正在解析模型...
TADynamics.Vehicle.Wheels(3): 警告(2401): package 只能继承自 package,class, 但是 Wheels 继承自 model TADynamics.Icons.Wheels.
TADynamics.Vehicle.Wheels.Template.Internal.PositionCal(2): 警告(3308): inner 组件应当是相应 outer 组件 "road" 的子类型.
组件上下文："body3DOF1_1.fl.positionCal"
TADynamics.Vehicle.Wheels.Template.Internal.PositionCal(2): 警告(3308): inner 组件应当是相应 outer 组件 "road" 的子类型.
组件上下文："body3DOF1_1.rl.positionCal"
TADynamics.Vehicle.Wheels.Template.Internal.PositionCal(2): 警告(3308): inner 组件应当是相应 outer 组件 "road" 的子类型.
组件上下文："body3DOF1_1.fr.positionCal"
TADynamics.Vehicle.Wheels.Template.Internal.PositionCal(2): 警告(3308): inner 组件应当是相应 outer 组件 "road" 的子类型.
组件上下文："body3DOF1_1.rr.positionCal"
正在实例化模型...
以下连接器变量未被使用, 被移除:
signalBus.driverBus.accPedal
signalBus.driverBus.brakePedal
signalBus.driverBus.SWAngle
signalBus.vehicleStatus.v_vehicle
signalBus.vehicleStatus.DriveDistance
signalBus.vehicleStatus.a_vehicle
signalBus.vehicleStatus.r_vehicle
signalBus.driverBus.SWRelease
signalBus.driverBus.EPB_on
signalBus.vehicleStatus.BrakeDistance
signalBus.brakeBus.brakeBus.esc_factor
signalBus.brakeBus.abs_active
signalBus.brakeBus.esc_active
signalBus.brakeBus.brakePedal_travel
signalBus.drivelineBus.front_k
signalBus.drivelineBus.rear_k
signalBus.drivelineBus.tau_wheelnum
signalBus.powertrainBus.emotorBus.T_motor
signalBus.powertrainBus.emotorBus.i
signalBus.powertrainBus.emotorBus.tau_desired
signalBus.powertrainBus.emotorBus.P_drive
signalBus.brakeBus.brakeBus.tau_brake
signalBus.vehicleStatus.phi_vehicle
signalBus.vehicleStatus.w_vehicle
signalBus.vehicleStatus.beta
signalBus.vehicleStatus.w_beta
signalBus.vehicleStatus.vy_ref
signalBus.vehicleStatus.wz_ref
signalBus.brakeBus.brakeBus.abs_factor
signalBus.brakeBus.brakePedal_force
signalBus.powertrainBus.emotorBus.v
signalBus.powertrainBus.emotorBus.w_drive
signalBus.steeringBus.phi_SW
signalBus.steeringBus.tau_SW
signalBus.powertrainBus.emotorBus.tau_drive
signalBus.steeringBus.s.

模型有 0 个错误和 5 个警告.
模型有 12007 个变量和 12005 个方程.

检查模型用时: 00:00:01.572025.

---- 检查完毕 ----
---- 翻译模型: UGV.Example.Race2 ----

正在分析模型...

