Vehicle body 6DOF

Two-axle vehicle body with translational and rotational motion.

blockType: SubSystem

Path in the library:

/Automotive/Vehicle Body/Vehicle body 6DOF

Description

Block Vehicle body 6DOF Implements a model of a rigid two-axle vehicle body (TC) with six degrees of freedom for calculating longitudinal, transverse, vertical motion, as well as pitch, roll, and yaw motion. The unit takes into account body weight, inertia, aerodynamic drag, road slope and weight distribution between the axles due to suspension and external forces and moments. Use the options on the tab Inertial Loads to analyze vehicle dynamics under various load conditions.

The unit can be connected to virtual sensors, a suspension system, or external systems such as body control drives. Use the block Vehicle body 6DOF in the study of smooth running and handling to simulate the effects of drag forces, passenger loads, and the location of suspension attachment points.

To use additional input ports, in the parameter group Input signals check the following boxes:

Hitch forces — opens the Fh port associated with the coupling force acting on the body in the vehicle’s frame of reference;
Hitch moments — opens the Mh port associated with the clutch moment in the vehicle’s reference frame.

Inertial loads

To analyze vehicle dynamics under different load conditions, use the parameters in the tab Inertial Loads. In particular, you can set the following loads

Front transmission;
Front and back row passengers;
Cargo of the upper part of the body;
The cargo of the luggage section.

For each of the loads, you can specify the mass, position, and inertia.

The illustrations show the locations of the loads and the dimensions of the vehicle (TS). The table shows the corresponding settings for the position parameter sign.

vehicle body 6dof 1 en

The illustration shows:

— the transverse distance from the center of mass (CM) to the coupling device along the axis in the reference frame of the vehicle;
— the longitudinal distance from the coupling device to the point of normal projection of the tractor’s center of gravity onto the common axis plane;
— the height of the coupling device above the plane of the axis along the axis in the reference frame of the vehicle;
— the height of the center of mass of the vehicle above the plane of the axis;
— the distance of the front and rear wheels, respectively, from the point of normal projection of the center of mass of the vehicle onto the common plane of the axis.

This table shows the parameter settings that determine the location of the loads indicated by the dots. To determine the position, the block uses the following distance vector:

The attachment point of the front suspension for loading along a fixed axis vehicle (vehicle);
TC centerline for loading along a fixed axis VEHICLE;
The attachment point of the front suspension for loading along a fixed axis The vehicle.

Load Parameter Example of the location

Load	Parameter	Example of the location
At the front	Distance vector from front axle [z1R], m	`z1R[1,1]<0` — ahead of the front axle `z1R[1,2]>0` — to the right of the VEHICLE centerline `z1R[1,3]>0` — above the mounting point of the front axle suspension
From above	Distance vector from front axle [z2R], m	`z2R[1,1]>0` — behind the front axle `z2R[1,2]<0` — to the left of the VEHICLE centerline `z2R[1,3]>0` — above the mounting point of the front axle suspension
Front row on the left	Distance vector from front axle [z3R], m	`z3R[1,1]>0` — behind the front axle `z3R[1,2]<0` — to the left of the VEHICLE centerline `z3R[1,3]>0` — above the mounting point of the front axle suspension
Front row on the right	Distance vector from front axle [z4R], m	`z4R[1,1]>0` — behind the front axle `z4R[1,2]>0` — to the right of the VEHICLE centerline `z4R[1,3]>0` — above the mounting point of the front axle suspension
Back row on the left	Distance vector from front axle [z5R], m	`z5R[1,1]>0` — behind the front axle `z5R[1,2]<0` — to the left of the VEHICLE centerline `z5R[1,3]>0` — above the mounting point of the front axle suspension
Back row on the right	Distance vector from front axle [z6R], m	`z6R[1,1]>0` — behind the front axle `z6R[1,2]>0` — to the right of the VEHICLE centerline `z6R[1,3]>0` — above the mounting point of the front axle suspension
From behind	Distance vector from front axle [z7R], m	`z7R[1,1]>0` — behind the front axle `z7R[1,2]>0` — to the right of the VEHICLE centerline `z7R[1,3]>0` — above the mounting point of the front axle suspension

At the front

Distance vector from front axle [z1R], m

z1R[1,1]<0 — ahead of the front axle
z1R[1,2]>0 — to the right of the VEHICLE centerline
z1R[1,3]>0 — above the mounting point of the front axle suspension

From above

Distance vector from front axle [z2R], m

z2R[1,1]>0 — behind the front axle
z2R[1,2]<0 — to the left of the VEHICLE centerline
z2R[1,3]>0 — above the mounting point of the front axle suspension

Front row on the left

Distance vector from front axle [z3R], m

z3R[1,1]>0 — behind the front axle
z3R[1,2]<0 — to the left of the VEHICLE centerline
z3R[1,3]>0 — above the mounting point of the front axle suspension

Front row on the right

Distance vector from front axle [z4R], m

z4R[1,1]>0 — behind the front axle
z4R[1,2]>0 — to the right of the VEHICLE centerline
z4R[1,3]>0 — above the mounting point of the front axle suspension

Back row on the left

Distance vector from front axle [z5R], m

z5R[1,1]>0 — behind the front axle
z5R[1,2]<0 — to the left of the VEHICLE centerline
z5R[1,3]>0 — above the mounting point of the front axle suspension

Back row on the right

Distance vector from front axle [z6R], m

z6R[1,1]>0 — behind the front axle
z6R[1,2]>0 — to the right of the VEHICLE centerline
z6R[1,3]>0 — above the mounting point of the front axle suspension

From behind

Distance vector from front axle [z7R], m

z7R[1,1]>0 — behind the front axle
z7R[1,2]>0 — to the right of the VEHICLE centerline
z7R[1,3]>0 — above the mounting point of the front axle suspension

Equations of motion

To determine the movement of a vehicle, the unit performs calculations of vehicle dynamics as a solid, air resistance, inertial loads, and coordinate transformations. The associated coordinate system of the body axes and the coordinate system of the vehicle are the same.

Block Vehicle body 6DOF It takes into account the rotation of the associated coordinate system around the inertial reference frame relative to the flat earth. The origin of the associated coordinate system is the center of gravity of the vehicle body.

vehicle body 6dof 2 en

The illustration shows:

— the height of the center of mass of the vehicle above the plane of the axis;
— the distance of the front and rear wheels, respectively, from the point of normal projection of the center of mass of the vehicle on the common plane of the axis.

The block uses the following equation to calculate the translational motion of the associated coordinate system, where the applied forces are are in a related coordinate system, and the mass of the body is it is considered permanent:

where — moments of inertia of the vehicle body.

To determine the relationship between the angular velocity vector associated with the body, and the rate of change of the Euler angles , the block converts the Euler velocities into a related coordinate system:

Here

— the angle of rotation of the vehicle coordinate system around the axis , stationary relative to the ground (roll);
— the angle of rotation of the vehicle coordinate system around the axis , stationary relative to the ground (pitch);
— the angle of rotation of the vehicle coordinate system around the axis , stationary relative to the ground (yaw).

Reverse conversion gives the necessary relation to determine the Euler velocity vector:

The applied forces and moments are the sum of the forces of resistance, gravity, external forces, and suspension forces.:

where

— the resistance forces applied to the center of mass of the vehicle along the axes and in the reference frame of the vehicle body;
— the gravitational forces applied to the center of mass of the vehicle along the axes and in the reference frame of the vehicle body;
— external forces applied to the center of mass of the vehicle along the axes and in the reference frame of the vehicle body;
— suspension forces applied to the front left suspension attachment point along the axes and in the reference frame of the vehicle body;
— suspension forces applied to the front right suspension attachment point along the axes and in the reference frame of the vehicle body;
— suspension forces applied to the rear left suspension attachment point along the axes and in the reference frame of the vehicle body;
— suspension forces applied to the rear right suspension attachment point along the axes and in the reference frame of the vehicle body;
— suspension moments applied to the center of mass of the vehicle along the axes and in the reference frame of the vehicle body;
— the moments of the drag force applied to the center of mass of the vehicle along the axes and in the reference frame of the vehicle body;
— external moments applied to the center of mass of the vehicle along the axes and in the reference frame of the vehicle body.

Masses and moments of inertia of loads

The block uses the Huygens—Steiner theorem to calculate individual masses and moments of inertia of loads, taking into account the mass and moment of inertia of the vehicle:

Gravitational forces

The block uses a matrix of guiding cosines to transform the gravity vector in an inertially fixed frame of reference to a connected system.

powers and moments of resistance

To determine the relative velocity of the air flow, the unit subtracts the wind speed from the velocity of the vehicle’s center of mass. Using the relative velocity of the air flow, the unit determines the resistance forces :

where

— displacement of the center of mass, velocity and acceleration of the vehicle along the axis in the reference frame of the vehicle;
— displacement of the center of mass, velocity and acceleration of the vehicle along the axis in the reference frame of the vehicle;
— displacement of the center of mass, velocity and acceleration of the vehicle along the axis in the reference frame of the vehicle;
— wind speed along the axes and in the reference frame of the vehicle;
— ambient air temperature;
— specific gas constant of the atmosphere;
— coefficients of aerodynamic drag acting along the axes in the reference frame of TC , respectively;
— frontal surface area;
— absolute ambient pressure.

