Simulation 3D Motorcycle

Implement motorcycle in 3D environment

Library:
Vehicle Dynamics Blockset / Vehicle Scenarios / Sim3D / Sim3D Vehicle / Components

Description

TheSimulation 3D Motorcycleblock implements a motorcycle with two wheels in the 3D simulation environment.

To use this block, ensure that theSimulation 3D Scene Configurationblock is in your model. If you set theSample timeparameter of this block to-1, the block uses the sample time specified in theSimulation 3D Scene Configurationblock.

The block input uses the vehicle Z-downright-handed(RH)Cartesiancoordinate system defined in SAE J670¹. The coordinate system is inertial and initially aligned with the vehicle geometric center:

X-axis — Along vehicle longitudinal axis, points forward
Y-axis — Along vehicle lateral axis, points to the right
Z-axis — Points downward

Tip

Verify that theSimulation 3D Motorcycleblock executes before theSimulation 3D Scene Configurationblock. That way,Simulation 3D Motorcycleprepares the signal data before the Unreal Engine^®3D visualization environment receives it. To check the block execution order, right-click each block and selectProperties. On theGeneraltab, confirm thesePrioritysettings:

Simulation 3D Scene Configuration—0
Simulation 3D Motorcycle—-1

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

Ports

Input

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`Translation`— Motorcycle translation
`5`-by-`3`array

Motorcycle and component translation, in m. Array dimensions are5-by-3.

Translation(1,1),Translation(1,2), and翻译(1、3)— Motorcycle translation along the inertial vehicle Z-downX-,Y-, andZ- axes, respectively.
Translation(...,1),Translation(...,2), andTranslation(...,3)— Motorcycle component translation relative to vehicle, along the vehicle Z-downX-,Y-, andZ- axes, respectively.

“社会党国际”gnal contains translation information according to the locations.

$T r a n s l a t i o n = [\begin{matrix} X_{v} & Y_{v} & Z_{v} \\ X_{H} & Y_{H} & Z_{H} \\ X_{S A} & Y_{S A} & Z_{S A} \\ X_{F} & Y_{F} & Z_{F} \\ X_{R} & Y_{R} & Z_{R} \end{matrix}]$

Translation	Array Element	Translation Axis
Motorcycle,X_v	`Translation(1,1)`	Inertial vehicle Z-downX-axis
Motorcycle,Y_v	`Translation(1,2)`	Inertial vehicle Z-downY-axis
Motorcycle,Z_v	`翻译(1、3)`	Inertial vehicle Z-downZ-axis
Handlebars,X_H	`Translation(2,1)`	Vehicle Z-downX-axis
Handlebars,Y_H	`Translation(2,2)`	Vehicle Z-downY-axis
Handlebars,Z_H	`Translation(2,3)`	Vehicle Z-downZ-axis
Swing arm,X_SA	`Translation(3,1)`	Vehicle Z-downX-axis
Swing arm,Y_SA	`Translation(3,2)`	Vehicle Z-downY-axis
Swing arm,Z_SA	`Translation(3,3)`	Vehicle Z-downZ-axis
Front wheel,X_F	`Translation(4,1)`	Vehicle Z-downX-axis
Front wheel,Y_F	`Translation(4,2)`	Vehicle Z-downY-axis
Front wheel,Z_F	`Translation(4,3)`	Vehicle Z-downZ-axis
Rear wheel,X_R	`Translation(5,1)`	Vehicle Z-downX-axis
Rear wheel,Y_R	`Translation(5,2)`	Vehicle Z-downY-axis
Rear wheel,Z_R	`Translation(5,3)`	Vehicle Z-downZ-axis

`Rotation`— Motorcycle rotation
`5`-by-`3`array

Vehicle and component rotation, in rad. Array dimensions are5-by-3.

Rotation(1,1),Rotation(1,2), andRotation(1,3)— Motorcycle rotation about the inertial vehicle Z-downX-,Y-, andZ- axes, respectively.
Rotation(...,1),Rotation(...,2), andRotation(...,3)— Motorcycle component rotation relative to vehicle, about the vehicle Z-downX-,Y-, andZ- axes, respectively.

“社会党国际”gnal contains rotation information according to the locations.

