# Simulation 3D Trailer

**Libraries:**

Vehicle Dynamics Blockset /
Vehicle Scenarios /
Sim3D /
Sim3D Vehicle /
Components

## Description

**Note**

Simulating models with the Simulation 3D Trailer block requires
Simulink^{®}
3D Animation™.

The Simulation 3D Trailer block implements a trailer with one, two or three axles in the 3D simulation environment.

To use the Simulation 3D Trailer block, ensure that the Simulation
3D Scene Configuration block is in your model. If you set the **Sample
time** parameter of the Simulation 3D Trailer 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
J670^{1}. The coordinate system is inertial and initially aligned
with the vehicle geometric center:

*X*-axis — Points forward along vehicle longitudinal axis*Y*-axis — Points to the right along vehicle lateral axis*Z*-axis — Points downward

**Tip**

Verify that the Simulation 3D Trailer
block executes before the Simulation 3D Scene Configuration block. That way,
Simulation 3D Vehicle prepares the signal data before the Unreal Engine^{®} 3D visualization environment receives it. To check the block execution order,
right-click the blocks and select **Properties**. On the
**General** tab, confirm these **Priority** settings:

Simulation 3D Scene Configuration —

`0`

Simulation 3D Trailer —

`-1`

For more information about execution order, see Control and Display Execution Order.

## Examples

## Ports

### Input

**Translation** — Vehicle translation

`5`

-by-`3`

array (default) | `7`

-by-`3`

array | `3`

-by-`3`

array

Vehicle and wheel translation, in m. The array dimensions are
`3`

-by-`3`

for a one-axle trailer,
`5`

-by-`3`

for a two-axle trailer, and
`7`

-by-`3`

for a three-axle trailer, where:

`Translation(1,1)`

,`Translation(1,2)`

, and`Translation(1,3)`

— Vehicle translation along the inertial vehicle Z-down*X*-,*Y*-, and*Z*-axes, respectively.`Translation(...,1)`

,`Translation(...,2)`

, and`Translation(...,3)`

— Wheel translation relative to vehicle, along the vehicle Z-down*X*-,*Y*-, and*Z*-axes, respectively.

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

For a one-axle trailer:

$$Translation=\left[\begin{array}{ccc}{X}_{v}& {Y}_{v}& {Z}_{v}\\ {X}_{L}& {Y}_{L}& {Z}_{L}\\ {X}_{R}& {Y}_{R}& {Z}_{R}\end{array}\right]$$

Translation | Array Element | Translation Axis |
---|---|---|

Vehicle,
| `Translation(1,1)` | Inertial vehicle Z-down X-axis |

Vehicle,
| `Translation(1,2)` | Inertial vehicle Z-down Y-axis |

Vehicle,
| `Translation(1,3)` | Inertial vehicle Z-down Z-axis |

Left wheel,
| `Translation(2,1)` | Vehicle Z-down X-axis |

Left wheel,
| `Translation(2,2)` | Vehicle Z-down Y-axis |

Left wheel,
| `Translation(2,3)` | Vehicle Z-down Z-axis |

Right wheel,
| `Translation(3,1)` | Vehicle Z-down X-axis |

Right wheel,
| `Translation(3,2)` | Vehicle Z-down Y-axis |

Right wheel,
| `Translation(3,3)` | Vehicle Z-down Z-axis |

For a two-axle trailer:

$$Translation=\left[\begin{array}{ccc}{X}_{v}& {Y}_{v}& {Z}_{v}\\ {X}_{FL}& {Y}_{FL}& {Z}_{FL}\\ {X}_{FR}& {Y}_{FR}& {Z}_{FR}\\ {X}_{RL}& {Y}_{RL}& {Z}_{RL}\\ {X}_{RR}& {Y}_{RR}& {Z}_{RR}\end{array}\right]$$