Using the relative velocity of the air flow, the unit determines the moments of resistance :

where

— the moment of air resistance during roll, pitch, yaw, respectively, relative to the axes in the reference frame of TC , respectively;
— the distance of the front and rear wheels, respectively, from the point of normal projection of the center of mass of the vehicle on the common plane of the axis.

External forces and moments_

External forces and the moments they are entered via ports FExt and MExt.

_ Strengths and moments of suspension_

The block assumes that the suspension forces and moments act on the following attachment points:

, — front left;
, — front right;
, — from the back on the left;
, — from the back to the right.

Ports

Entrance

Fsusp —

suspension forces acting on the vehicle

array

Details

The longitudinal, transverse and vertical suspension forces applied to the vehicle at the attachment point, measured in N. The signal dimension is 3×4:

Array element The axis Wheel The axis of power

Array element	The axis	Wheel	The axis of power
`Fsusp[1,1]`	The front	The left one	The axis in the reference frame of the vehicle (longitudinal)
`Fsusp[1,2]`	The front	The right one
`Fsusp[1,3]`	The back	The left one
`Fsusp[1,4]`	The back	The right one
`Fsusp[2,1]`	The front	The left one	The axis in the TC (transverse) frame of reference
`Fsusp[2,2]`	The front	The right one
`Fsusp[2,3]`	The back	The left one
`Fsusp[2,4]`	The back	The right one
`Fsusp[3,1]`	The front	The left one	The axis in the TC reference frame (vertical)
`Fsusp[3,2]`	The front	The right one
`Fsusp[3,3]`	The back	The left one
`Fsusp[3,4]`	The back	The right one

Fsusp[1,1]

The front

The left one

The axis in the reference frame of the vehicle (longitudinal)

Fsusp[1,2]

The front

The right one

Fsusp[1,3]

The back

The left one

Fsusp[1,4]

The back

The right one

Fsusp[2,1]

The front

The left one

The axis in the TC (transverse) frame of reference

Fsusp[2,2]

The front

The right one

Fsusp[2,3]

The back

The left one

Fsusp[2,4]

The back

The right one

Fsusp[3,1]

The front

The left one

The axis in the TC reference frame (vertical)

Fsusp[3,2]

The front

The right one

Fsusp[3,3]

The back

The left one

Fsusp[3,4]

The back

The right one

Типы данных	`Float64`
Support for complex numbers	None

# Msusp —

the moment of suspension on the vehicle

array

Details

The longitudinal, transverse and vertical suspension torques applied to the vehicle at the attachment point, measured in nm. The signal dimension is 3×4:

Array element The axis Wheel The axis of the moment

Array element	The axis	Wheel	The axis of the moment
`Msusp[1,1]`	The front	The left one	The axis in the reference frame of the vehicle (longitudinal)
`Msusp[1,2]`	The front	The right one
`Msusp[1,3]`	The back	The left one
`Msusp[1,4]`	The back	The right one
`Msusp[2,1]`	The front	The left one	The axis in the TC (transverse) frame of reference
`Msusp[2,2]`	The front	The right one
`Msusp[2,3]`	The back	The left one
`Msusp[2,4]`	The back	The right one
`Msusp[3,1]`	The front	The left one	The axis in the TC reference frame (vertical)
`Msusp[3,2]`	The front	The right one
`Msusp[3,3]`	The back	The left one
`Msusp[3,4]`	The back	The right one

Msusp[1,1]

The front

The left one

The axis in the reference frame of the vehicle (longitudinal)

Msusp[1,2]

The front

The right one

Msusp[1,3]

The back

The left one

Msusp[1,4]

The back

The right one

Msusp[2,1]

The front

The left one

The axis in the TC (transverse) frame of reference

Msusp[2,2]

The front

The right one

Msusp[2,3]

The back

The left one

Msusp[2,4]

The back

The right one

Msusp[3,1]

The front

The left one

The axis in the TC reference frame (vertical)

Msusp[3,2]

The front

The right one

Msusp[3,3]

The back

The left one

Msusp[3,4]

The back

The right one

Типы данных	`Float64`
Support for complex numbers	None

FExt —

external forces acting on the vehicle

vector

Details

External forces acting on the vehicle, measured in H, given as a vector of size 1×3 or 3×1:

Array element The axis of power

Array element	The axis of power
`FExt[1,1]`	The axis in the reference frame of the vehicle (longitudinal)
`FExt[1,2]` or `FExt[2,1]`	The axis in the TC (transverse) frame of reference
`FExt[1,3]` or `FExt[3,1]`	The axis in the TC reference frame (vertical)

FExt[1,1]

The axis in the reference frame of the vehicle (longitudinal)

FExt[1,2] or FExt[2,1]

The axis in the TC (transverse) frame of reference

FExt[1,3] or FExt[3,1]

The axis in the TC reference frame (vertical)

Типы данных	`Float64`
Support for complex numbers	None

MExt —

external moments acting on the vehicle

vector

Details

External torques acting on the vehicle, measured in nm, given as a vector 1×3 or 3×1:

Array element The axis of the moment

Array element	The axis of the moment
`MExt[1,1]`	The axis in the reference frame of the vehicle (longitudinal)
`MExt[1,2]` or `MExt[2,1]`	The axis in the TC (transverse) frame of reference
`MExt[1,3]` or `MExt[3,1]`	The axis in the TC reference frame (vertical)

MExt[1,1]

The axis in the reference frame of the vehicle (longitudinal)

MExt[1,2] or MExt[2,1]

The axis in the TC (transverse) frame of reference

MExt[1,3] or MExt[3,1]

The axis in the TC reference frame (vertical)

Типы данных	`Float64`
Support for complex numbers	None

Fh —

the tension force of the coupling device on the body

array

Details

The tension force of the coupling device applied to the body at the attachment point of the coupling device, , in the vehicle reference frame, measured in H, specified as an array of size 1×3 or 3×1.

Dependencies

To use this port, in the parameter group Input signals check the box Hitch forces.

Типы данных	`Float64`
Support for complex numbers	None

Mh —

coupling moment relative to the body

array

Details

Coupling moment at the attachment point, , relative to the reference frame of the vehicle, measured in nm, specified as an array of size 1×3 or 3×1.

Dependencies

To use this port, in the parameter group Input signals check the box Hitch moments.

Типы данных	`Float64`
Support for complex numbers	None

WindXYZ —

wind speed

scalar

Details

Wind speed, , along the inertial axes , measured in m/s, specified as an array of size 1×3 or 3×1.

Типы данных	`Float64`
Support for complex numbers	None

AirTemp —

ambient temperature

scalar

Details

Ambient temperature , measured in K, given as a scalar.

Dependencies

To use this port, in the parameter group Environment check the box Air temperature.

Типы данных	`Float64`
Support for complex numbers	None

Output

Info —

information signal

the tire

Details

A bus containing the results of the block calculation.