错误(6141): 模型中 Real 类型缺少方程, 如下变量缺少 2 个方程:
distanceSensor1.vec_p[2]
distanceSensor1.Fdist
distanceSensor1.e_f
distanceSensor1.proj_f[1]
distanceSensor1.proj_f[2]
distanceSensor1.front_sensor[1]
body3DOF1_1.Fsensor[1]
body3DOF1_1.absolutePosition.r[1]
body3DOF1_1.absolutePosition.position.r[1]
body3DOF1_1.absolutePosition.position.frame_a.r_0[1]
body3DOF1_1.absolutePosition.frame_a.r_0[1]
body3DOF1_1.fixedTranslation2.frame_b.r_0[1]
body3DOF1_1.fixedTranslation2.frame_a.r_0[1]
body3DOF1_1.fixedTranslation.frame_b.r_0[1]
body3DOF1_1.fixedTranslation.frame_a.r_0[1]
body3DOF1_1.body.frame_a.r_0[1]
body3DOF1_1.body.r_0[1]
body3DOF1_1.body.v_0[1]
body3DOF1_1.body.a_0[1]
body3DOF1_1.body.frame_a.f[1]
body3DOF1_1.body.frame_a.t[2]
body3DOF1_1.prismatic2.frame_b.t[2]
body3DOF1_1.prismatic2.frame_a.t[2]
body3DOF1_1.prismatic1.frame_b.t[2]
body3DOF1_1.prismatic1.frame_a.t[2]
body3DOF1_1.prismatic.frame_b.t[2]
body3DOF1_1.prismatic.frame_a.t[2]
body3DOF1_1.revolute.frame_b.t[2]
body3DOF1_1.revolute.frame_a.t[1]
body3DOF1_1.fixed.frame_b.t[1]
body3DOF1_1.revolute.frame_a.t[2]
body3DOF1_1.fixed.frame_b.t[2]
body3DOF1_1.revolute.frame_a.t[3]
body3DOF1_1.fixed.frame_b.t[3]
body3DOF1_1.body.frame_a.t[3]
body3DOF1_1.fixedTranslation.frame_a.t[3]
body3DOF1_1.fixedTranslation.frame_b.t[3]
body3DOF1_1.fix2fr.frame_b.t[3]
body3DOF1_1.fix2fr.frame_b.f[1]
body3DOF1_1.fix2fr.frame_a.f[1]
body3DOF1_1.revolute2.frame_b.f[1]
body3DOF1_1.revolute2.frame_a.f[2]
body3DOF1_1.fr.wheel_carrier.f[2]
body3DOF1_1.fr.forceApplication1.wheel_carrier.f[2]
body3DOF1_1.fr.forceApplication1.F_test1[1]
body3DOF1_1.fr.forceApplication1.F_test1[2]
body3DOF1_1.fr.forceApplication1.F_test1[3]
body3DOF1_1.fr.forceApplication1.F_test2[1]
body3DOF1_1.fr.forceApplication1.F_test2[2]
body3DOF1_1.fr.forceApplication1.F_test2[3]
body3DOF1_1.fr.wheelBus.F_center[2]
body3DOF1_1.fl.wheelBus_[2].F_center[2]
signalBus.wheelBus[2].F_center[2]
body3DOF1_1.rl.wheelBus_[2].F_center[2]
body3DOF1_1.fr.wheelBus_[2].F_center[2]
body3DOF1_1.rr.wheelBus_[2].F_center[2]
body3DOF1_1.fr.forceApplication1.tyre_center_force.frame_b.f[2]
body3DOF1_1.fr.forceApplication1.tyre_center_force.basicWorldForce.frame_b.f[2]
body3DOF1_1.fr.forceApplication1.tyre_center_force.basicWorldForce.frame_b.R.T[2,1]
body3DOF1_1.fr.forceApplication1.tyre_center_force.frame_b.R.T[2,1]
body3DOF1_1.fr.forceApplication1.wheel_carrier.R.T[2,1]
body3DOF1_1.fr.mass1.wheel_carrier.R.T[2,1]
body3DOF1_1.fr.mass1.spindle.frame_a.R.T[2,1]
body3DOF1_1.fr.mass1.spindle.frame_b.R.T[1,1]
body3DOF1_1.fr.mass1.wheel_body.frame_a.R.T[1,1]
body3DOF1_1.fr.mass1.wheel_body.frame_a.f[1]
body3DOF1_1.fr.mass1.wheel_body.z_a[1]
body3DOF1_1.fr.mass1.wheel_body.w_a[1]