Translation | Array Element | Translation Axis |
---|---|---|

Vehicle,
| `Translation(1,1)` | Inertial vehicle Z-down X-axis |

Vehicle,
| `Translation(1,2)` | Inertial vehicle Z-down Y-axis |

Vehicle,
| `Translation(1,3)` | Inertial vehicle Z-down Z-axis |

Front left wheel,
| `Translation(2,1)` | Vehicle Z-down X-axis |

Front left wheel,
| `Translation(2,2)` | Vehicle Z-down Y-axis |

Front left wheel,
| `Translation(2,3)` | Vehicle Z-down Z-axis |

Front right wheel,
| `Translation(3,1)` | Vehicle Z-down X-axis |

Front right wheel,
| `Translation(3,2)` | Vehicle Z-down Y-axis |

Front right wheel,
| `Translation(3,3)` | Vehicle Z-down Z-axis |

Rear left wheel,
| `Translation(4,1)` | Vehicle Z-down X-axis |

Rear left wheel,
| `Translation(4,2)` | Vehicle Z-down Y-axis |

Rear left wheel,
| `Translation(4,3)` | Vehicle Z-down Z-axis |

Rear right wheel,
| `Translation(5,1)` | Vehicle Z-down X-axis |

Rear right wheel,
| `Translation(5,2)` | Vehicle Z-down Y-axis |

Rear right wheel,
| `Translation(5,3)` | Vehicle Z-down Z-axis |

For a three-axle trailer:

$$Translation=\left[\begin{array}{ccc}{X}_{v}& {Y}_{v}& {Z}_{v}\\ {X}_{FL}& {Y}_{FL}& {Z}_{FL}\\ {X}_{FR}& {Y}_{FR}& {Z}_{FR}\\ {X}_{ML}& {Y}_{ML}& {Z}_{ML}\\ {X}_{MR}& {Y}_{MR}& {Z}_{MR}\\ {X}_{RL}& {Y}_{RL}& {Z}_{RL}\\ {X}_{RR}& {Y}_{RR}& {Z}_{RR}\end{array}\right]$$

Translation | Array Element | Translation Axis |
---|---|---|

Vehicle,
| `Translation(1,1)` | Inertial vehicle Z-down X-axis |

Vehicle,
| `Translation(1,2)` | Inertial vehicle Z-down Y-axis |

Vehicle,
| `Translation(1,3)` | Inertial vehicle Z-down Z-axis |

Front left wheel,
| `Translation(2,1)` | Vehicle Z-down X-axis |

Front left wheel,
| `Translation(2,2)` | Vehicle Z-down Y-axis |

Front left wheel,
| `Translation(2,3)` | Vehicle Z-down Z-axis |

Front right wheel,
| `Translation(3,1)` | Vehicle Z-down X-axis |

Front right wheel,
| `Translation(3,2)` | Vehicle Z-down Y-axis |

Front right wheel,
| `Translation(3,3)` | Vehicle Z-down Z-axis |

Middle left wheel, | `Translation(4,1)` | Vehicle Z-down X-axis |

Middle left wheel,
| `Translation(4,2)` | Vehicle Z-down Y-axis |

Middle left wheel,
| `Translation(4,3)` | Vehicle Z-down Z-axis |

Middle right wheel,
| `Translation(5,1)` | Vehicle Z-down X-axis |

Middle right wheel,
| `Translation(5,2)` | Vehicle Z-down Y-axis |

Middle right wheel,
| `Translation(5,3)` | Vehicle Z-down Z-axis |

Rear left wheel,
| `Translation(6,1)` | Vehicle Z-down X-axis |

Rear left wheel,
| `Translation(6,2)` | Vehicle Z-down Y-axis |

Rear left wheel,
| `Translation(6,3)` | Vehicle Z-down Z-axis |

Rear right wheel,
| `Translation(7,1)` | Vehicle Z-down X-axis |

Rear right wheel,
| `Translation(7,2)` | Vehicle Z-down Y-axis |

Rear right wheel,
| `Translation(7,3)` | Vehicle Z-down Z-axis |

**Rotation** — Vehicle rotation

`5`

-by-`3`

array (default) | `7`

-by-`3`

array | `3`

-by-`3`

array

Vehicle and wheel rotation, in rad. The array dimensions are
`3`

-by-`3`

for a one-axle trailer,
`5`

-by-`3`

for a two-axle trailer, and
`7`

-by-`3`

for a three-axle trailer, where:

`Rotation(1,1)`

,`Rotation(1,2)`

, and`Rotation(1,3)`

— Vehicle rotation about the inertial vehicle Z-down*X*-,*Y*-, and*Z*-axes, respectively.`Rotation(...,1)`

,`Rotation(...,2)`

, and`Rotation(...,3)`

— Wheel rotation relative to vehicle, about the vehicle Z-down*X*-,*Y*-, and*Z*-axes, respectively.