Signal Description Value Units of measurement

Signal	Description	Value	Units of measurement
`InertFrm`	`Cg`	`Disp`	`X`	Displacement of the CM of the vehicle along an axis fixed relative to the earth	Calculated	m
`Y`	Displacement of the CM of the vehicle along an axis fixed relative to the earth	Calculated	m
`Z`	Displacement of the CM of the vehicle along an axis fixed relative to the earth	Calculated	m
`Vel`	`Xdot`	The velocity of the CM of the vehicle along an axis fixed relative to the earth	Calculated	m/s
`Ydot`	The velocity of the CM of the vehicle along an axis fixed relative to the earth	Calculated	m/s
`Zdot`	The velocity of the CM of the vehicle along an axis fixed relative to the earth	Calculated	m/s
`Ang`	`phi`	The angle of rotation of the reference frame of the vehicle around an axis fixed relative to the earth (roll)	Calculated	glad
`theta`	The angle of rotation of the reference frame of the vehicle around an axis fixed relative to the earth (pitch)	Calculated	rad
`psi`	The angle of rotation of the reference frame of the vehicle around an axis fixed relative to the earth (yaw)	Calculated	glad
`FrntAxl`	`Lft`	`Disp`	`X`	Displacement of the front left axis along the axis fixed relative to the ground	Calculated	m
`Y`	Displacement of the front left axis along the axis fixed relative to the ground	Calculated	m
`Z`	Displacement of the front left axis along the axis fixed relative to the ground	Calculated	m
`Vel`	`Xdot`	The speed of the front left axis along the axis fixed relative to the ground	Calculated	m/s
`Ydot`	The speed of the front left axis along the axis fixed relative to the ground	Calculated	m/s
`Zdot`	The speed of the front left axis along the axis fixed relative to the ground	Calculated	m/s
`Rght`	`Disp`	`X`	Displacement of the front right axis along the axis fixed relative to the ground	Calculated	m
`Y`	Displacement of the front right axis along the axis fixed relative to the ground	Calculated	m
`Z`	Displacement of the front right axis along the axis fixed relative to the ground	Calculated	m
`Vel`	`Xdot`	The speed of the front right axis along the axis fixed relative to the ground	Calculated	m/s
`Ydot`	The speed of the front right axis along the axis fixed relative to the ground	Calculated	m/s
`Zdot`	The speed of the front right axis along the axis fixed relative to the ground	Calculated	m/s
`RearAxl`	`Lft`	`Disp`	`X`	Displacement of the rear left axis along the axis fixed relative to the ground	Calculated	m
`Y`	Displacement of the rear left axis along the axis fixed relative to the ground	Calculated	m
`Z`	Displacement of the rear left axis along the axis fixed relative to the ground	Calculated	m
`Vel`	`Xdot`	The speed of the rear left axis along the axis fixed relative to the ground	Calculated	m/s
`Ydot`	The speed of the rear left axis along the axis fixed relative to the ground	Calculated	m/s
`Zdot`	The speed of the rear left axis along the axis fixed relative to the ground	Calculated	m/s
`Rght`	`Disp`	`X`	Displacement of the rear right axis along the axis fixed relative to the ground	Calculated	m
`Y`	Displacement of the rear right axis along the axis fixed relative to the ground	Calculated	m
`Z`	Displacement of the rear right axis along the axis fixed relative to the ground	Calculated	m
`Vel`	`Xdot`	The speed of the rear right axis along the axis fixed relative to the ground	Calculated	m/s
`Ydot`	The speed of the rear right axis along the axis fixed relative to the ground	Calculated	m/s
`Zdot`	The speed of the rear right axis along the axis fixed relative to the ground	Calculated	m/s
`Hitch`	`Disp`	`X`	Displacement of the coupling device relative to the axis plane along the axis fixed relative to the ground	Calculated	m
`Y`	Displacement of the coupling device relative to the axis plane along the axis fixed relative to the ground	Calculated	m
`Z`	Displacement of the coupling device relative to the axis plane along the axis fixed relative to the ground	Calculated	m
`Vel`	`Xdot`	The speed of the vehicle’s movement along an axis fixed relative to the earth	Calculated	m/s
`Ydot`	The speed of the vehicle’s movement along an axis fixed relative to the earth	Calculated	m/s
`Zdot`	The speed of the vehicle’s movement along an axis fixed relative to the earth	Calculated	m/s
`Geom`	`Disp`	`X`	Displacement of the vehicle chassis relative to the axis plane along the axis fixed relative to the ground	Calculated	m
`Y`	Displacement of the vehicle chassis relative to the axis plane along the axis fixed relative to the ground	Calculated	m
`Z`	Displacement of the vehicle chassis relative to the axis plane along the axis fixed relative to the ground	Calculated	m
`Vel`	`Xdot`	The rate of displacement of the vehicle chassis along an axis fixed relative to the ground	Calculated	m/s
`Ydot`	The rate of displacement of the vehicle chassis along an axis fixed relative to the ground	Calculated	m/s
`Zdot`	The rate of displacement of the vehicle chassis along an axis fixed relative to the ground	Calculated	m/s
`BdyFrm`	`Cg`	`Vel`	`xdot`	The velocity of the CM of the vehicle along an axis fixed relative to the vehicle	Calculated	m/s
`ydot`	The velocity of the CM of the vehicle along an axis fixed relative to the vehicle	Calculated	m/s
`zdot`	The velocity of the CM of the vehicle along an axis fixed relative to the vehicle	Calculated	m/s
`AngVel`	`p`	Angular velocity of the vehicle relative to the fixed axis (roll rate)	Calculated	rad/s
`q`	Angular velocity of the vehicle relative to the fixed axis (pitch velocity)	Calculated	rad/s
`r`	Angular velocity of the vehicle relative to the fixed axis (yaw rate)	Calculated	rad/s
`Acc`	`ax`	Acceleration of the CM of the vehicle along an axis fixed relative to the vehicle	Calculated	gn
`ay`	Acceleration of the CM of the vehicle along an axis fixed relative to the vehicle	Calculated	gn
`az`	Acceleration of the CM of the vehicle along an axis fixed relative to the vehicle	Calculated	gn
`xddot`	Acceleration of the CM of the vehicle along an axis fixed relative to the vehicle	Calculated	m/s²
`yddot`	Acceleration of the CM of the vehicle along an axis fixed relative to the vehicle	Calculated	m/s²
`zddot`	Acceleration of the CM of the vehicle along an axis fixed relative to the vehicle	Calculated	m/s²
`DCM`	Matrix of guiding cosines	Calculated	rad
`Forces`	`Body`	`Fx`	The resulting force acting on the CM of the vehicle along an axis stationary relative to the vehicle	Calculated	N
`Fy`	The resulting force acting on the CM of the vehicle along an axis stationary relative to the vehicle	Calculated	N
`Fz`	The resulting force acting on the CM of the vehicle along an axis stationary relative to the vehicle	Calculated	N
`Ext`	`Fx`	An external force acting on the CM of the vehicle along an axis stationary relative to the vehicle	Input	N
`Fy`	An external force acting on the CM of the vehicle along an axis stationary relative to the vehicle	Input	N
`Fz`	An external force acting on the CM of the vehicle along an axis stationary relative to the vehicle	Input	N
`FrntAxl`	`Lft`	`Fx`	The longitudinal force on the front left axis along the axis fixed relative to the vehicle	Calculated	N
`Fy`	Lateral force on the front left axis along a fixed axis relative to the vehicle	Calculated	N
`Fz`	The normal force on the front left axis along the axis stationary relative to the vehicle	Calculated	N
`Rght`	`Fx`	The longitudinal force on the front right axis along the axis fixed relative to the vehicle	Calculated	N
`Fy`	Lateral force on the front right axis along a fixed axis relative to the vehicle	Calculated	N
`Fz`	The normal force on the front right axis along the axis stationary relative to the vehicle	Calculated	N
`RearAxl`	`Lft`	`Fx`	The longitudinal force on the rear left axis along the axis fixed relative to the vehicle	Calculated	N
`Fy`	Lateral force on the rear left axis along the axis fixed relative to the vehicle	Calculated	N
`Fz`	The normal force on the rear left axis along the axis stationary relative to the vehicle	Calculated	N
`Rght`	`Fx`	The longitudinal force on the rear right axis along the axis fixed relative to the vehicle	Calculated	N
`Fy`	Lateral force on the rear right axis along the axis fixed relative to the vehicle	Calculated	N
`Fz`	The normal force on the rear right axis along the axis stationary relative to the vehicle	Calculated	N
`Hitch`	`Fx`	The force applied to the body at the attachment point of the coupling device along the axis fixed relative to the vehicle	Calculated	N
`Fy`	The force applied to the body at the attachment point of the coupling device along the axis fixed relative to the vehicle	Calculated	N
`Fz`	The force applied to the body at the attachment point of the coupling device along the axis fixed relative to the vehicle	Calculated	N
`Tires`	`FrntTires`	`Lft`	`Fx`	The force acting on the front left tire along a fixed axis relative to the vehicle	Calculated	N
`Fy`	The force acting on the front left tire along a fixed axis relative to the vehicle	Calculated	N
`Fz`	The force acting on the front left tire along a fixed axis relative to the vehicle	Calculated	N
`Rght`	`Fx`	The force acting on the front right tire along the axis fixed relative to the vehicle	Calculated	N
`Fy`	The force acting on the front right tire along the axis fixed relative to the vehicle	Calculated	N
`Fz`	The force acting on the front right tire along the axis fixed relative to the vehicle	Calculated	N
`RearTires`	`Lft`	`Fx`	The force acting on the rear left tire along a fixed axis relative to the vehicle	Calculated	N
`Fy`	The force acting on the rear left tire along a fixed axis relative to the vehicle	Calculated	N
`Fz`	The force acting on the rear left tire along a fixed axis relative to the vehicle	Calculated	N
`Rght`	`Fx`	The force acting on the rear right tire along a fixed axis relative to the vehicle	Calculated	N
`Fy`	The force acting on the rear right tire along a fixed axis relative to the vehicle	Calculated	N
`Fz`	The force acting on the rear right tire along a fixed axis relative to the vehicle	Calculated	N
`Drag`	`Fx`	The drag force acting on the vehicle’s CM along an axis that is stationary relative to the vehicle	Calculated	N
`Fy`	The drag force acting on the vehicle’s CM along an axis that is stationary relative to the vehicle	Calculated	N
`Fz`	The drag force acting on the vehicle’s CM along an axis that is stationary relative to the vehicle	Calculated	N
`Grvty`	`Fx`	The force of gravity acting on the CM of the vehicle vehicle along the axis fixed relative to the vehicle	Calculated	N
`Fy`	The force of gravity acting on the CM of the vehicle vehicle along the axis fixed relative to the vehicle	Calculated	N
`Fz`	The force of gravity acting on the CM of the vehicle vehicle along the axis fixed relative to the vehicle	Calculated	N
`Moments`	`Body`	`Mx`	The moment of inertia acting on the CM of the vehicle relative to the fixed axis	Calculated	N⋅m
`My`	The moment of inertia acting on the CM of the vehicle relative to the fixed axis	Calculated	N⋅m
`Mz`	The moment of inertia acting on the CM of the vehicle relative to the fixed axis	Calculated	N⋅m
`Drag`	`Mx`	The moment of resistance acting on the CM of the vehicle relative to the fixed axis	Calculated	N⋅m
`My`	The moment of resistance acting on the CM of the vehicle relative to the fixed axis	Calculated	N⋅m
`Mz`	The moment of resistance acting on the CM of the vehicle relative to the fixed axis	Calculated	N⋅m
`Ext`	`Mx`	The external moment acting on the CM of the vehicle relative to the fixed axis	Calculated	N⋅m
`My`	The external moment acting on the CM of the vehicle relative to the fixed axis	Calculated	N⋅m
`Mz`	The external moment acting on the CM of the vehicle relative to the fixed axis	Calculated	N⋅m
`Hitch`	`Mx`	The moment of force that occurs at the attachment point of the coupling device relative to the fixed axis	Calculated	N⋅m
`My`	The moment of force that occurs at the attachment point of the coupling device relative to the fixed axis	Calculated	N⋅m
`Mz`	The moment of force that occurs at the attachment point of the coupling device relative to the fixed axis	Calculated	N⋅m
`FrntAxl`	`Lft`	`Disp`	`x`	Displacement of the front left axis along the axis fixed relative to the vehicle	Calculated	m
`y`	Displacement of the front left axis along the axis fixed relative to the vehicle	Calculated	m
`z`	Displacement of the front left axis along the axis fixed relative to the vehicle	Calculated	m
`Vel`	`xdot`	The speed of the front left axis along the fixed axis relative to the vehicle	Calculated	m/s
`ydot`	The speed of the front left axis along the fixed axis relative to the vehicle	Calculated	m/s
`zdot`	The speed of the front left axis along the fixed axis relative to the vehicle	Calculated	m/s
`Rght`	`Disp`	`x`	Displacement of the front right axis along the axis fixed relative to the vehicle	Calculated	m
`y`	Displacement of the front right axis along the axis fixed relative to the vehicle	Calculated	m
`z`	Displacement of the front right axis along the axis fixed relative to the vehicle	Calculated	m
`Vel`	`xdot`	The speed of the front right axle along the fixed axis relative to the vehicle	Calculated	m/s
`ydot`	The speed of the front right axle along the fixed axis relative to the vehicle	Calculated	m/s
`zdot`	The speed of the front right axle along the fixed axis relative to the vehicle	Calculated	m/s
`RearAxl`	`Lft`	`Disp`	`x`	Displacement of the rear left axis along the axis fixed relative to the vehicle	Calculated	m
`y`	Displacement of the rear left axis along the axis fixed relative to the vehicle	Calculated	m
`z`	Displacement of the rear left axis along the axis fixed relative to the vehicle	Calculated	m
`Vel`	`xdot`	The speed of the rear left axis along the fixed axis relative to the vehicle	Calculated	m/s
`ydot`	The speed of the rear left axis along the fixed axis relative to the vehicle	Calculated	m/s
`zdot`	The speed of the rear left axis along the fixed axis relative to the vehicle	Calculated	m/s
`Rght`	`Disp`	`x`	Displacement of the rear right axis along the axis fixed relative to the vehicle	Calculated	m
`y`	Displacement of the rear right axis along the axis fixed relative to the vehicle	Calculated	m
`z`	Displacement of the rear right axis along the axis fixed relative to the vehicle	Calculated	m
`Vel`	`xdot`	The speed of the rear right axis along the fixed axis relative to the vehicle	Calculated	m/s
`ydot`	The speed of the rear right axis along the fixed axis relative to the vehicle	Calculated	m/s
`zdot`	The speed of the rear right axis along the fixed axis relative to the vehicle	Calculated	m/s
`Hitch`	`Disp`	`x`	Displacement of the coupling device relative to the axis plane along the axis fixed relative to the vehicle	Input	m
`y`	Displacement of the coupling device relative to the axis plane along the axis fixed relative to the vehicle	Input	m
`z`	Displacement of the coupling device relative to the axis plane along the axis fixed relative to the vehicle	Input	m
`Vel`	`xdot`	The rate of displacement of the coupling device along the axis fixed relative to the vehicle	Calculated	m/s
`ydot`	The rate of displacement of the coupling device along the axis fixed relative to the vehicle	Calculated	m/s
`zdot`	The rate of displacement of the coupling device along the axis fixed relative to the vehicle	Calculated	m/s
`Pwr`	`PwrExt`	Applied external power	Calculated	W
`Drag`	Power loss due to resistance	Calculated	W
`Geom`	`Disp`	`x`	Displacement of the vehicle chassis relative to the axis plane along the fixed axis	Input	m
`y`	Displacement of the vehicle chassis relative to the axis plane along the fixed axis	Input	m
`z`	Displacement of the vehicle chassis relative to the axis plane along the fixed axis	Input	m
`Vel`	`xdot`	The rate of displacement of the vehicle chassis along a fixed axis relative to the vehicle	Calculated	m/s
`ydot`	The rate of displacement of the vehicle chassis along a fixed axis relative to the vehicle	Calculated	m/s
`zdot`	The rate of displacement of the vehicle chassis along a fixed axis relative to the vehicle	Calculated	m/s
`Ang`	`Beta`	Body sliding angle	Calculated	glad