body3DOF1_1.fr.mass1.wheel_body.frame_a.R.w[1]
body3DOF1_1.fr.mass1.spindle.frame_b.R.w[1]
body3DOF1_1.fr.mass1.visual1.wheel_carrier.R.w[1]
body3DOF1_1.fr.mass1.visual1.fixedRotation.frame_a.R.w[1]
body3DOF1_1.fr.mass1.visual1.fixedRotation.frame_b.R.w[1]
body3DOF1_1.fr.mass1.visual1.fixedShape.frame_a.R.w[1]
body3DOF1_1.fr.mass1.visual1.fixedRotation.frame_b.R.w[2]
body3DOF1_1.fr.mass1.visual1.fixedShape.frame_a.R.w[2]
body3DOF1_1.fr.mass1.visual1.fixedRotation.frame_b.R.w[3]
body3DOF1_1.fr.mass1.visual1.fixedShape.frame_a.R.w[3]
body3DOF1_1.fr.mass1.spindle.R_rel.T[1,1]
body3DOF1_1.fr.mass1.spindle.phi
body3DOF1_1.fr.mass1.spindle.angle
body3DOF1_1.fr.mass1.spindle.w
body3DOF1_1.fr.mass1.w
body3DOF1_1.fr.w_hub
body3DOF1_1.fr.forceFormula.w_hub
body3DOF1_1.fr.velocity1.w_hub
body3DOF1_1.fr.w_spin
body3DOF1_1.fr.forceFormula.w
body3DOF1_1.fr.forceFormula.Vr
body3DOF1_1.fr.forceFormula.Vsx
body3DOF1_1.fr.forceFormula.kappa
body3DOF1_1.fr.wheelBus.kappa
body3DOF1_1.fl.wheelBus_[2].kappa
signalBus.wheelBus[2].kappa
body3DOF1_1.rl.wheelBus_[2].kappa
body3DOF1_1.fr.wheelBus_[2].kappa
body3DOF1_1.rr.wheelBus_[2].kappa
body3DOF1_1.fr.forceFormula.tyreForces.kappa
body3DOF1_1.fr.forceFormula.tyreForces.kappa_x
body3DOF1_1.fr.forceFormula.tyreForces.Fx0
body3DOF1_1.fr.forceFormula.tyreForces.D_xa
body3DOF1_1.fr.forceFormula.tyreForces.Fx
body3DOF1_1.fr.forceFormula.tyreForces.Fx_out
body3DOF1_1.fr.forceFormula.Fx
body3DOF1_1.fr.wheelBus.Fx
body3DOF1_1.fl.wheelBus_[2].Fx
signalBus.wheelBus[2].Fx
body3DOF1_1.rl.wheelBus_[2].Fx
body3DOF1_1.fr.wheelBus_[2].Fx
body3DOF1_1.rr.wheelBus_[2].Fx
body3DOF1_1.fr.wheelBus.F_contact[1]
body3DOF1_1.fl.wheelBus_[2].F_contact[1]
signalBus.wheelBus[2].F_contact[1]
body3DOF1_1.rl.wheelBus_[2].F_contact[1]
body3DOF1_1.fr.wheelBus_[2].F_contact[1]
body3DOF1_1.rr.wheelBus_[2].F_contact[1]
body3DOF1_1.fr.forceApplication1.Fx
body3DOF1_1.fr.forceApplication1.F_tmp1[1]
body3DOF1_1.fr.forceApplication1.F_tmp1[2]
body3DOF1_1.fr.forceApplication1.F_tmp1[3]
body3DOF1_1.fr.forceApplication1.F_R[1]
body3DOF1_1.fr.forceApplication1.M_spindle[1]
body3DOF1_1.fr.forceApplication1.tyre_center_torque.torque[1]
body3DOF1_1.fr.forceApplication1.tyre_center_torque.basicWorldTorque.torque[1]
body3DOF1_1.fr.forceApplication1.tyre_center_torque.basicWorldTorque.frame_b.t[1]
body3DOF1_1.fr.forceApplication1.tyre_center_torque.frame_b.t[1]
body3DOF1_1.fr.forceApplication1.wheel_carrier.t[1]
body3DOF1_1.fr.wheelBus.M_center[1]
body3DOF1_1.fl.wheelBus_[2].M_center[1]
signalBus.wheelBus[2].M_center[1]
body3DOF1_1.rl.wheelBus_[2].M_center[1]
body3DOF1_1.fr.wheelBus_[2].M_center[1]
body3DOF1_1.rr.wheelBus_[2].M_center[1]
body3DOF1_1.fr.wheel_carrier.t[1]