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

For a one-axle trailer:

$$Rotation=\left[\begin{array}{ccc}Rol{l}_{v}& Pitc{h}_{v}& Ya{w}_{v}\\ Rol{l}_{L}& Pitc{h}_{L}& Ya{w}_{L}\\ Rol{l}_{R}& Pitc{h}_{R}& Ya{w}_{R}\end{array}\right]$$

Rotation | Array Element | Rotation Axis |
---|---|---|

Vehicle,
| `Rotation(1,1)` | Inertial vehicle Z-down X-axis |

Vehicle,
| `Rotation(1,2)` | Inertial vehicle Z-down Y-axis |

Vehicle,
| `Rotation(1,3)` | Inertial vehicle Z-down Z-axis |

Left wheel,
| `Rotation(2,1)` | Vehicle Z-down X-axis |

Left wheel,
| `Rotation(2,2)` | Vehicle Z-down Y-axis |

Left wheel,
| `Rotation(2,3)` | Vehicle Z-down Z-axis |

Right wheel,
| `Rotation(3,1)` | Vehicle Z-down X-axis |

Right wheel,
| `Rotation(3,2)` | Vehicle Z-down Y-axis |

Right wheel,
| `Rotation(3,3)` | Vehicle Z-down Z-axis |

For a two-axle trailer:

$$Rotation=\left[\begin{array}{ccc}Rol{l}_{v}& Pitc{h}_{v}& Ya{w}_{v}\\ Rol{l}_{FL}& Pitc{h}_{FL}& Ya{w}_{FL}\\ Rol{l}_{FR}& Pitc{h}_{FR}& Ya{w}_{FR}\\ Rol{l}_{RL}& Pitc{h}_{RL}& Ya{w}_{RL}\\ Rol{l}_{RR}& Pitc{h}_{RR}& Ya{w}_{RR}\end{array}\right]$$

Rotation | Array Element | Rotation Axis |
---|---|---|

Vehicle,
| `Rotation(1,1)` | Inertial vehicle Z-down X-axis |

Vehicle,
| `Rotation(1,2)` | Inertial vehicle Z-down Y-axis |

Vehicle,
| `Rotation(1,3)` | Inertial vehicle Z-down Z-axis |

Front left wheel,
| `Rotation(2,1)` | Vehicle Z-down X-axis |

Front left wheel,
| `Rotation(2,2)` | Vehicle Z-down Y-axis |

Front left wheel,
| `Rotation(2,3)` | Vehicle Z-down Z-axis |

Front right wheel,
| `Rotation(3,1)` | Vehicle Z-down X-axis |

Front right wheel,
| `Rotation(3,2)` | Vehicle Z-down Y-axis |

Front right wheel,
| `Rotation(3,3)` | Vehicle Z-down Z-axis |

Rear left wheel,
| `Rotation(4,1)` | Vehicle Z-down X-axis |

Rear left wheel,
| `Rotation(4,2)` | Vehicle Z-down Y-axis |

Rear left wheel,
| `Rotation(4,3)` | Vehicle Z-down Z-axis |

Rear right wheel,
| `Rotation(5,1)` | Vehicle Z-down X-axis |

Rear right wheel,
| `Rotation(5,2)` | Vehicle Z-down Y-axis |

Rear right wheel,
| `Rotation(5,3)` | Vehicle Z-down Z-axis |

For a three-axle trailer:

$$Rotation=\left[\begin{array}{ccc}Rol{l}_{v}& Pitc{h}_{v}& Ya{w}_{v}\\ Rol{l}_{FL}& Pitc{h}_{FL}& Ya{w}_{FL}\\ Rol{l}_{FR}& Pitc{h}_{FR}& Ya{w}_{FR}\\ Rol{l}_{ML}& Pitc{h}_{ML}& Ya{w}_{ML}\\ Rol{l}_{MR}& Pitc{h}_{MR}& Ya{w}_{MR}\\ Rol{l}_{RL}& Pitc{h}_{RL}& Ya{w}_{RL}\\ Rol{l}_{RR}& Pitc{h}_{RR}& Ya{w}_{RR}\end{array}\right]$$