InertFrm

Cg

Disp

X

Displacement of the CM of the vehicle along an axis fixed relative to the earth

Calculated

Y

Displacement of the CM of the vehicle along an axis fixed relative to the earth

Calculated

Z

Displacement of the CM of the vehicle along an axis fixed relative to the earth

Calculated

Vel

Xdot

The velocity of the CM of the vehicle along an axis fixed relative to the earth

Calculated

m/s

Ydot

The velocity of the CM of the vehicle along an axis fixed relative to the earth

Calculated

m/s

Zdot

The velocity of the CM of the vehicle along an axis fixed relative to the earth

Calculated

m/s

Ang

phi

The angle of rotation of the reference frame of the vehicle around an axis fixed relative to the earth (roll)

Calculated

glad

theta

The angle of rotation of the reference frame of the vehicle around an axis fixed relative to the earth (pitch)

Calculated

rad

psi

The angle of rotation of the reference frame of the vehicle around an axis fixed relative to the earth (yaw)

Calculated

glad

FrntAxl

Lft

Disp

X

Displacement of the front left axis along the axis fixed relative to the ground

Calculated

Y

Displacement of the front left axis along the axis fixed relative to the ground

Calculated

Z

Displacement of the front left axis along the axis fixed relative to the ground

Calculated

Vel

Xdot

The speed of the front left axis along the axis fixed relative to the ground

Calculated

m/s

Ydot

The speed of the front left axis along the axis fixed relative to the ground

Calculated

m/s

Zdot

The speed of the front left axis along the axis fixed relative to the ground

Calculated

m/s

Rght

Disp

X

Displacement of the front right axis along the axis fixed relative to the ground

Calculated

Y

Displacement of the front right axis along the axis fixed relative to the ground

Calculated

Z

Displacement of the front right axis along the axis fixed relative to the ground

Calculated

Vel

Xdot

The speed of the front right axis along the axis fixed relative to the ground

Calculated

m/s

Ydot

The speed of the front right axis along the axis fixed relative to the ground

Calculated

m/s

Zdot

The speed of the front right axis along the axis fixed relative to the ground

Calculated

m/s

RearAxl

Lft

Disp

X

Displacement of the rear left axis along the axis fixed relative to the ground

Calculated

Y

Displacement of the rear left axis along the axis fixed relative to the ground

Calculated

Z

Displacement of the rear left axis along the axis fixed relative to the ground

Calculated

Vel

Xdot

The speed of the rear left axis along the axis fixed relative to the ground

Calculated

m/s

Ydot

The speed of the rear left axis along the axis fixed relative to the ground

Calculated

m/s

Zdot

The speed of the rear left axis along the axis fixed relative to the ground

Calculated

m/s

Rght

Disp

X

Displacement of the rear right axis along the axis fixed relative to the ground

Calculated

Y

Displacement of the rear right axis along the axis fixed relative to the ground

Calculated

Z

Displacement of the rear right axis along the axis fixed relative to the ground

Calculated

Vel

Xdot

The speed of the rear right axis along the axis fixed relative to the ground

Calculated

m/s

Ydot

The speed of the rear right axis along the axis fixed relative to the ground

Calculated

m/s

Zdot

The speed of the rear right axis along the axis fixed relative to the ground

Calculated

m/s

Hitch

Disp

X

Displacement of the coupling device relative to the axis plane along the axis fixed relative to the ground

