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SIMPACK Basics Training 1
SIMPACK Basics Training 1 Contents Theory
Exercise
SIMPACK AG
>> Model Setup Double Pendulum
Overview of SIMPACK Trainings
Preprocessing: Bodies
What is SIMPACK?
Preprocessing: Joints
SIMPACK Application Areas SIMPACK Products
Preprocessing: Sensors Solver: Test Call Solver: Time Integration
SIMPACK Interfaces
Postprocessing: 3D Animation
SIMPACK MBS Elements
Postprocessing: 2D Plot
SIMPACK MBS Equations of Motion SIMPACK Solver Options
>> Model Setup Two Mass Oscillator
SIMPACK Numerics
Preprocessing: Force Elements
SIMPACK Graphical User Interface (GUI)
Preprocessing: Excitations Solver: Static Equilibrium Solver: Preload
SIMPACK Documentation
Solver: Natural Frequencies
SIMPACK Model Setup Process
Postprocessing : Mode Shape 3D Animation and 2D Plot (Pre, Solver, Post: Linear System Analysis)
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Version 2012-05-07
SIMPACK Data Flow
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SIMPACK Basics Training 1 SIMPACK AG
Theory
Activities SIMPACK Software Development (Multi Body System Dynamics) Software Sales Software Training SIMPACK Academy Hotline, User Meetings, SIMPACK News Engineering & Consulting Business (OnSite, Off-Site and Hosting): Complete Projects Setting up Models, Real Time Models, User Routines, Concept Computations Version 2012-05-07
etc.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Overview of SIMPACK Trainings
Theory
Basics Training
(Flexible Bodies)
Contact Mechanics
SIMULINK Interfaces
NVH (Noise Vibration Harshness)
C ----------------------------------------------------C task = 0 : I/O-Values C ----------------------------------------------------C Parameters C ---------C Name '123456789012345678901234567890' par_str( 1) = 'Stiffness ' par_str( 2) = 'Damping ' par_str( 3) = 'Reference Marker '
User Routines
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Automotive
Engine
Drivetrain
Rail
Version 2012-05-07
Flex Modal
Code Export
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SIMPACK Basics Training 1 What is SIMPACK ?
Theory
SIMPACK = General Multi Purpose MBS System - General 3D MBS Model Set-up - Powerful Time and Frequency Domain Solver Accurate, Fast, Stable and Reliable - 2D-Plot and 3D-Visualisation - Optimised Application Specific Modelling Elements and Analysis Methods - Optimum Connectivity to Matlab/Simulink - Parameterised Code Export - Performant and Accurate Integration of Flexible Bodies - Dynamic Load Data Export Version 2012-05-07
- Open User Element Interface
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK Application Areas
Theory
Version 2012-05-07
SIMPACK
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK Products
Theory
Basic Module - Kinematics & Dynamics: Pre, Post, Solver
Application Specific Add On Modules - Engine (Cranktrain, Valvetrain, Timing) - Automotive (Basic, Tires, Realtime, …) - Rail (Basic, Rail Switches, …)
General Add On Modules
Version 2012-05-07
- NVH - CAD Interfaces - FEM Interfaces - Durability Interfaces - Matlab/Simulink Interfaces - Code Export - User Routines - Parametervariation (= Virtual Testing Lab, VTL) - IPC - and more SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK Interfaces
Theory
MSC.NASTRAN NX NASTRAN NEi NASTRAN
CATIA
PERMAS
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Version 2012-05-07
DSHplus
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SIMPACK Basics Training 1 SIMPACK Basic MBS Elements (1) - Library
Theory
Reference System: Inertial fixed Moved
Body: Rigid Elastic beams (SIMBEAM) Arbitrarily shaped elastic bodies (FEM-Interface)
Joints/Constraints: Standard:
Revolute (1-3 DOF) Prismatic (1-3 DOF) User defined (1-6 DOF) Excitation joints (motion dependent on time)
Application Specific:
Version 2012-05-07
Vehicle track joint Chain link path joint Virtual suspension joint Cardan joint Constant velocity joint Screw joint Gear box constraints (e.g. differential gear, planet gear, ...) And more SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK Basic MBS Elements (2) - Library
Theory
Force Elements Standard:
Spring (linear/nonlinear) Damper (linear/nonlinear) User defined force law (by expression) Excitation forces (force/torque dependent on time)