Rotation | Array Element | Rotation Axis |
---|---|---|

Vehicle,
| `Rotation(1,1)` | Inertial vehicle Z-down X-axis |

Vehicle,
| `Rotation(1,2)` | Inertial vehicle Z-down Y-axis |

Vehicle,
| `Rotation(1,3)` | Inertial vehicle Z-down Z-axis |

Front left wheel,
| `Rotation(2,1)` | Vehicle Z-down X-axis |

Front left wheel,
| `Rotation(2,2)` | Vehicle Z-down Y-axis |

Front left wheel,
| `Rotation(2,3)` | Vehicle Z-down Z-axis |

Front right wheel,
| `Rotation(3,1)` | Vehicle Z-down X-axis |

Front right wheel,
| `Rotation(3,2)` | Vehicle Z-down Y-axis |

Front right wheel,
| `Rotation(3,3)` | Vehicle Z-down Z-axis |

Middle left wheel,
| `Rotation(4,1)` | Vehicle Z-down X-axis |

Middle left wheel,
| `Rotation(4,2)` | Vehicle Z-down Y-axis |

Middle left wheel,
| `Rotation(4,3)` | Vehicle Z-down Z-axis |

Middle right wheel,
| `Rotation(5,1)` | Vehicle Z-down X-axis |

Middle right wheel,
| `Rotation(5,2)` | Vehicle Z-down Y-axis |

Middle right wheel,
| `Rotation(5,3)` | Vehicle Z-down Z-axis |

Rear left wheel,
| `Rotation(6,1)` | Vehicle Z-down X-axis |

Rear left wheel,
| `Rotation(6,2)` | Vehicle Z-down Y-axis |

Rear left wheel,
| `Rotation(6,3)` | Vehicle Z-down Z-axis |

Rear right wheel,
| `Rotation(7,1)` | Vehicle Z-down X-axis |

Rear right wheel,
| `Rotation(7,2)` | Vehicle Z-down Y-axis |

Rear right wheel,
| `Rotation(7,3)` | Vehicle Z-down Z-axis |

## Parameters

**Vehicle Parameters**

**Type** — Trailer type

`Two-axle trailer`

(default) | `Three-axle trailer`

| `One-axle trailer`

**Name** — Name of vehicle

`SimulinkVehicle1`

(default) | character vector

Name of vehicle. By default, when you use the block in your model, the block sets
the **Name** parameter to
`SimulinkVehicle`

. The value of
`X`

depends on the number of
Simulation 3D Vehicle with Ground Following and Simulation 3D
Vehicle blocks that you have in your model.`X`

**Initial Values**

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

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

Initial vehicle and wheel translation, in m. The array dimensions are
`3`

-by-`3`

for a one-axle trailer,
`5`

-by-`3`

for a two-axle trailer and
`7`

-by-`3`

for a three-axle trailer, where:

`Translation(1,1)`

,`Translation(1,2)`

, and`Translation(1,3)`

— Initial vehicle translation along the inertial vehicle Z-down coordinate system*X*-,*Y*-, and*Z*-axes, respectively.`Translation(...,1)`

,`Translation(...,2)`

, and`Translation(...,3)`

— Initial wheel translation relative to vehicle, along the vehicle Z-down*X*-,*Y*-, and*Z*-axes, respectively.

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

For a one-axle trailer:

$$Translation=\left[\begin{array}{ccc}{X}_{v}& {Y}_{v}& {Z}_{v}\\ {X}_{L}& {Y}_{L}& {Z}_{L}\\ {X}_{R}& {Y}_{R}& {Z}_{R}\end{array}\right]$$

