Is there a way to use the Vehicle 6DOF block with steering angle and wheel speed as inputs?

The 3 DOF Vehicle Body Block supports steering angle and wheel speed as inputs, but the 6 DOF Vehicle Body Block only seems to support suspension and external forces and moments as inputs.

Is there a way to use the 6 DOF block with steering angle and wheel speed control inputs, and perhaps an additional environment input? I know the Constant Radius Reference Application uses the 6DOF block under the hood, but this is a huge step up in complexity from the 2-dimensional 3DOF block. Looking to make the jump from 2-D to 3-D, but preferably still using typical control inputs.

Answer 1

[Mike Sasena]

Hi Daniel,

Yes, the 6DOF models we use are typically connected to steering and suspension systems in order to induce the proper forces and moments on the chassis. In both the 3 DOF and 6 DOF cases, steering commands are sent through a steering system to convert steering angle command to wheel angle. The main difference is that you're changing whether the wheel angle inputs are sent through a suspension system vs. sent directly to the chassis block. All that work has already been done for you in the reference application, allowing you to choose the 3 DOF or 6 DOF, depending on your use case.

Can you help me understand why the pre-built model that includes all those effects is not what you want?