point to point (ptp)
Application Specific:
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Single sided contact Non-linear friction Stick-slip elements Tire models Chain forces Gearwheel forces Hydraulic lash adjuster Dynamic valve spring contact Elastic gear box Hydraulic bearing Hysteresis effects Frequency dependent bushing Generic forces by measured transfer function
components (cmp)
Version 2012-05-07
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SIMPACK Basics Training 1 SIMPACK Basic MBS Elements (3) - Library
Theory
Control Elements Disturbances
Deterministic Stochastic
Sensors
Kinematic measurements MBS states Time excitations (u-input)
Signal Converters A/D D/A
Signal Manipulators
PIDT1 controller combinations General signal manipulation Manoeuvre controller ('non-linear transfer function') Application specific controllers (e.g. automotive driver controller)
Actuators
Force/torque actuator Motion actuators
Excitations
Signal generation in order to excite the MBS
Version 2012-05-07
Sensors Kinematic measurements
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 MBS Kinematics and Dynamics
Theory
Kinematics Describes the motion of the system with respect to the kinematic joints and constraints
Version 2012-05-07
Describes the motion of the system due to applied forces
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK MBS Equations: Relative Coordinates (1)
Theory
Absolute Coordinates (= SIMPACK optional) Rigid body motion, described with respect to the inertial frame: 1
Always max. dimension of equations of motion (each body always requires 6 MBS states)
IFr1(x,y,z); IFA1(a,b,g) IFr2(x,y,z); IFA2(a,b,g)
3 inertial frame
IFr3(x,y,z); IFA3(a,b,g)
Position Positions Orientations
Velocity
Acceleration
r ( x, y, z )
r
r
A (a , b , g )
A
Version 2012-05-07
Large absolute values in MBS body position describing states
2
A
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK MBS Equations: Relative Coordinates (2)
Theory
Relative Coordinates (= SIMPACK Default) Rigid Body motion description by vector chain: (i.e.: only rotational Joints) Kin. tree structure
1r2 (a2); 1A2(a2)
a3
a2
IFr1 (a1); IFA1(a1)
a1
2r3 (a3); 2A3(a3)
3
Small absolute values in MBS body position describing states
inertial frame
Position
Velocity
r
position Positions
x,1,ya, 2z ),a3) rr ((a
r
Orientations orientation
A (A a ,(ba,,ga), a ) 1 2 3
A
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Acceleration
Version 2012-05-07
Equations of motion with minimal coordinates
1
2
Separation of Joints (= tree structure defining joints) and Constraints (= loop closing Joints) in SIMPACK.
A Page 14
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SIMPACK Basics Training 1 SIMPACK Solver Options
Theory
Solver Modes Available in SIMPACK Test Call Kinematics Equilibrium Static Equilibrium Driven Equilibrium Preload Time Integration Measurements Eigenvalues Linear System Matrices
Version 2012-05-07
Co-Simulation
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK Numerics
Theory
SODASRT_2 Solver (SIMPACK Default) SIMPACK-own, optimized numerics (Adaption of DASSL) Root Function handling (Integrated into respective elements) Index2 stabilization (Constraint equations solved on position and velocity level) Each state coordinate with individual tolerances
Version 2012-05-07
No artificial numerical damping !
Fast, Accurate, Robust, Reliable
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK Documentation
Theory
SIMPACK Documentation is available via: SIMPACK menu bar F1-button in SIMPACK
Features: Navigation tree Index Bookmarks Sophisticated text search Tutorials
Version 2012-05-07
Example models
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK Model Setup Process
Theory
Real System
Separate into Bodies, Joints, Force Elements, ... CAD
FEM
...
Draw Topology External Data
Model Setup in SIMPACK
Mass, Center of Gravity, I-Tensor, Marker, 3D-Primitive
Joints
Constraints
Force Elements
Excitations
Sensors
From Marker, To Marker, Type
From Marker, To Marker, Type
From Marker, To Marker, Type
Type, Parameter, u-Vectors
From Marker, To Marker, Type
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
...