Translation | Array Element | Translation Axis |
---|---|---|

Vehicle,
| `Translation(1,1)` | Inertial vehicle Z-down X-axis |

Vehicle,
| `Translation(1,2)` | Inertial vehicle Z-down Y-axis |

Vehicle,
| `Translation(1,3)` | Inertial vehicle Z-down Z-axis |

Left wheel,
| `Translation(2,1)` | Vehicle Z-down X-axis |

Left wheel,
| `Translation(2,2)` | Vehicle Z-down Y-axis |

Left wheel,
| `Translation(2,3)` | Vehicle Z-down Z-axis |

Right wheel,
| `Translation(3,1)` | Vehicle Z-down X-axis |

Right wheel,
| `Translation(3,2)` | Vehicle Z-down Y-axis |

Right wheel,
| `Translation(3,3)` | Vehicle Z-down Z-axis |

For a two-axle trailer:

$$Translation=\left[\begin{array}{ccc}{X}_{v}& {Y}_{v}& {Z}_{v}\\ {X}_{FL}& {Y}_{FL}& {Z}_{FL}\\ {X}_{FR}& {Y}_{FR}& {Z}_{FR}\\ {X}_{RL}& {Y}_{RL}& {Z}_{RL}\\ {X}_{RR}& {Y}_{RR}& {Z}_{RR}\end{array}\right]$$

Translation | Array Element | Translation Axis |
---|---|---|

Vehicle,
| `Translation(1,1)` | Inertial vehicle Z-down X-axis |

Vehicle,
| `Translation(1,2)` | Inertial vehicle Z-down Y-axis |

Vehicle,
| `Translation(1,3)` | Inertial vehicle Z-down Z-axis |

Front left wheel,
| `Translation(2,1)` | Vehicle Z-down X-axis |

Front left wheel,
| `Translation(2,2)` | Vehicle Z-down Y-axis |

Front left wheel,
| `Translation(2,3)` | Vehicle Z-down Z-axis |

Front right wheel,
| `Translation(3,1)` | Vehicle Z-down X-axis |

Front right wheel,
| `Translation(3,2)` | Vehicle Z-down Y-axis |

Front right wheel,
| `Translation(3,3)` | Vehicle Z-down Z-axis |

Rear left wheel,
| `Translation(4,1)` | Vehicle Z-down X-axis |

Rear left wheel,
| `Translation(4,2)` | Vehicle Z-down Y-axis |

Rear left wheel,
| `Translation(4,3)` | Vehicle Z-down Z-axis |

Rear right wheel,
| `Translation(5,1)` | Vehicle Z-down X-axis |

Rear right wheel,
| `Translation(5,2)` | Vehicle Z-down Y-axis |

Rear right wheel,
| `Translation(5,3)` | Vehicle Z-down Z-axis |

For a three-axle trailer:

$$Translation=\left[\begin{array}{ccc}{X}_{v}& {Y}_{v}& {Z}_{v}\\ {X}_{FL}& {Y}_{FL}& {Z}_{FL}\\ {X}_{FR}& {Y}_{FR}& {Z}_{FR}\\ {X}_{ML}& {Y}_{ML}& {Z}_{ML}\\ {X}_{MR}& {Y}_{MR}& {Z}_{MR}\\ {X}_{RL}& {Y}_{RL}& {Z}_{RL}\\ {X}_{RR}& {Y}_{RR}& {Z}_{RR}\end{array}\right]$$

