Upgrade to R2026a.

.github/workflows/ci-linux.yml

@@ -15,7 +15,7 @@ name: CI using MATLAB on Linux
 
 on:
   push:
-    branches: [ R2025b, R2025b-devel ]
+    branches: [ R2026a, R2026a-devel ]
     paths-ignore:
       - 'docs/**'
       - '**.md'
@@ -25,7 +25,7 @@ on:
       - '**.xml'
 
   pull_request:
-    branches: [ R2025b, R2025b-devel ]
+    branches: [ R2026a, R2026a-devel ]
     paths-ignore:
       - 'docs/**'
       - '**.md'
@@ -48,8 +48,8 @@ jobs:
     #   https://docs.github.com/en/actions/writing-workflows/choosing-what-your-workflow-does/running-variations-of-jobs-in-a-workflow
     strategy:
       matrix:
-        matlab_version: [R2025b]
-        #matlab_version: [R2025b, R2026a]
+        matlab_version: [R2026a]
+        #matlab_version: [R2026a, R2026b]
 
     name: Test in ${{ matrix.matlab_version }} on Linux
 

.github/workflows/ci-windows.yml

@@ -15,7 +15,7 @@ name: CI using MATLAB on Windows
 
 on:
   push:
-    branches: [ R2025b, R2025b-devel ]
+    branches: [ R2026a, R2026a-devel ]
     paths-ignore:
       - 'docs/**'
       - '**.md'
@@ -25,7 +25,7 @@ on:
       - '**.xml'
 
   pull_request:
-    branches: [ R2025b, R2025b-devel ]
+    branches: [ R2026a, R2026a-devel ]
     paths-ignore:
       - 'docs/**'
       - '**.md'
@@ -44,8 +44,8 @@ jobs:
 
     strategy:
       matrix:
-        matlab_version: [R2025b]
-        #matlab_version: [R2025b, R2026a]
+        matlab_version: [R2026a]
+        #matlab_version: [R2026a, R2026b]
 
     name: Test in ${{ matrix.matlab_version }} on Windows
 

.gitlab-ci.yml

@@ -0,0 +1,20 @@
+# GitLab CI configuration file
+
+# Copyright 2026 The MathWorks, Inc.
+
+variables:
+  LOCATION: "AH"
+
+26a-test:
+  stage: test
+  tags:
+    - long-jobs
+  script:
+    - mw -using BR2026ad matlab -nodesktop -batch "openProject(pwd); buildtool -buildFile buildfile.m -verbosity Verbose Test"
+
+25b-test:
+  stage: test
+  tags:
+    - long-jobs
+  script:
+    - mw -using BR2025bd matlab -nodesktop -batch "openProject(pwd); buildtool -buildFile buildfile.m -verbosity Verbose Test"