Version 2012-05-07
Bodies
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SIMPACK Basics Training 1 Steps in Setting up a Model in SIMPACK
Theory
1.
Divide your mechanism into Bodies, Joints, Constraints, Force Elements
2.
Picture topology
3.
For the Body specify the following: Mass
Center of Gravity
Inertia
Markers
Primitives (3D-geometry)
For the Joint specify the following:
From Marker
To Marker
Joint Type
5.
(Constraints)
6.
(Force Elements)
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4.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Exercises
Exercise
Double Pendulum SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
One Mass Oscillator
Version 2012-05-07
Single Pendulum
Two Mass Oscillator Page 20
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SIMPACK Basics Training 1 Model Setup Single Pendulum Overview
Theory
Processing
Post-Processing
Body Definition Joint Definition
Online Time Integration Test Call
3D Animation
Version 2012-05-07
Pre-Processing
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Model Setup Single Pendulum - Bodies
Theory
All Body properties are described in a local coordinate system = Body Reference Frame (BRF)
From Marker
Mass and Center of Gravity Moments of Inertia Markers Primitives (3D Geometry)
To Marker (0,3)
BRF Version 2012-05-07
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Model Setup Single Pendulum - Joints
Theory
Joints act between two Markers Joint states are measured with respect to the ‘From Marker’ Joint type (0 - 6 DOF) Initial States
From Marker To Marker (0,3) BRF
Version 2012-05-07
Each Body must have one, and only one, Joint!
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Theory
Version 2012-05-07
SIMPACK GUI Main Window
Create Bar appears by right mouse click in the 3D Page. SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK GUI Model Setup – Creating a new Model
Theory
Create a new model:
Select one of the available templates
Version 2012-05-07
Your SIMPACK GUI can look like that:
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK GUI Model Setup – Open an Existing Model
Theory
Version 2012-05-07
Another option is to open an already existing model.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK GUI Model Setup – 3D Page I
Theory
Model Tree
click with right mouse button to set up views and 3D properties 3D-view control (zoom, translation, rotation) with 3 mouse buttons while pressing the ‘Ctrl’ key or via space mouse
SIMPACK Model in the 3D Page
Shows all Elements used in your Model
Interactive model set up by using the various SIMPACK library elements
Contains Model specific settings
3D-Window control by mouse buttons while pressing the ‘CTRL’ key 3D-window settings by clicking with the right mouse button in the 3D-window area
Message Log Information about current SIMPACK processes
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Version 2012-05-07
Warnings and Error Messages: Always check the first error or warning message in order to solve a problem ! Page 27
SIMPACK Basics Training 1 SIMPACK GUI Model Setup – 3D Page II
Theory
Further basic functions: •
Undo / Redo
Version 2012-05-07
Multi-edit Elements by multi-selecting them either in the 3D Page or in the Model Tree (hold ”Ctrl” while selecting) Multiple Bodies or other Elements can be modified simultaneously
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK GUI Model Setup – 2D Page
Theory
Version 2012-05-07
The topology of the 2D Page corresponds to the built up model. It can give you a clearer overview about elements and connections. Switch between 3D and 2D Page at the bottom of the main window of the SIMPACK GUI. Access 2D Properties with right click on the 2D Window: Enable/disable visibility of Elements Show grid
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK Program Exercise
Exercise
Create a new model, change the background color, try to control the 3D view (translate, rotate, zoom) Set up the single pendulum in SIMPACK Perform Online Test Call Perform Online Time Integration Change initial Joint State position
Version 2012-05-07
Review position and orientation of BRF!
