter:
Set Vehicle track to one of these options:
Single 3-axle
Dual 3-axle
Set Axle forces to one of these options:
External longitudinal velocity
External longitudinal forces
Do either of these:
Select Mapped corner stiffness.
Clear Mapped corner stiffness and select Include relaxation length dynamics.
Rear tire(s) relaxation length, sigma_r — Relaxation length
.1
(default) | scalar
Rear tire relaxation length, σr, in m.
Dependencies
To enable this parameter:
Set Vehicle track to one of these options:
Single 2-axle
Dual 2-axle
Single 3-axle
Dual 3-axle
Set Axle forces to one of these options:
External longitudinal velocity
External longitudinal forces
Do either of these:
Select Mapped corner stiffness.
Clear Mapped corner stiffness and select Include relaxation length dynamics.
Front axle slip angle breakpoints, alpha_f_brk — Breakpoints
[-.1 .1]
(default) | vector
Front axle slip angle breakpoints, αfbrk, in rad.
Dependencies
To enable this parameter:
Set Axle forces to one of these options:
External longitudinal velocity
External longitudinal forces
Select Mapped corner stiffness.
Front axle corner data, Cy_f_data — Breakpoints
[-9e3 9e3]
(default) | vector
Front axle corner data, Cyfdata, in N/rad.
Dependencies
To enable this parameter:
Set Axle forces to one of these options:
External longitudinal velocity
External longitudinal forces
Select Mapped corner stiffness.
Middle axle slip angle breakpoints, alpha_m_brk — Breakpoints
[-.1 .1]
(default) | vector
Middle axle slip angle breakpoints, αmbrk, in rad.
Dependencies
To enable this parameter:
Set Axle forces to one of these options:
External longitudinal velocity
External longitudinal forces
Select Mapped corner stiffness.
Middle axle corner data, Cy_m_data — Breakpoints
[-9e3 9e3]
(default) | vector
Middle axle corner data, Cymdata, in N/rad.
Dependencies
To enable this parameter:
Set Axle forces to one of these options:
External longitudinal velocity
External longitudinal forces
Select Mapped corner stiffness.
Rear axle slip angle breakpoints, alpha_r_brk — Breakpoints
[-.1 .1]
(default) | vector
Rear axle slip angle breakpoints, αrbrk, in rad.
Dependencies
To enable this parameter:
Set Axle forces to one of these options:
External longitudinal velocity
External longitudinal forces
Select Mapped corner stiffness.
Rear axle corner data, Cy_r_data — Data
[-9e3 9e3]
(default) | vector
Rear axle corner data, Cyrdata, in N/rad.
Dependencies
To enable this parameter:
Set Axle forces to one of these options:
External longitudinal velocity
External longitudinal forces
Select Mapped corner stiffness.
Initial inertial frame lateral displacement, Y_o — Position
0
(default) | scalar
Initial vehicle CG displacement along the earth-fixed Y-axis, in m.
Initial lateral velocity, ydot_o — Velocity
0
(default) | scalar
Initial vehicle CG velocity along the vehicle-fixed y-axis, in m/s.
Yaw polar inertia, Izz — Inertia
4000
(default) | scalar
Yaw polar inertia, in kg*m^2.
Initial yaw angle, psi_o — Psi rotation
0
(default) | scalar
Rotation of the vehicle-fixed frame about earth-fixed Z-axis (yaw), in rad.
Initial yaw rate, r_o — Yaw rate
0
(default) | scalar
Vehicle angular velocity about the vehicle-fixed z-axis (yaw rate), in rad/s.
Longitudinal drag area, Af — Effective vehicle cross-sectional area
2
(default) | scalar
Effective vehicle cross-sectional area, Af, to calculate the aerodynamic drag force on the vehicle, in m2.
Longitudinal drag coefficient, Cd — Air drag coefficient
.3
(default) | scalar
Air drag coefficient, Cd. The value is dimensionless.
Longitudinal lift coefficient, Cl — Air lift coefficient
.1
(default) | scalar
Air lift coefficient, Cl. The value is dimensionless.
Longitudinal drag pitch moment, Cpm — Pitch drag
.1
(default) | scalar
Longitudinal drag pitch moment coefficient, Cpm. The value is dimensionless.
Relative wind angle vector, beta_w — Wind angle
[0:0.01:0.3]
(default) | vector
Relative wind angle vector, βw, in rad.
Side force coefficient vector, Cs — Side force coefficient
[0:0.03:0.9]
(default) | vector
Side force coefficient vector coefficient, Cs. The value is dimensionless.
Yaw moment coefficient vector, Cym — Yaw moment drag
[0:0.01:0.3]
(default) | vector
Yaw moment coefficient vector, Cym. The value is dimensionless.
Absolute air pressure, Pabs — Pressure
101325
(default) | scalar
Environmental absolute pressure, Pabs, in Pa.
Air temperature, Tair — Temperature
273
(default) | scalar
Environmental absolute temperature, T, in K.
Dependencies
To enable this parameter, clear Air temperature.
Gravitational acceleration, g — Gravity
9.81
(default) | scalar
Gravitational acceleration, g, in m/s^2.
Nominal friction scaling factor, mu — Friction scale factor
1
(default) | scalar
Nominal friction scale factor, μ. The value is dimensionless.
Dependencies
To enable this parameter:
Set Axle forces to one of these options:
External longitudinal velocity
External longitudinal forces
Clear External Friction.
Longitudinal velocity tolerance, xdot_tol — Tolerance
.01
(default) | scalar
Longitudinal velocity tolerance, in m/s.
Nominal normal force, Fznom — Normal force
5000
(default) | scalar
Nominal normal force, in N.
Dependencies
To enable this parameter, set Axle forces to one of these options:
External longitudinal velocity
External longitudinal forces
Geometric longitudinal offset from axle plane, longOff — Longitudinal offset
0
(default) | scalar
Vehicle chassis offset from the axle plane along the vehicle-fixed x-axis, in m. When you use the 3D visualization engine, consider using the offset to locate the chassis independently of the vehicle CG.
Geometric lateral offset from center plane, latOff — Lateral offset
0
(default) | scalar
Vehicle chassis offset from the center plane along the vehicle-fixed y-axis, in m. When you use the 3D visualization engine, consider using the offset to locate the chassis independently of the vehicle CG.
Geometric vertical offset from axle plane, vertOff — Vertical offset
0
(default) | scalar
Vehicle chassis offset from the axle plane along the vehicle-fixed z-axis, in m. When you use the 3D visualization engine, consider using the offset to locate the chassis independently of the vehicle CG.
Wrap Euler angles, wrapAng — Wrap the Euler angles to the interval [-pi, pi]
off
(default) | on
Wrap the Euler angles to the interval [-pi, pi]
. For vehicle
maneuvers that might undergo vehicle yaw rotations that are outside of this
interval, consider clearing the parameter if you want to:
Track the total vehicle yaw rotation.
Avoid discontinuities in the vehicle state estimators.
References
[1] Gillespie, Thomas. Fundamentals of Vehicle Dynamics. Warrendale, PA: Society of Automotive Engineers (SAE), 1992.
Extended Capabilities
C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.
Version History
Introduced in R2020a
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