BEV/BEV_setup.m

@@ -1,137 +1,142 @@
-%% Model Parameters for the Battery Electric Vehicle (BEV) system model.
-%
-% This script defines parameters for the BEV model.
-% Use this script to load default values.
-% Override any of them elsewhere later as needed.
-% 
-% The BEV_system_model automatically runs this script in the PostLoadFcn callback.
-
-% Copyright 2020-2025 The MathWorks, Inc.
-
-%% Bus definitions
-
-defineBus_HighVoltage
-defineBus_Rotational
-
-%% Vehicle block parameters
-
-vehicle.mass_kg = 2400;
-vehicle.tireRollingRadius_m = 0.34;
-
-vehicle.tireRollingCoeff = 0.0136;
-vehicle.airDragCoeff = 0.31;
-vehicle.frontalArea_m2 = 0.9 * 1.921 * 1.624;
-vehicle.gravAccel_m_per_s2 = 9.81;
-
-smoothing.vehicle_speedThreshold_kph = 1;
-smoothing.vehicle_axleSpeedThreshold_rpm = 1;
-
-%% Battery parameters
-
-batteryHV.nominalVoltage_V = 340;
-
-batteryHV.nominalCapacity_kWh = 60;
-
-batteryHV.nominalCharge_Ahr = ...
-  BatteryHV_getAmpereHourRating( ...
-    Voltage_V = batteryHV.nominalVoltage_V, ...
-    Capacity_kWh = batteryHV.nominalCapacity_kWh, ...
-    StateOfCharge_pct = 100 );
-
-batteryHV.internalResistance_Ohm = 0.01;
-
-batteryHV.ThermalMass_J_per_K = 10e3;
-
-% Voltage is 90 % of the nominal when SOC is 50 %.
-batteryHV.measuredVoltage_V = batteryHV.nominalVoltage_V * 0.9;
-batteryHV.measuredCharge_Ahr = batteryHV.nominalCharge_Ahr * 0.5;
-
-% More thermal model parameters
-% These parameters are used when thermal model is enabled
-% in the Battery block from Simscape Electrical.
-batteryHV.measurementTemperature_K = 273.15 + 25;
-batteryHV.secondMeasurementTemperature_K = 273.15 + 0;
-batteryHV.secondNominalVoltage_V = batteryHV.nominalVoltage_V * 0.95;
-batteryHV.secondInternalResistance_Ohm = batteryHV.internalResistance_Ohm * 2;
-batteryHV.secondMeasuredVoltage_V = batteryHV.nominalVoltage_V * 0.9;
-
-% Ambient parameters for battery thermal simulation
-
-batteryHV.ambientTemp_K = 273.15 + 20;
-
-batteryHV.ambientMass_t = 10000;
-batteryHV.ambientSpecificHeat_J_per_Kkg = 1000;
-
-batteryHV.RadiationArea_m2 = 1;
-batteryHV.RadiationCoeff_W_per_K4m2 = 5e-10;
-
-%% Motor drive unit parameters
-
-motorDriveUnit.trqMax_Nm = 420;
-motorDriveUnit.powerMax_kW = 220;
-motorDriveUnit.responseTime_s = 0.02;
-
-motorDriveUnit.rotorInertia_kg_m2 = 5*0.01^2;
-motorDriveUnit.rotorDamping_Nm_per_radps = 1e-5;
-
-% Single efficiency measurement
-motorDriveUnit.efficiency_pct = 95;
-motorDriveUnit.spd_eff_rpm = 2000;
-motorDriveUnit.trq_eff_Nm = 50;
-motorDriveUnit.ironLoss_W = 55;
-motorDriveUnit.fixedLoss_W = 40;
-
-motorDriveUnit.rotorInertia_kg_m2 = 5*0.01^2;
-motorDriveUnit.rotorDamping_Nm_per_radps = 1e-5;
-
-motorDriveUnit.ThermalMass_J_per_K = 90e3;
-
-% Ambient parameters for the thermal simulation of  motor drive unit.
-
-motorDriveUnit.ambientTemp_K = 273.15 + 20;
-
-motorDriveUnit.ambientMass_t = 10000;
-motorDriveUnit.ambientSpecificHeat_J_per_Kkg = 1000;
-
-motorDriveUnit.RadiationArea_m2 = 1;
-motorDriveUnit.RadiationCoeff_W_per_K4m2 = 5e-10;
-
-%% Reducer parameters
-
-reducer.GearRatio = 9.1;
-
-reducer.Efficiency_normalized = 0.98;
-
-smoothing.Reducer_PowerThreshold_W = 1;
-
-%% BEV controller parameters
-
-% Parameters for converting vehicle speed to motor speed
-bevControl.MotorSpdRef_tireRollingRadius_m = vehicle.tireRollingRadius_m;
-bevControl.MotorSpdRef_reductionGearRaio = 9.1;
-
-% PI controller gains for motor torque control
-bevControl.MotorSpdRef_Ki = 15;
-bevControl.MotorSpdRef_Kp = 15;
-
-% Bounds for torque command
-bevControl.MotorDriveUnit_trqMax_Nm = motorDriveUnit.trqMax_Nm;
-
-%% Initial conditions
-
-initial.vehicle_speed_kph = 0;
-initial.motorDriveUnit_RotorSpd_rpm = 0;
-initial.hvBattery_SOC_pct = 70;
-
-initial.hvBattery_Charge_Ahr = ...
-  BatteryHV_getAmpereHourRating( ...
-    Voltage_V = batteryHV.nominalVoltage_V, ...
-    Capacity_kWh = batteryHV.nominalCapacity_kWh, ...
-    StateOfCharge_pct = initial.hvBattery_SOC_pct );
-
-initial.hvBattery_Temperature_K = batteryHV.ambientTemp_K;
-
-initial.ambientTemp_K = batteryHV.ambientTemp_K;
-
-initial.motorDriveUnit_Temperature_K = motorDriveUnit.ambientTemp_K;
-initial.ambientTemp_K = motorDriveUnit.ambientTemp_K;
+%% Model Parameters for the Battery Electric Vehicle (BEV) system model.
+%
+% This script defines parameters for the BEV model.
+% Use this script to load default values.
+% Override any of them elsewhere later as needed.
+% 
+% The BEV_system_model automatically runs this script in the PostLoadFcn callback.