Calculated

Y

Displacement of the coupling device relative to the axis plane along the axis fixed relative to the ground

Calculated

Z

Displacement of the coupling device relative to the axis plane along the axis fixed relative to the ground

Calculated

Vel

Xdot

The speed of the vehicle’s movement along an axis fixed relative to the earth

Calculated

m/s

Ydot

The speed of the vehicle’s movement along an axis fixed relative to the earth

Calculated

m/s

Zdot

The speed of the vehicle’s movement along an axis fixed relative to the earth

Calculated

m/s

Geom

Disp

X

Displacement of the vehicle chassis relative to the axis plane along the axis fixed relative to the ground

Calculated

Y

Displacement of the vehicle chassis relative to the axis plane along the axis fixed relative to the ground

Calculated

Z

Displacement of the vehicle chassis relative to the axis plane along the axis fixed relative to the ground

Calculated

Vel

Xdot

The rate of displacement of the vehicle chassis along an axis fixed relative to the ground

Calculated

m/s

Ydot

The rate of displacement of the vehicle chassis along an axis fixed relative to the ground

Calculated

m/s

Zdot

The rate of displacement of the vehicle chassis along an axis fixed relative to the ground

Calculated

m/s

BdyFrm

Cg

Vel

xdot

The velocity of the CM of the vehicle along an axis fixed relative to the vehicle

Calculated

m/s

ydot

The velocity of the CM of the vehicle along an axis fixed relative to the vehicle

Calculated

m/s

zdot

The velocity of the CM of the vehicle along an axis fixed relative to the vehicle

Calculated

m/s

AngVel

p

Angular velocity of the vehicle relative to the fixed axis (roll rate)

Calculated

rad/s

q

Angular velocity of the vehicle relative to the fixed axis (pitch velocity)

Calculated

rad/s

r

Angular velocity of the vehicle relative to the fixed axis (yaw rate)

Calculated

rad/s

Acc

ax

Acceleration of the CM of the vehicle along an axis fixed relative to the vehicle

Calculated

ay

Acceleration of the CM of the vehicle along an axis fixed relative to the vehicle

Calculated

az

Acceleration of the CM of the vehicle along an axis fixed relative to the vehicle

Calculated

xddot

Acceleration of the CM of the vehicle along an axis fixed relative to the vehicle

Calculated

m/s²

yddot

Acceleration of the CM of the vehicle along an axis fixed relative to the vehicle

Calculated

m/s²

zddot

Acceleration of the CM of the vehicle along an axis fixed relative to the vehicle

Calculated

m/s²

DCM

Matrix of guiding cosines

Calculated

rad

Forces

Body

Fx

The resulting force acting on the CM of the vehicle along an axis stationary relative to the vehicle

Calculated

Fy

The resulting force acting on the CM of the vehicle along an axis stationary relative to the vehicle

Calculated

Fz

The resulting force acting on the CM of the vehicle along an axis stationary relative to the vehicle

Calculated

Ext

Fx

An external force acting on the CM of the vehicle along an axis stationary relative to the vehicle

Input

Fy

An external force acting on the CM of the vehicle along an axis stationary relative to the vehicle

Input

Fz

An external force acting on the CM of the vehicle along an axis stationary relative to the vehicle

Input

FrntAxl

Lft

Fx

The longitudinal force on the front left axis along the axis fixed relative to the vehicle

Calculated

Fy

Lateral force on the front left axis along a fixed axis relative to the vehicle

Calculated

Fz

The normal force on the front left axis along the axis stationary relative to the vehicle

Calculated

Rght

Fx

The longitudinal force on the front right axis along the axis fixed relative to the vehicle

Calculated

Fy

Lateral force on the front right axis along a fixed axis relative to the vehicle

Calculated

Fz

The normal force on the front right axis along the axis stationary relative to the vehicle

Calculated

RearAxl

Lft

Fx

The longitudinal force on the rear left axis along the axis fixed relative to the vehicle

Calculated

Fy

Lateral force on the rear left axis along the axis fixed relative to the vehicle

Calculated

Fz

The normal force on the rear left axis along the axis stationary relative to the vehicle

Calculated

Rght

Fx

The longitudinal force on the rear right axis along the axis fixed relative to the vehicle

Calculated

Fy

Lateral force on the rear right axis along the axis fixed relative to the vehicle

Calculated

Fz

The normal force on the rear right axis along the axis stationary relative to the vehicle

Calculated

Hitch

Fx

The force applied to the body at the attachment point of the coupling device along the axis fixed relative to the vehicle

Calculated

Fy

The force applied to the body at the attachment point of the coupling device along the axis fixed relative to the vehicle

Calculated

Fz

The force applied to the body at the attachment point of the coupling device along the axis fixed relative to the vehicle

Calculated

Tires

FrntTires

Lft

Fx

The force acting on the front left tire along a fixed axis relative to the vehicle

Calculated

Fy

The force acting on the front left tire along a fixed axis relative to the vehicle

Calculated

Fz

The force acting on the front left tire along a fixed axis relative to the vehicle

Calculated

Rght

Fx

The force acting on the front right tire along the axis fixed relative to the vehicle

Calculated

Fy

The force acting on the front right tire along the axis fixed relative to the vehicle

Calculated

Fz

The force acting on the front right tire along the axis fixed relative to the vehicle

Calculated

RearTires

Lft

Fx

The force acting on the rear left tire along a fixed axis relative to the vehicle

Calculated

Fy

The force acting on the rear left tire along a fixed axis relative to the vehicle

Calculated

Fz

The force acting on the rear left tire along a fixed axis relative to the vehicle

Calculated

Rght

Fx

The force acting on the rear right tire along a fixed axis relative to the vehicle

Calculated

Fy

The force acting on the rear right tire along a fixed axis relative to the vehicle

Calculated

Fz

The force acting on the rear right tire along a fixed axis relative to the vehicle

Calculated

Drag

Fx

The drag force acting on the vehicle’s CM along an axis that is stationary relative to the vehicle

Calculated

Fy

The drag force acting on the vehicle’s CM along an axis that is stationary relative to the vehicle

Calculated

Fz

The drag force acting on the vehicle’s CM along an axis that is stationary relative to the vehicle

Calculated

Grvty

Fx

The force of gravity acting on the CM of the vehicle vehicle along the axis fixed relative to the vehicle

Calculated

Fy

The force of gravity acting on the CM of the vehicle vehicle along the axis fixed relative to the vehicle

Calculated

Fz

The force of gravity acting on the CM of the vehicle vehicle along the axis fixed relative to the vehicle

Calculated

Moments

Body

Mx

The moment of inertia acting on the CM of the vehicle relative to the fixed axis

Calculated

N⋅m

My

The moment of inertia acting on the CM of the vehicle relative to the fixed axis

Calculated

N⋅m

Mz

The moment of inertia acting on the CM of the vehicle relative to the fixed axis

Calculated

N⋅m

Drag

Mx

The moment of resistance acting on the CM of the vehicle relative to the fixed axis

Calculated

N⋅m

My

The moment of resistance acting on the CM of the vehicle relative to the fixed axis

Calculated

N⋅m

Mz

The moment of resistance acting on the CM of the vehicle relative to the fixed axis

Calculated

N⋅m

Ext

Mx

The external moment acting on the CM of the vehicle relative to the fixed axis

Calculated

N⋅m

My

The external moment acting on the CM of the vehicle relative to the fixed axis

Calculated

N⋅m

Mz

The external moment acting on the CM of the vehicle relative to the fixed axis

Calculated

N⋅m

Hitch

Mx

The moment of force that occurs at the attachment point of the coupling device relative to the fixed axis

Calculated

N⋅m

My

The moment of force that occurs at the attachment point of the coupling device relative to the fixed axis

Calculated

N⋅m

Mz

The moment of force that occurs at the attachment point of the coupling device relative to the fixed axis

Calculated

N⋅m

FrntAxl

Lft

Disp

x

Displacement of the front left axis along the axis fixed relative to the vehicle

Calculated

y

Displacement of the front left axis along the axis fixed relative to the vehicle

Calculated

z

Displacement of the front left axis along the axis fixed relative to the vehicle

Calculated

Vel

xdot

The speed of the front left axis along the fixed axis relative to the vehicle

Calculated

m/s

ydot

The speed of the front left axis along the fixed axis relative to the vehicle

Calculated

m/s

zdot

The speed of the front left axis along the fixed axis relative to the vehicle

Calculated

m/s

Rght

Disp

x

Displacement of the front right axis along the axis fixed relative to the vehicle