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK Program Exercise – Model Data
Theory
Marker on Reference Frame Joint
Characteristics 0.8m c.g.
a Body 1
Sphere: Radius = 0.2 m
Rod: Diameter = 0.1 m Length = 0.8 m
Mass = 5 kg Ixx = 0.08 kg*m^2 (with respect to center of gravity) Iyy = 0.08 kg*m^2 (with respect to center of gravity) Izz = 0.08 kg*m^2 (with respect to center of gravity)
Revolute Joint
X
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Z
Y
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Model Setup Single Pendulum – Test Call
Theory
To check your model prior to performing any calculations/ solver tasks use the Test Call
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Version 2012-05-07
Online: Quick view of the results of the Test Call online on your screen Offline: Creates an additional ASCII result file (*.tes) with the results Page 32
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SIMPACK Basics Training 1 Model Setup Single Pendulum – 3D View
Theory
View Setup: 3D Properties and View Properties
Right mouse click in the 3D Page:
Version 2012-05-07
In the navigation bar:
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Body Reference Frame (BRF)
Each Body in the MBS model has its own BRF The BRF is always located at (0,0,0) by definition and cannot be deleted All Marker coordinates are given with respect to the BRF (except Markers specified relative to a Reference Marker)
Theory
Even if the BRF is an ordinary marker, it is not recommended to use it for modelling purposes. In order to keep a clear model structure it is better to create a new Marker at (0,0,0) and assign an appropriate name to it.
Version 2012-05-07
P1
P2
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK Program Exercise
Exercise
Open the model 12_body_positioning_marker and change the position of the Joint From Marker. Open the model 13_body_positioning_joint and modify the Joint State. Open the model 14_body_positioning_body_on_body. Mass_2 is connected to Mass_1. See how it moves with Mass_1.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Version 2012-05-07
Open the model 15_body_positioning_wall. Reconnect the Bodies to the wall. Have a look at what is on the rear side of the wall.
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SIMPACK Basics Training 1 Position of a Body in Space
Theory
The position of a Body in space is given by its relation to the inertia system (Isys) or another Body Example:
Isys
Version 2012-05-07
Body1 is fixed to the inertia system with its BRF at P1. Body2 is rotating around P3 on Body1. The position of a Body in space results from the joint definition of this body (= assignment of joint coupling markers).
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Position of 3D Primitives (1)
Theory
Graphical elements (3D Primitives) are visualization elements without any physical meaning (except functional Primitives such as gearwheels) to the MBS system. The position of any 3D Primitive on a body is given with respect to a Marker located on the Body (default is the BRF).
r
P2 sphere
xcenter ycenter z center
P2
r
BFRF cuboid
xcenter ycenter z center
P1
P1 belongs to Body1, even if no 3D graphic is visible at its location.
Isys
BFRF BRF
The cuboid is defined with respect to BRF with primitive built in coordinates of P2.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Version 2012-05-07
The center of the sphere is defined with respect to P2 with additional primitive built in coordinates. Therefore no Marker is needed in its center. Page 37
SIMPACK Basics Training 1 Position of 3D Primitives (2)
Theory
Changing the built-in positions of 3D primitives will not change the position of the body in space!
r
P2 sphere
P2
r
BFRF cuboid
xcenter ycenter zcenter
xcenter ycenter zcenter
P1
Isys
BFRF
BRF
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Version 2012-05-07
Even if the shape of the body has changed, all marker positions will stay at the same location. The body did not move at all. Page 38
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SIMPACK Basics Training 1 Model Setup Double Pendulum Overview
Theory
Pre-Processing
Processing
Post-Processing
Body Definition
Online Time Integration
3D Animation
Joint Definition
Test Call
State Plots
Copy & Paste
Offline Time Integration
PostProcessor
Version 2012-05-07
Measurements
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Time Integration
Theory
a1
The integrator solves the equations of motion resulting in Joint states and their first derivatives:
a2
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Version 2012-05-07
The time integration results are saved in the output path in the file .sir (SIMPACK Intermediate Results) and can be viewed in the PostProcessor. Page 40
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SIMPACK Basics Training 1 Solver Settings: Access from Model Tree
Theory
Version 2012-05-07
Every model has ist’s own Solver Settings Different Solver Settings can be generated For the calculations only the activated Solver Settings are considered
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Solver Settings: Result File and Parallel Solver
Theory
The path definition for model’s simulation results as well as the basename for the result files can be defined under Result file.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Version 2012-05-07
The number of threads to be dedicated to the defined solver task can be given under Parallel Solver. Increasing the number of threads generally implies shorter solving times, especially for complex models.