$R o t a t i o n = [\begin{matrix} R o l l_{v} & P i t c h_{v} & Y a w_{v} \\ R o l l_{H} & P i t c h_{H} & Y a w_{H} \\ R o l l_{S A} & P i t c h_{S A} & Y a w_{S A} \\ R o l l_{F} & P i t c h_{F} & Y a w_{F} \\ R o l l_{R} & P i t c h_{R} & Y a w_{R} \end{matrix}]$

Rotation	Array Element	Rotation Axis
Vehicle,Roll_v	`Rotation(1,1)`	Inertial vehicle Z-downX-axis
Vehicle,Pitch_v	`Rotation(1,2)`	Inertial vehicle Z-downY-axis
Vehicle,Yaw_v	`Rotation(1,3)`	Inertial vehicle Z-downZ-axis
Handlebar,Roll_H	`Rotation(2,1)`	Vehicle Z-downX-axis
Handlebar,Pitch_H	`Rotation(2,2)`	Vehicle Z-downY-axis
Handlebar,Yaw_H	`Rotation(2,3)`	Vehicle Z-downZ-axis
Swing arm,Roll_SA	`Rotation(3,1)`	Vehicle Z-downX-axis
Swing arm,Pitch_SA	`Rotation(3,2)`	Vehicle Z-downY-axis
Swing arm,Yaw_SA	`Rotation(3,3)`	Vehicle Z-downZ-axis
Front wheel,Roll_F	`Rotation(4,1)`	Vehicle Z-downX-axis
Front wheel,Pitch_F	`Rotation(4,2)`	Vehicle Z-downY-axis
Front wheel,Yaw_F	`Rotation(4,3)`	Vehicle Z-downZ-axis
Rear wheel,Roll_R	`Rotation(5,1)`	Vehicle Z-downX-axis
Rear wheel,Pitch_R	`Rotation(5,2)`	Vehicle Z-downY-axis
Rear wheel,Yaw_R	`Rotation(5,3)`	Vehicle Z-downZ-axis

`Light controls`——汽车灯打开或关闭
1-by-5 vector

Light controls input signal, specified as a 1-by-5 Boolean vector. Each element of the vector turns a specific vehicle light on or off, as indicated in this table. A value of 1 turns the light on; a value of 0 turns the light off

Vector Element	Vehicle Light
(1,1)	Headlight high beam
(1,2)	Headlight low beam
(1,3)	Brake
(1,4)	Left signal
(1,5)	Right signal

Dependencies

To create this port, on theLight Controlstab, selectEnable light controls.

Data Types:Boolean

Parameters

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Vehicle Parameters

`Type`— Type
`Sports bike`(default) |`Motor bike`|`Scooter`

Use theTypeparameter to specify the motorcycle type. This table provides links to the motorcycle dimensions.

Vehicle TypeSetting	Vehicle Dimensions
`Sports bike`	Sports Bike
`Motor bike`	Motor Bike
`Scooter`	Scooter

`Color`— Color of vehicle
`Red`(default) |`Orange`|`Yellow`|`Green`|`Blue`|`Black`|`White`|`Silver`

Select the color of the vehicle.

`Name`— Name of motorcycle
`SimulinkVehicle1`(default) | character vector

Name of motorcycle. By default, when you use the block in your model, the block sets theNameparameter toSimulinkVehicleX. The value ofXdepends on the number of 3D simulation blocks that you have in your model.

`Sample time`— Sample time
`-1`(default) |`标量`

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

Light Controls

`Enable light controls, VehLightsControl`— Control vehicle lights
`off`(default) |`on`

Select whether to control the vehicle headlights. Use the enabled parameters to set the light parameters, including headlight intensity.

Dependencies

Selecting this parameter:

Creates the input portLight controls

Enables these light parameters.

Lights	Light Parameters
Headlights	Headlight color High beam intensity Low beam intensity High beam cone half angle Low beam cone half angle Left headlight beam orientation Right headlight beam orientation
Brake lights	Brake light intensity
Turn signal lights	Turn signal light intensity Period Pulse width

Lights

Light Parameters

Headlights

Headlight color
High beam intensity
Low beam intensity
High beam cone half angle
Low beam cone half angle
Left headlight beam orientation
Right headlight beam orientation

Brake lights

Brake light intensity

Turn signal lights

Turn signal light intensity
Period
Pulse width

Headlights