Calculated

y

Displacement of the front right axis along the axis fixed relative to the vehicle

Calculated

z

Displacement of the front right axis along the axis fixed relative to the vehicle

Calculated

Vel

xdot

The speed of the front right axle along the fixed axis relative to the vehicle

Calculated

m/s

ydot

The speed of the front right axle along the fixed axis relative to the vehicle

Calculated

m/s

zdot

The speed of the front right axle along the fixed axis relative to the vehicle

Calculated

m/s

RearAxl

Lft

Disp

x

Displacement of the rear left axis along the axis fixed relative to the vehicle

Calculated

y

Displacement of the rear left axis along the axis fixed relative to the vehicle

Calculated

z

Displacement of the rear left axis along the axis fixed relative to the vehicle

Calculated

Vel

xdot

The speed of the rear left axis along the fixed axis relative to the vehicle

Calculated

m/s

ydot

The speed of the rear left axis along the fixed axis relative to the vehicle

Calculated

m/s

zdot

The speed of the rear left axis along the fixed axis relative to the vehicle

Calculated

m/s

Rght

Disp

x

Displacement of the rear right axis along the axis fixed relative to the vehicle

Calculated

y

Displacement of the rear right axis along the axis fixed relative to the vehicle

Calculated

z

Displacement of the rear right axis along the axis fixed relative to the vehicle

Calculated

Vel

xdot

The speed of the rear right axis along the fixed axis relative to the vehicle

Calculated

m/s

ydot

The speed of the rear right axis along the fixed axis relative to the vehicle

Calculated

m/s

zdot

The speed of the rear right axis along the fixed axis relative to the vehicle

Calculated

m/s

Hitch

Disp

x

Displacement of the coupling device relative to the axis plane along the axis fixed relative to the vehicle

Input

y

Displacement of the coupling device relative to the axis plane along the axis fixed relative to the vehicle

Input

z

Displacement of the coupling device relative to the axis plane along the axis fixed relative to the vehicle

Input

Vel

xdot

The rate of displacement of the coupling device along the axis fixed relative to the vehicle

Calculated

m/s

ydot

The rate of displacement of the coupling device along the axis fixed relative to the vehicle

Calculated

m/s

zdot

The rate of displacement of the coupling device along the axis fixed relative to the vehicle

Calculated

m/s

Pwr

PwrExt

Applied external power

Calculated

Drag

Power loss due to resistance

Calculated

Geom

Disp

x

Displacement of the vehicle chassis relative to the axis plane along the fixed axis

Input

y

Displacement of the vehicle chassis relative to the axis plane along the fixed axis

Input

z

Displacement of the vehicle chassis relative to the axis plane along the fixed axis

Input

Vel

xdot

The rate of displacement of the vehicle chassis along a fixed axis relative to the vehicle

Calculated

m/s

ydot

The rate of displacement of the vehicle chassis along a fixed axis relative to the vehicle

Calculated

m/s

zdot

The rate of displacement of the vehicle chassis along a fixed axis relative to the vehicle

Calculated

m/s

Ang

Beta

Body sliding angle

Calculated

glad

Типы данных	`Float64`
Support for complex numbers	None

Vb —

the speed of the vehicle along the reference frame associated with the vehicle

 +
`vector`

Details

The velocity of the vehicle’s center of mass along the axes and , stationary relative to the vehicle, measured in m/s, returned as a vector.

Типы данных	`Float64`
Support for complex numbers	None

pqr —

the angular velocity of the vehicle relative to the reference frame associated with the vehicle

vector

Details

Angular velocity of the vehicle’s center of mass relative to the axes (roll speed), (pitch velocity) and (yaw velocity), stationary relative to the vehicle, measured in rad/s, returned as a vector.

Типы данных	`Float64`
Support for complex numbers	None

DCM —

matrix of guiding cosines

array

Details

The matrix of guiding cosines in radians returned as an array.

Типы данных	`Float64`
Support for complex numbers	None

Euler —

Euler angles

array

Details

Euler angles and , measured in rad, returned as an array.

Типы данных	`Float64`
Support for complex numbers	None

Xe —

the position of the vehicle in the inertial reference frame

vector

Details

The position of the center of mass of the vehicle stationary relative to the inertial coordinate system of the axes and , measured in meters, returned as a vector.

Типы данных	`Float64`
Support for complex numbers	None

Ve —

vehicle velocity in an inertial reference frame

vector

Details

The velocity of the vehicle’s center of mass along axes that are stationary relative to the inertial coordinate system and , measured in m/s, returned as a vector.

Типы данных	`Float64`
Support for complex numbers	None

Parameters

Input signals

# Hitch forces — activating the input port Fh

Details

Select this option to activate the input port Fh for coupling forces.

Default value	`true (switched on)`
Program usage name	`htchFMode`
Tunable	No
Evaluatable	Yes

# Hitch moments — activation of the input port Mh

Details

Select this option to activate the Mh input port for coupling moments.

Default value	`true (switched on)`
Program usage name	`htchMMode`
Tunable	No
Evaluatable	Yes

Chassis

# Vehicle mass m, kg — vehicle weight

Details

Vehicle weight , measured in kg .

Default value	`2000.0`
Program usage name	`m`
Tunable	No
Evaluatable	Yes

# Longitudinal distance from center of mass to front axle a, m — distance

Details

Distance from the center of mass of the vehicle to the front axle, measured in meters.

vehicle body 6dof 1 en

Default value	`1.4`
Program usage name	`a`
Tunable	No
Evaluatable	Yes

# Longitudinal distance from center of mass to rear axle b, m — distance

Details

Distance from the center of mass of the vehicle to the front axle, measured in meters.

vehicle body 6dof 1 en

Default value	`1.6`
Program usage name	`b`
Tunable	No
Evaluatable	Yes

# Lateral distance from geometric centerline to center of mass d, m — distance

Details

Transverse distance from the geometric centerline to the center of mass, measured in meters, along an axis stationary relative to the vehicle . Positive values indicate that the vehicle’s center of mass is to the right of the geometric centerline. Negative values indicate that the center of mass of the vehicle is to the left of the geometric centerline.

vehicle body 6dof 1 en

Default value	`0.0`
Program usage name	`d`
Tunable	No
Evaluatable	Yes

# Vertical distance from center of mass to axle plane, h [m]: — distance

Details

Vertical distance from the center of mass of the vehicle to the plane of the axis, measured in meters.

vehicle body 6dof 1 en

Default value	`0.35`
Program usage name	`h`
Tunable	No
Evaluatable	Yes

# Longitudinal distance from center of mass to hitch dh, m — distance

Details

The longitudinal distance from the center of mass to the coupling device, measured in meters.

vehicle body 6dof 1 en

Dependencies

To use this parameter, in the parameter group Input signals check the box Hitch forces or Hitch moments.

Default value	`1.0`
Program usage name	`dh`
Tunable	No
Evaluatable	Yes

# Lateral distance from geometric centerline to hitch hl, m — distance

Details

Transverse distance from the center of mass to the coupling device, measured in meters.

vehicle body 6dof 1 en

Dependencies

To use this parameter, in the parameter group Input signals check the box Hitch forces or Hitch moments.

Default value	`0.0`
Program usage name	`hl`
Tunable	No
Evaluatable	Yes

# Vertical distance from hitch to axle plane hh, m — distance

Details

Vertical distance from the coupling device to the axis plane, measured in meters.

vehicle body 6dof 1 en

Dependencies

To use this parameter, in the parameter group Input signals check the box Hitch forces or Hitch moments.

Default value	`0.1`
Program usage name	`hh`
Tunable	No
Evaluatable	Yes

# Initial position in inertial frame Xe_o = [Xeo, Yeo, Zeo], m — starting position

Details

Starting position vehicle in an inertial reference frame, measured in meters.

Default value	`[0.0, 0.0, 0.0]`
Program usage name	`Xe_o`
Tunable	No
Evaluatable	Yes

# Initial velocity in body axes xbdot_o = [xdot_o, ydot_0, xdot_o], m/s — initial velocity

Details

The initial velocity of the vehicle’s center of mass along the axes and , stationary relative to the vehicle, measured in m/s.

Default value	`[0.0, 0.0, 0.0]`
Program usage name	`xbdot_o`
Tunable	No
Evaluatable	Yes

# Initial Euler orientation eul_o = [roll, pitch, yaw], rad — initial rotation

Details

The initial rotation of the Eulerian coordinate system associated with the vehicle around the axes (roll), (pitch) and (yaw) stationary relative to the Ground, measured in radians.

Default value	`[0.0, 0.0, 0.0]`
Program usage name	`eul_o`
Tunable	No
Evaluatable	Yes

# Initial body rotation rates p_0 = [p, q, r], rad/s — initial rotation speed

Details

The initial angular velocity of the vehicle’s center of mass around the axes (roll speed), (pitch velocity) and (yaw velocity), stationary relative to the vehicle, measured in rad/s.

