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model

run simulation

on the simulation tab, click run. as the simulation runs, the vehicle position window provides the trace of the tractor and trailer.

three-axle tractor subsystem

to steer and drive the tractor, the three-axle tractor subsystem uses a sinusoidal wave steering input and an axle torque applied to the rear wheels. the subsystem includes models for the wheels, suspension, and vehicle body.

three-axle trailer subsystem

the three-axle trailer subsystem includes models for the wheels, suspension, and the trailer body.

hitch subsystem

when you select the three dof model variant, the hitch model allows relative longitudinal, lateral, and yaw motion between the tractor and trailer. to limit the longitudinal and lateral motion, the hitch model implements a stiff translational spring-damper in the xy plane of the vehicle-fixed reference frame. the resulting spring-damper forces approximately limits the relative motion between the tractor and trailer to yaw rotation about a vertical axis at the hitch connection point. the hitch model transfers the vertical hitch force from the trailer to the tractor.

when you select the six dof model variant, the hitch model allows relative longitudinal, lateral, vertical, and yaw motion between the tractor and trailer. the hitch model implements another translational spring-damper along the z -axis of the vehicle-fixed reference frame. the effects of hitch moments due to the relative rotations of the hitches are considered negligible.

braking test

to implement the braking test, click toggle between sine steer and braking. the model switches the axle torque block to indicate a braking test. the abs block turns red to indicate abs control.

then, on the simulation tab, click run. the scope block shows plots of the tractor acceleration and velocity, and tractor and trailer brake pressure.

to view the simulation in the 3d visualization environment, use the vehicle monitor 3d variant.

run simulation in 3d visualization environment

in the vehicle monitor subsystem, use the vehicle monitor 3d variant to visualize the tractor and trailer in the 3d simulation environment.

2. click run. in the autovrtlenv window, view the tractor and trailer in the 3d visualization environment. you can use the key numbers to change camera views of the tractor and trailer. for example, press 7 for a front left camera view.

six degrees-of-freedom model

to implement a 6 dof tractor, trailer, and hitch model, click toggle between 3dof and 6dof. then, on the simulation tab, click run.

to view the simulation in the 3d visualization environment, use the vehicle monitor 3d variant.