body3DOF1_1.revolute2.frame_a.t[1]
body3DOF1_1.revolute2.frame_b.t[1]
body3DOF1_1.fix2fr.frame_a.t[1]
body3DOF1_1.fix2fr.frame_b.t[1]
body3DOF1_1.fixedTranslation.frame_b.t[1]
body3DOF1_1.fixedTranslation.frame_a.t[1]
body3DOF1_1.prismatic2.frame_b.t[1]
body3DOF1_1.prismatic2.frame_a.t[1]
body3DOF1_1.prismatic1.frame_b.t[1]
body3DOF1_1.prismatic1.frame_a.t[1]
body3DOF1_1.prismatic.frame_b.t[1]
body3DOF1_1.prismatic.frame_a.t[1]
body3DOF1_1.revolute.frame_b.t[1]
body3DOF1_1.revolute2.frame_b.t[2]
body3DOF1_1.fix2fr.frame_a.t[2]
body3DOF1_1.fix2fr.frame_b.t[2]
body3DOF1_1.fixedTranslation.frame_b.t[2]
body3DOF1_1.fixedTranslation.frame_a.t[2]
body3DOF1_1.revolute2.frame_b.t[3]
body3DOF1_1.revolute2.tau
body3DOF1_1.revolute2.internalAxis.tau
body3DOF1_1.revolute2.internalAxis.flange.tau
body3DOF1_1.revolute2.axis.tau
body3DOF1_1.position1.flange.tau
body3DOF1_1.fix2fr.frame_a.t[3]
body3DOF1_1.fr.forceApplication1.M_spindle[2]
body3DOF1_1.fr.forceApplication1.Tyre_y_torque.tau
body3DOF1_1.fr.forceApplication1.Tyre_y_torque.flange.tau
body3DOF1_1.fr.forceApplication1.flange.tau
body3DOF1_1.fr.mass1.axis.tau
body3DOF1_1.fr.mass1.spindle.axis.tau
body3DOF1_1.fr.mass1.spindle.internalAxis.flange.tau
body3DOF1_1.fr.mass1.spindle.internalAxis.tau
body3DOF1_1.fr.mass1.spindle.tau
body3DOF1_1.fr.mass1.spindle.frame_b.t[2]
body3DOF1_1.fr.mass1.wheel_body.frame_a.t[2]
body3DOF1_1.fr.mass1.spindle.frame_a.t[1]
body3DOF1_1.fr.mass1.wheel_carrier.t[1]
body3DOF1_1.fr.mass1.spindle.frame_a.t[2]
body3DOF1_1.fr.mass1.wheel_carrier.t[2]
body3DOF1_1.fr.wheel_carrier.t[2]
body3DOF1_1.revolute2.frame_a.t[2]
body3DOF1_1.fr.mass1.spindle.frame_a.t[3]
body3DOF1_1.fr.mass1.wheel_carrier.t[3]
body3DOF1_1.fr.wheel_carrier.t[3]
body3DOF1_1.revolute2.frame_a.t[3]
body3DOF1_1.fr.forceApplication1.tyre_center_torque.torque[2]
body3DOF1_1.fr.forceApplication1.tyre_center_torque.basicWorldTorque.torque[2]
body3DOF1_1.fr.forceApplication1.tyre_center_torque.basicWorldTorque.frame_b.t[2]
body3DOF1_1.fr.forceApplication1.tyre_center_torque.frame_b.t[2]
body3DOF1_1.fr.forceApplication1.wheel_carrier.t[2]
body3DOF1_1.fr.wheelBus.M_center[2]
body3DOF1_1.fl.wheelBus_[2].M_center[2]
signalBus.wheelBus[2].M_center[2]
body3DOF1_1.rl.wheelBus_[2].M_center[2]
body3DOF1_1.fr.wheelBus_[2].M_center[2]
body3DOF1_1.rr.wheelBus_[2].M_center[2]
body3DOF1_1.fr.forceApplication1.M_spindle[3]
body3DOF1_1.fr.forceApplication1.tyre_center_torque.torque[3]
body3DOF1_1.fr.forceApplication1.tyre_center_torque.basicWorldTorque.torque[3]
body3DOF1_1.fr.forceApplication1.tyre_center_torque.basicWorldTorque.frame_b.t[3]
body3DOF1_1.fr.forceApplication1.tyre_center_torque.frame_b.t[3]
body3DOF1_1.fr.forceApplication1.wheel_carrier.t[3]