Default value	`[0.0, 0.0, 0.0]`
Program usage name	`p_o`
Tunable	No
Evaluatable	Yes

# Chassis inertia tensor [Iveh], kg*m^2 — vehicle inertia

Details

Vehicle inertia tensor by dimension 3×3. The elements of the tensor are measured in kg⋅m².

Default value	`[430 0 0; 0 1900 0; 0 0 2100]`
Program usage name	`Iveh`
Tunable	No
Evaluatable	Yes

# track widths w = [front, rear], m — track width

Details

The width of the front and rear tracks, measured in meters, set as a vector of size 1×2.

Default value	`[1.9,1.9]`
Program usage name	`w`
Tunable	No
Evaluatable	Yes

Aerodynamic

# Longitudinal drad area Af, m^2 — cross-sectional area of the vehicle

Details

Effective cross-sectional area of the vehicle to calculate the aerodynamic drag force acting on the vehicle, measured in m ^2 ^.

Default value	`2`
Program usage name	`Af`
Tunable	No
Evaluatable	Yes

# Longitudinal drag coefficient Cd — aerodynamic drag

Details

Dimensionless coefficient of aerodynamic drag .

Default value	`0.3`
Program usage name	`Cd`
Tunable	No
Evaluatable	Yes

# Longitudinal lift coefficient CI — lifting force

Details

Dimensionless coefficient of pneumatic lifting force .

Default value	`0.1`
Program usage name	`CI`
Tunable	No
Evaluatable	Yes

# Longitudinal drag pitch moment Cpm — pitch resistance

Details

The dimensionless coefficient of the moment of longitudinal pitch resistance .

Default value	`0.1`
Program usage name	`Cpm`
Tunable	No
Evaluatable	Yes

# Relative wind angle vector [beta_w], rad — wind angle

Details

Vector of relative wind angle , measured in radians.

Default value	`collect(0:0.001:0.01)`
Program usage name	`beta_w`
Tunable	No
Evaluatable	Yes

# Side force coefficient vector [Cs] — lateral resistance force

Details

Vector of the dimensionless coefficient of lateral resistance .

Default value	`collect(0:0.01:0.1)`
Program usage name	`Cs`
Tunable	No
Evaluatable	Yes

# Yaw moment coefficient vector [Cym] — the moment of yaw resistance

Details

Vector of the dimensionless coefficient of the yaw moment .

Default value	`collect(0:0.001:0.01)`
Program usage name	`Cym`
Tunable	No
Evaluatable	Yes

Environment

# Absolute Pressure Pabs, Pa — atmospheric pressure

Details

Absolute atmospheric pressure in the environment , measured in Pa.

Default value	`101325.0`
Program usage name	`Pabs`
Tunable	No
Evaluatable	Yes

# Air temperature — an option for setting the air temperature

Details

Select this option to activate the AirTemp input port. Uncheck the box to set the air temperature using the parameter Air temperature Tair, K.

Default value	`false (switched off)`
Program usage name	`exTamb`
Tunable	No
Evaluatable	Yes

# Air temperature Tair, K — ambient temperature

Details

Ambient temperature , measured in K.

Dependencies

To use this option, uncheck the box. Air temperature.

Default value	`273.0`
Program usage name	`Tair`
Tunable	No
Evaluatable	Yes

# Gravitational acceleration g, m/s^2 — gravity

Details

Acceleration of free fall measured in m/s ².

Default value	`9.81`
Program usage name	`g`
Tunable	No
Evaluatable	Yes

Simulation

# Longitudinal velocity tolerance xdot_tol, m/s — allowance

Details

Longitudinal speed tolerance , measured in m/s .

The unit uses this parameter to avoid division by zero when calculating the sliding angle of the body. .

Default value	`0.1`
Program usage name	`xdot_tol`
Tunable	No
Evaluatable	Yes

# Geometric longitudinal offset from axle pane longOff, m — longitudinal displacement

Details

Displacement of the vehicle chassis relative to the axis plane along the axis , stationary relative to the body, measured in meters. When using the 3D visualization mechanism, it is recommended to use this offset to position the chassis regardless of the vehicle’s center of gravity.

Default value	`0.0`
Program usage name	`longOff`
Tunable	No
Evaluatable	Yes

# Geometric lateral offset from axle plane latOff, m — lateral displacement

Details

Displacement of the vehicle chassis from the central plane along the axis , stationary relative to the body, measured in meters. When using the 3D visualization mechanism, it is recommended to use this offset to position the chassis regardless of the vehicle’s center of gravity.

Default value	`0.0`
Program usage name	`latOff`
Tunable	No
Evaluatable	Yes

# Geometric vertical offset from axle plane vertOff, m — vertical displacement

Details

Default value	`0.0`
Program usage name	`vertOff`
Tunable	No
Evaluatable	Yes

# Wrap Euler angles, wrapAng — the ability to limit Euler angles

Details

The ability to limit the Euler angles to an interval [−π, π]. For vehicle maneuvers that may involve yaw axis turns beyond this range, it is recommended to uncheck this box if you want to:

Track the full rotation angle of the vehicle along the yaw axis.
Avoid gaps in vehicle condition assessments.

Default value	`true (switched on)`
Program usage name	`wrapAng`
Tunable	No
Evaluatable	Yes

Front

# Mass z1m, kg — weight

Details

Weight z1m, measured in kg .

Default value	`0.0`
Program usage name	`z1m`
Tunable	No
Evaluatable	Yes

# Distance vector from front axle [z1R], m — distance

Details

Distance vector z1R from the front axle to the load, measured in meters. The dimension of the vector is 1×3.

Array element Description

z1R[1,1]

The attachment point of the front suspension to the load, along the axis , stationary relative to the vehicle

z1R[1,2]

The centerline of the vehicle to the load, along the axis , stationary relative to the vehicle

z1R[1,3]

The attachment point of the front suspension to the load, along the axis , stationary relative to the vehicle

vehicle body 6dof 3 en

For example, the following table provides a summary of the parameters that determine the location of the load, indicated by dots.

Example of the location Sign

Ahead of the front axle

z1R[1,1]<0

To the right of the centerline of the vehicle

z1R[1,2]>0

Above the mounting point of the front axle suspension

z1R[1,3]>0

Default value	`[-0.25, 0.125, 0.15]`
Program usage name	`z1R`
Tunable	No
Evaluatable	Yes

# Inertia tensor [z1I], kg*m^2 — inertia

Details

The inertia tensor z1I by dimension 3×3. The elements of the tensor are measured in kg⋅m².

The tensor uses a coordinate system with the origin at the center of mass of the load:

The axis — along an axis fixed relative to the vehicle ;
The axis — along an axis fixed relative to the vehicle ;
The axis — along an axis fixed relative to the vehicle .

vehicle body 6dof 3 en

Default value	`[1.4 -0.2 0.1; -0.2 1.4 0.1; 0.1 0.1 2.25].* 0.0`
Program usage name	`z1I`
Tunable	No
Evaluatable	Yes

Overhead

# Mass z2m, kg — weight

Details

Weight z2m, measured in kg .

Default value	`0.0`
Program usage name	`z2m`
Tunable	No
Evaluatable	Yes

# Distance vector from front axle [z2R], m — distance

Details

Distance vector z2R from the front axle to the load, measured in meters. The dimension of the vector is 1×3.

Array element Description

z2R[1,1]

The attachment point of the front suspension to the load, along the axis , stationary relative to the vehicle

z2R[1,2]

The centerline of the vehicle to the load, along the axis , stationary relative to the vehicle

z2R[1,3]

The attachment point of the front suspension to the load, along the axis , stationary relative to the vehicle

vehicle body 6dof 4 en

For example, the following table provides a summary of the parameters that determine the location of the load, indicated by dots.

Example of the location Sign

Behind the front axle

z2R[1,1]>0

To the left of the centerline of the vehicle

z2R[1,2]<0

Above the mounting point of the front axle suspension

z2R[1,3]>0

Default value	`[1.4, 0.0, 0.8]`
Program usage name	`z2R`
Tunable	No
Evaluatable	Yes

# Inertia tensor [z2I], kg*m^2 — inertia

Details

The inertia tensor z2I by dimension 3×3. The elements of the tensor are measured in kg⋅m².

The tensor uses a coordinate system with the origin at the center of mass of the load:

The axis — along an axis fixed relative to the vehicle ;
The axis — along an axis fixed relative to the vehicle ;
The axis — along an axis fixed relative to the vehicle .

vehicle body 6dof 4 en

Default value	`[1.4 -0.2 0.1;-0.2 1.4 0.1;0.1 0.1 2.25].*0.0`
Program usage name	`z2I`
Tunable	No
Evaluatable	Yes

Row 1, left side

# Mass, z3m [kg]: — weight

Details

Weight z3m, measured in kg .

