Hello @Xiaolin Wang, I hope you found your solution. If not, I've a couple of ideas.
Firstly, as there is no motion specified to the joint nor a force specified to a frame, So, I don't expect the wheel to rotate.
Secondly, I'm guessing gravity will not be causing any rotation.
So, I suggest you to give a motion/force to the revolute joint (like direct kinematics) or you can try defining a frame movement on the wheel using, "bushing joint" (like Inverse Kinematics)
In Revolute joint, Try Torque-Automatically computed and Motion - Provided by Input, (remeber that units of motion here are radians). simply use any source and Simulink-PS Convertor.
Or you can the other way,Torque - Provided by Input and Motion- Automatically computed. Either way, take care of Units
I hope this helps. Good luck!