Translation | Array Element | Translation Axis |
---|---|---|

Vehicle,
| `Translation(1,1)` | Inertial vehicle Z-down X-axis |

Vehicle,
| `Translation(1,2)` | Inertial vehicle Z-down Y-axis |

Vehicle,
| `Translation(1,3)` | Inertial vehicle Z-down Z-axis |

Front left wheel,
| `Translation(2,1)` | Vehicle Z-down X-axis |

Front left wheel,
| `Translation(2,2)` | Vehicle Z-down Y-axis |

Front left wheel,
| `Translation(2,3)` | Vehicle Z-down Z-axis |

Front right wheel,
| `Translation(3,1)` | Vehicle Z-down X-axis |

Front right wheel,
| `Translation(3,2)` | Vehicle Z-down Y-axis |

Front right wheel,
| `Translation(3,3)` | Vehicle Z-down Z-axis |

Middle left wheel, | `Translation(4,1)` | Vehicle Z-down X-axis |

Middle left wheel,
| `Translation(4,2)` | Vehicle Z-down Y-axis |

Middle left wheel,
| `Translation(4,3)` | Vehicle Z-down Z-axis |

Middle right wheel,
| `Translation(5,1)` | Vehicle Z-down X-axis |

Middle right wheel,
| `Translation(5,2)` | Vehicle Z-down Y-axis |

Middle right wheel,
| `Translation(5,3)` | Vehicle Z-down Z-axis |

Rear left wheel,
| `Translation(6,1)` | Vehicle Z-down X-axis |

Rear left wheel,
| `Translation(6,2)` | Vehicle Z-down Y-axis |

Rear left wheel,
| `Translation(6,3)` | Vehicle Z-down Z-axis |

Rear right wheel,
| `Translation(7,1)` | Vehicle Z-down X-axis |

Rear right wheel,
| `Translation(7,2)` | Vehicle Z-down Y-axis |

Rear right wheel,
| `Translation(7,3)` | Vehicle Z-down Z-axis |

**Initial array values to rotate vehicle per part, Rotation** — Vehicle initial rotation

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

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

The array dimensions are `5`

-by-`3`

for a two-axle
trailer and `7`

-by-`3`

for a three-axle trailer, where:

`Rotation(1,1)`

,`Rotation(1,2)`

, and`Rotation(1,3)`

— Initial vehicle rotation about the inertial vehicle Z-down coordinate system*X*-,*Y*-, and*Z*-axes, respectively.`Rotation(...,1)`

,`Rotation(...,2)`

, and`Rotation(...,3)`

— Initial wheel rotation relative to the vehicle, about the vehicle Z-down*X*-,*Y*-, and*Z*-axes, respectively.

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

For a one-axle trailer:

$$Rotation=\left[\begin{array}{ccc}Rol{l}_{v}& Pitc{h}_{v}& Ya{w}_{v}\\ Rol{l}_{L}& Pitc{h}_{L}& Ya{w}_{L}\\ Rol{l}_{R}& Pitc{h}_{R}& Ya{w}_{R}\end{array}\right]$$

Rotation | Array Element | Rotation Axis |
---|---|---|

Vehicle,
| `Rotation(1,1)` | Inertial vehicle Z-down X-axis |

Vehicle,
| `Rotation(1,2)` | Inertial vehicle Z-down Y-axis |

Vehicle,
| `Rotation(1,3)` | Inertial vehicle Z-down Z-axis |

Left wheel,
| `Rotation(2,1)` | Vehicle Z-down X-axis |

Left wheel,
| `Rotation(2,2)` | Vehicle Z-down Y-axis |

Left wheel,
| `Rotation(2,3)` | Vehicle Z-down Z-axis |

Right wheel,
| `Rotation(3,1)` | Vehicle Z-down X-axis |

Right wheel,
| `Rotation(3,2)` | Vehicle Z-down Y-axis |

Right wheel,
| `Rotation(3,3)` | Vehicle Z-down Z-axis |

For a two-axle trailer:

$$Rotation=\left[\begin{array}{ccc}Rol{l}_{v}& Pitc{h}_{v}& Ya{w}_{v}\\ Rol{l}_{FL}& Pitc{h}_{FL}& Ya{w}_{FL}\\ Rol{l}_{FR}& Pitc{h}_{FR}& Ya{w}_{FR}\\ Rol{l}_{RL}& Pitc{h}_{RL}& Ya{w}_{RL}\\ Rol{l}_{RR}& Pitc{h}_{RR}& Ya{w}_{RR}\end{array}\right]$$