+
+% Copyright 2020-2026 The MathWorks, Inc.
+
+%% Bus definitions
+
+defineBus_HighVoltage
+defineBus_Rotational
+
+%% Common parameters
+
+CommonParameter.Temperature = simscape.Value(273.15 + 20, "K");
+
+%% Vehicle block parameters
+
+vehicle.mass_kg = 2400;
+vehicle.tireRollingRadius_m = 0.34;
+
+vehicle.tireRollingCoeff = 0.0136;
+vehicle.airDragCoeff = 0.31;
+vehicle.frontalArea_m2 = 0.9 * 1.921 * 1.624;
+vehicle.gravAccel_m_per_s2 = 9.81;
+
+smoothing.vehicle_speedThreshold_kph = 1;
+smoothing.vehicle_axleSpeedThreshold_rpm = 1;
+
+%% Battery parameters
+
+batteryHV.nominalVoltage_V = 340;
+
+batteryHV.nominalCapacity_kWh = 60;
+
+batteryHV.nominalCharge_Ahr = ...
+  BatteryHV_getAmpereHourRating( ...
+    Voltage_V = batteryHV.nominalVoltage_V, ...
+    Capacity_kWh = batteryHV.nominalCapacity_kWh, ...
+    StateOfCharge_pct = 100 );
+
+batteryHV.internalResistance_Ohm = 0.01;
+
+batteryHV.ThermalMass_J_per_K = 10e3;
+
+% Voltage is 90 % of the nominal when SOC is 50 %.
+batteryHV.measuredVoltage_V = batteryHV.nominalVoltage_V * 0.9;
+batteryHV.measuredCharge_Ahr = batteryHV.nominalCharge_Ahr * 0.5;
+
+% More thermal model parameters
+% These parameters are used when thermal model is enabled
+% in the Battery block from Simscape Electrical.
+batteryHV.measurementTemperature_K = 273.15 + 25;
+batteryHV.secondMeasurementTemperature_K = 273.15 + 0;
+batteryHV.secondNominalVoltage_V = batteryHV.nominalVoltage_V * 0.95;
+batteryHV.secondInternalResistance_Ohm = batteryHV.internalResistance_Ohm * 2;
+batteryHV.secondMeasuredVoltage_V = batteryHV.nominalVoltage_V * 0.9;
+
+% Ambient parameters for battery thermal simulation
+
+batteryHV.ambientTemp_K = CommonParameter.Temperature.value("K");
+
+batteryHV.ambientMass_t = 10000;
+batteryHV.ambientSpecificHeat_J_per_Kkg = 1000;
+
+batteryHV.RadiationArea_m2 = 1;
+batteryHV.RadiationCoeff_W_per_K4m2 = 5e-10;
+
+%% Motor drive unit parameters
+
+MotorDriveUnit.MaxTorque = simscape.Value(420, "N*m");
+MotorDriveUnit.MaxPower = simscape.Value(220, "kW");
+MotorDriveUnit.ResponseTime = simscape.Value(20, "ms");
+
+MotorDriveUnit.ElectricalEfficiencyPercent = 95;
+MotorDriveUnit.MeasuredAngularSpeed = simscape.Value(2000, "rpm");
+MotorDriveUnit.MeasuredTorque = simscape.Value(50, "N*m");
+MotorDriveUnit.MeasuredIronLosses = simscape.Value(55, "W");
+MotorDriveUnit.FixedLosses = simscape.Value(40, "W");
+
+MotorDriveUnit.RotorInertia = simscape.Value(5*0.01^2, "kg*m^2");
+MotorDriveUnit.RotorDamping = simscape.Value(1e-5, "N*m/(rad/s)");
+
+% Used in the Status subsystem of the Basic model to output a constant temperature value.
+% Not used in the BasicThermal model.
+MotorDriveUnit.AmbientTemperature = CommonParameter.Temperature;
+
+% Used in the BasicThermal model.
+% Not used in the Basic model.
+MotorDriveUnit.ThermalMass = simscape.Value(90, "kJ/K");
+MotorDriveUnit.RadiationArea = simscape.Value(1, "m^2");
+MotorDriveUnit.RadiationCoefficient = simscape.Value(5e-10, "W/K^4/m^2");
+MotorDriveUnit.AmbientMass = simscape.Value(10000, "t");
+MotorDriveUnit.AmbientSpecificHeat = simscape.Value(1000, "J/K/kg");
+
+%% Reducer parameters
+
+reducer.GearRatio = 9.1;
+
+reducer.Efficiency_normalized = 0.98;
+
+smoothing.Reducer_PowerThreshold_W = 1;
+
+%% BEV controller parameters
+
+% Parameters for converting vehicle speed to motor speed
+bevControl.MotorSpdRef_tireRollingRadius_m = vehicle.tireRollingRadius_m;
+bevControl.MotorSpdRef_reductionGearRaio = 9.1;
+
+% PI controller gains for motor torque control
+bevControl.MotorSpdRef_Ki = 15;
+bevControl.MotorSpdRef_Kp = 15;
+
+% Bounds for torque command
+bevControl.MotorDriveUnit_trqMax_Nm = MotorDriveUnit.MaxTorque.value("N*m");
+
+%% Inputs to the model
+
+% Load the "Simple" drive pattern for the Lookup-Table-based subsystem.
+loadLUTData_VehSpdRef_Simple
+
+%% Initial conditions
+
+initial.vehicle_speed_kph = 0;
+initial.hvBattery_SOC_pct = 70;
+
+initial.MotorDriveUnit_RotorAngularSpeed = simscape.Value(0, "rpm");
+
+initial.MotorDriveUnit_Temperature = CommonParameter.Temperature;
+
+initial.hvBattery_Charge_Ahr = ...
+  BatteryHV_getAmpereHourRating( ...
+    Voltage_V = batteryHV.nominalVoltage_V, ...
+    Capacity_kWh = batteryHV.nominalCapacity_kWh, ...
+    StateOfCharge_pct = initial.hvBattery_SOC_pct );
+
+initial.hvBattery_Temperature_K = CommonParameter.Temperature.value("K");
+
+initial.ambientTemp_K = CommonParameter.Temperature.value("K");