Default value	`0.0`
Program usage name	`z3m`
Tunable	No
Evaluatable	Yes

# Distance vector from front axle [z3R], m — distance

Details

Distance vector z3R from the front axle to the load, measured in meters. The dimension of the vector is 1×3.

Array element Description

z3R[1,1]

The attachment point of the front suspension to the load, along the axis , stationary relative to the vehicle

z3R[1,2]

The centerline of the vehicle to the load, along the axis , stationary relative to the vehicle

z3R[1,3]

The attachment point of the front suspension to the load, along the axis , stationary relative to the vehicle

vehicle body 6dof 5 en

For example, the following table provides a summary of the parameters that determine the location of the load, indicated by dots.

Example of the location Sign

Behind the front axle

z3R[1,1]>0

To the left of the centerline of the vehicle

z3R[1,2]<0

Above the mounting point of the front axle suspension

z3R[1,3]>0

Default value	`[0.75, -0.5, 0.4]`
Program usage name	`z3R`
Tunable	No
Evaluatable	Yes

# Inertia tensor [z3I], kg*m^2 — inertia

Details

The inertia tensor z3I by dimension 3×3. The elements of the tensor are measured in kg⋅m².

The tensor uses a coordinate system with the origin at the center of mass of the load:

The axis — along an axis fixed relative to the vehicle ;
The axis — along an axis fixed relative to the vehicle ;
The axis — along an axis fixed relative to the vehicle .

vehicle body 6dof 5 en

Default value	`[5.0 -0.1 -2.0; -2.0 9.0 0.1; -0.1 0.1 6.0].*0.0`
Program usage name	`z3I`
Tunable	No
Evaluatable	Yes

Row 1, right side

# Mass z4m, kg — weight

Details

Weight z4m, measured in kg .

Default value	`0.0`
Program usage name	`z4m`
Tunable	No
Evaluatable	Yes

# Distance vector from front axle [z4R], m — distance

Details

Distance vector z4R from the front axle to the load, measured in meters. The dimension of the vector is 1×3.

Array element Description

z4R[1,1]

The attachment point of the front suspension to the load, along the axis , stationary relative to the vehicle

z4R[1,2]

The centerline of the vehicle to the load, along the axis , stationary relative to the vehicle

z4R[1,3]

The attachment point of the front suspension to the load, along the axis , stationary relative to the vehicle

vehicle body 6dof 6 en

For example, the following table provides a summary of the parameters that determine the location of the load, indicated by dots.

Example of the location Sign

Behind the front axle

z4R[1,1]>0

To the right of the centerline of the vehicle

z4R[1,2]>0

Above the mounting point of the front axle suspension

z4R[1,3]>0

Default value	`[0.75, 0.5, 0.4]`
Program usage name	`z4R`
Tunable	No
Evaluatable	Yes

# Inertia tensor [z4I], kg*m^2 — inertia

Details

The inertia tensor z4I by dimension 3×3. The elements of the tensor are measured in kg⋅m².

The tensor uses a coordinate system with the origin at the center of mass of the load:

The axis — along an axis fixed relative to the vehicle ;
The axis — along an axis fixed relative to the vehicle ;
The axis — along an axis fixed relative to the vehicle .

vehicle body 6dof 6 en

Default value	`[5.0 -0.1 -2.0; -2.0 9.0 0.1; -0.1 0.1 6.0].*0.0`
Program usage name	`z4I`
Tunable	No
Evaluatable	Yes

Row 2, left side

# Mass z5m, kg — weight

Details

Weight z5m, measured in kg .

Default value	`0.0`
Program usage name	`z5m`
Tunable	No
Evaluatable	Yes

# Distance vector from front axle [z5R], m — distance

Details

Distance vector z5R from the front axle to the load, measured in meters. The dimension of the vector is 1×3.

Array element Description

z5R[1,1]

The attachment point of the front suspension to the load, along the axis , stationary relative to the vehicle

z5R[1,2]

The centerline of the vehicle to the load, along the axis , stationary relative to the vehicle

z5R[1,3]

The attachment point of the front suspension to the load, along the axis , stationary relative to the vehicle

vehicle body 6dof 7 en

For example, the following table provides a summary of the parameters that determine the location of the load, indicated by dots.

Example of the location Sign

Behind the front axle

z5R[1,1]>0

To the left of the centerline of the vehicle

z5R[1,2]<0

Above the mounting point of the front axle suspension

z5R[1,3]>0

Default value	`[1.25, -0.5, 0.4]`
Program usage name	`z5R`
Tunable	No
Evaluatable	Yes

# Inertia tensor [z5I], kg*m^2 — inertia

Details

The inertia tensor z5I by dimension 3×3. The elements of the tensor are measured in kg⋅m².

The tensor uses a coordinate system with the origin at the center of mass of the load:

The axis — along an axis fixed relative to the vehicle ;
The axis — along an axis fixed relative to the vehicle ;
The axis — along an axis fixed relative to the vehicle .

vehicle body 6dof 7 en

Default value	`[5.0 -0.1 -2.0; -2.0 9.0 0.1; -0.1 0.1 6.0].*0.0`
Program usage name	`z5I`
Tunable	No
Evaluatable	Yes

Row 2, right side

# Mass z6m, kg — weight

Details

Weight z6m, measured in kg .

Default value	`0.0`
Program usage name	`z6m`
Tunable	No
Evaluatable	Yes

# Distance vector from front axle [z6R], m — distance

Details

Distance vector z6R from the front axle to the load, measured in meters. The dimension of the vector is 1×3.

Array element Description

z6R[1,1]

The attachment point of the front suspension to the load, along the axis , stationary relative to the vehicle

z6R[1,2]

The centerline of the vehicle to the load, along the axis , stationary relative to the vehicle

z6R[1,3]

The attachment point of the front suspension to the load, along the axis , stationary relative to the vehicle

vehicle body 6dof 8 en

For example, the following table provides a summary of the parameters that determine the location of the load, indicated by dots.

Example of the location Sign

Behind the front axle

z6R[1,1]>0

To the right of the centerline of the vehicle

z6R[1,2]>0

Above the mounting point of the front axle suspension

z6R[1,3]>0

Default value	`[1.25, -0.5, 0.4]`
Program usage name	`z6R`
Tunable	No
Evaluatable	Yes

# Inertia tensor [z6I], kg*m^2 — inertia

Details

The inertia tensor z6I by dimension 3×3. The elements of the tensor are measured in kg⋅m².

The tensor uses a coordinate system with the origin at the center of mass of the load:

The axis — along an axis fixed relative to the vehicle ;
The axis — along an axis fixed relative to the vehicle ;
The axis — along an axis fixed relative to the vehicle .

vehicle body 6dof 8 en

Default value	`[5.0 -0.1 -2.0; -2.0 9.0 0.1; -0.1 0.1 6.0].*0.0`
Program usage name	`z6I`
Tunable	No
Evaluatable	Yes

Rear

# Mass z7m, kg — weight

Details

Weight z7m, measured in kg .

Default value	`0.0`
Program usage name	`z7m`
Tunable	No
Evaluatable	Yes

# Distance vector from front axle [z7R], m — distance

Details

Distance vector z7R from the front axle to the load, measured in meters. The dimension of the vector is 1×3.

Array element Description

z7R[1,1]

The attachment point of the front suspension to the load, along the axis , stationary relative to the vehicle

z7R[1,2]

The centerline of the vehicle to the load, along the axis , stationary relative to the vehicle

z7R[1,3]

The attachment point of the front suspension to the load, along the axis , stationary relative to the vehicle

vehicle body 6dof 9 en

For example, the following table provides a summary of the parameters that determine the location of the load, indicated by dots.

Example of the location Sign

Behind the front axle

z7R[1,1]>0

To the right of the centerline of the vehicle

z7R[1,2]>0

Above the mounting point of the front axle suspension

z7R[1,3]>0

Default value	`[2.0, 0.0, 0.25]`
Program usage name	`z7R`
Tunable	No
Evaluatable	Yes

# Inertia tensor [z7I], kg*m^2 — inertia

Details

The inertia tensor z7I by dimension 3×3. The elements of the tensor are measured in kg⋅m².

The tensor uses a coordinate system with the origin at the center of mass of the load:

The axis — along an axis fixed relative to the vehicle ;
The axis — along an axis fixed relative to the vehicle ;
The axis — along an axis fixed relative to the vehicle .

vehicle body 6dof 9 en

Default value	`[1.4 -0.2 0.1; -0.2 1.4 0.1; 0.1 0.1 2.25].*0.0`
Program usage name	`z7I`
Tunable	No
Evaluatable	Yes

Literature

Gillespie, Thomas. Fundamentals of Vehicle Dynamics. Warrendale, PA: Society of Automotive Engineers (SAE), 1992.