Rotation | Array Element | Rotation Axis |
---|---|---|

Vehicle,
| `Rotation(1,1)` | Inertial vehicle Z-down X-axis |

Vehicle,
| `Rotation(1,2)` | Inertial vehicle Z-down Y-axis |

Vehicle,
| `Rotation(1,3)` | Inertial vehicle Z-down Z-axis |

Front left wheel,
| `Rotation(2,1)` | Vehicle Z-down X-axis |

Front left wheel,
| `Rotation(2,2)` | Vehicle Z-down Y-axis |

Front left wheel,
| `Rotation(2,3)` | Vehicle Z-down Z-axis |

Front right wheel,
| `Rotation(3,1)` | Vehicle Z-down X-axis |

Front right wheel,
| `Rotation(3,2)` | Vehicle Z-down Y-axis |

Front right wheel,
| `Rotation(3,3)` | Vehicle Z-down Z-axis |

Rear left wheel,
| `Rotation(4,1)` | Vehicle Z-down X-axis |

Rear left wheel,
| `Rotation(4,2)` | Vehicle Z-down Y-axis |

Rear left wheel,
| `Rotation(4,3)` | Vehicle Z-down Z-axis |

Rear right wheel,
| `Rotation(5,1)` | Vehicle Z-down X-axis |

Rear right wheel,
| `Rotation(5,2)` | Vehicle Z-down Y-axis |

Rear right wheel,
| `Rotation(5,3)` | Vehicle Z-down Z-axis |

For a three-axle trailer:

$$Rotation=\left[\begin{array}{ccc}Rol{l}_{v}& Pitc{h}_{v}& Ya{w}_{v}\\ Rol{l}_{FL}& Pitc{h}_{FL}& Ya{w}_{FL}\\ Rol{l}_{FR}& Pitc{h}_{FR}& Ya{w}_{FR}\\ Rol{l}_{ML}& Pitc{h}_{ML}& Ya{w}_{ML}\\ Rol{l}_{MR}& Pitc{h}_{MR}& Ya{w}_{MR}\\ Rol{l}_{RL}& Pitc{h}_{RL}& Ya{w}_{RL}\\ Rol{l}_{RR}& Pitc{h}_{RR}& Ya{w}_{RR}\end{array}\right]$$

Rotation | Array Element | Rotation Axis |
---|---|---|

Vehicle,
| `Rotation(1,1)` | Inertial vehicle Z-down X-axis |

Vehicle,
| `Rotation(1,2)` | Inertial vehicle Z-down Y-axis |

Vehicle,
| `Rotation(1,3)` | Inertial vehicle Z-down Z-axis |

Front left wheel,
| `Rotation(2,1)` | Vehicle Z-down X-axis |

Front left wheel,
| `Rotation(2,2)` | Vehicle Z-down Y-axis |

Front left wheel,
| `Rotation(2,3)` | Vehicle Z-down Z-axis |

Front right wheel,
| `Rotation(3,1)` | Vehicle Z-down X-axis |

Front right wheel,
| `Rotation(3,2)` | Vehicle Z-down Y-axis |

Front right wheel,
| `Rotation(3,3)` | Vehicle Z-down Z-axis |

Middle left wheel,
| `Rotation(4,1)` | Vehicle Z-down X-axis |

Middle left wheel,
| `Rotation(4,2)` | Vehicle Z-down Y-axis |

Middle left wheel,
| `Rotation(4,3)` | Vehicle Z-down Z-axis |

Middle right wheel,
| `Rotation(5,1)` | Vehicle Z-down X-axis |

Middle right wheel,
| `Rotation(5,2)` | Vehicle Z-down Y-axis |

Middle right wheel,
| `Rotation(5,3)` | Vehicle Z-down Z-axis |

Rear left wheel,
| `Rotation(6,1)` | Vehicle Z-down X-axis |

Rear left wheel,
| `Rotation(6,2)` | Vehicle Z-down Y-axis |

Rear left wheel,
| `Rotation(6,3)` | Vehicle Z-down Z-axis |

Rear right wheel,
| `Rotation(7,1)` | Vehicle Z-down X-axis |

Rear right wheel,
| `Rotation(7,2)` | Vehicle Z-down Y-axis |

Rear right wheel,
| `Rotation(7,3)` | Vehicle Z-down Z-axis |

**Sample time** — Sample time

`-1`

(default) | `scalar`

Sample time, *T _{s}*. The
graphics frame rate is the inverse of the sample
time.

## References

[1] Vehicle Dynamics Standards
Committee. *Vehicle Dynamics Terminology*. SAE J670. Warrendale, PA:
Society of Automotive Engineers, 2008.

[2] Technical Committee.
*Road vehicles — Vehicle dynamics and road-holding ability —
Vocabulary*. ISO 8855:2011. Geneva, Switzerland: International Organization for
Standardization, 2011.

## Version History

**Introduced in R2020b**

### R2024a: Requires Simulink 3D Animation

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

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