Simulation 3D Dolly

Implement dolly in 3D environment

Since R2021b

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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

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.

• Open Model

Ports

Input

Translation — Dolly translation

5-by-3 array (default) | 8-by-3 array | 11-by-3 array

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 dolly	8-by-3 array
Three-axle dolly	11-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

Rotation — Dolly rotation

5-by-3 array (default) | 8-by-3 array | 11-by-3 array

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 dolly	8-by-3 array
Three-axle dolly	11-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

Vehicle Parameters

Type — Type

One-axle dolly (default) | Two-axle dolly | Three-axle dolly

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

Type Setting	Dolly Dimensions
One-axle dolly	One-Axle Dolly
Two-axle dolly	Two-Axle Dolly
Three-axle dolly	Three-Axle Dolly

Name — Name of dolly

SimulinkVehicle1 (default) | character vector

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 — Sample time

-1 (default) | scalar

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

Initial Values

Initial array values to translate vehicle per part, Translation — Vehicle initial translation

zeros( 5, 3 ) (default) | zeros( 8, 3 ) | zeros( 11, 3 )

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 dolly	8-by-3 array
Three-axle dolly	11-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 array values to rotate vehicle per part, Rotation — Initial rotation

zeros( 5, 3 ) (default) | zeros( 8, 3 ) | zeros( 11, 3 )

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 dolly	8-by-3 array
Three-axle dolly	11-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

R2024a: Requires Simulink 3D Animation

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