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SIMPACK Basics Training 1 Solver Settings: Time Integration Configuration
Theory
Version 2012-05-07
The integration time as well as the solving method and tolerances can be given under Time Integration.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Solver Settings: Measurements configuration
Theory
The result data that is written out to an .sbr file can be configured from the SIMPACK SolverSettings. There are two tabs: General
Version 2012-05-07
Result Configuration
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Sensors
Theory
Sensors are used to obtain measurement data between two Markers. The data is calculated with “Full Measurements”.
Version 2012-05-07
Rerunning an integration is not necessary for newly defined Sensors.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Time Integration with Measurements
Theory
Version 2012-05-07
Performing Measurements after the Time Integration provides positions, velocities and accelerations of all Sensors as well as forces in Joints and Force Elements and all specific outputs defined by the user.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK PostProcessor: Measurement Results
Theory
Animation Geometry Time Sensors: translational position measurements Sensors: translational velocity measurements Sensors: translational acceleration measurements Sensors: rotational position measurements Sensors: rotational velocity measurements Sensors: rotational acceleration measurements Force Elements: applied forces on From Marker Force Elements: applied torques on From Marker Force Elements: values of force element specific output values Joint States: position values Joint States: velocity values Joints: joint constraint forces (output system dependent on global setting from Globals!) Joints: joint constraint torques (output system dependent on global setting from Globals!) Flexible Bodies: Position of flexible states Flexible Bodies: Velocity of flexible states Constraints: constraint constraint forces/torques Version 2012-05-07
Y-Output: user defined co-simulation output channels Result Elements: user defined output channels Substitution Variables: defined substitution variables SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK Jobs: Offline Time Integration
Theory
Time Integration statistics
Version 2012-05-07
Measurements
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Online Time Integration
Theory
With the Online Time Integration, the model motion can be calculated and animated in SIMPACK Pre without saving it first.
Version 2012-05-07
This allows to check the model correctness before saving and to quickly get a first view of it’s general behavior. Also, there is no end time in the integration and the sample rate can be manually changed continuously. No results are saved for this integration task.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK Program Exercise – Model Data
Exercise
a Body 1
a Body 2
X
Y
Version 2012-05-07
Z
Both Bodies are identical
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK Program Exercise
Exercise
Set up the double pendulum in SIMPACK using 'Copy & Paste' Configure and perform an Offline Time Integration with Measurements View the double pendulum results in the State Plots Change initial joint states of the double pendulum and try again
Version 2012-05-07
Review position and orientation of the double pendulums BRFs!
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 PostProcessor Basics
THEORY Theory
Areas/Elements and Terminology
Generating Simple Plots
Modifying Element Properties
Generating Animations
GUI Features
Version 2012-05-07
Overview to the PostProcessor
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 PostProcessor Basics - Areas
THEORY Theory
Menus and Icons
Session Tree Result Tree Graphics Area Page • • • •
Page Title
Diagram Title Header
Graphics Table with Grid
Graphics Table Diagram Animation Etc.
Animation
Menus and Icons Script Console Status Bar Progress Bar
Footer
Progress Bar Version 2012-05-07
Status Bar
Standard GUI for SIMPACK! SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 PostProcessor Basics - Result Tree
Model containing the Animation Geometry, i.e. the Bodies and their respective Primitives and Markers
THEORY Theory
Result Tree can be expanded, collapsed or turned off Result Tree shows loaded results files •
SIMPACK .sbr files -generated by a SIMPACK calculation
•
ASCII Data files
.sbr files store the calculation data in Output Data Types Modelling Elements
Version 2012-05-07
Each Output Data Type consists of Output Channels
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 PostProcessor Basics – Session Tree and Plotting Elements
THEORY Theory
Expand/Collapse Tree
Close Tree
A Project is a logical grouping of data and determines the configuration. More Projects can be open in one Session. A Curve displays value pair data. The display can be switched off.
A Pageset is a container holding one or more Pages.
A Diagram is the container displaying curves.
A Filter is used to amend the value pair data.
Version 2012-05-07
A Page is the container for every Element in the Graphics Area.
All Titles in the Session Tree Elements can be changed! SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 PostProcessor Basics – Session Tree and Animation Elements
An Animation is the cell into which a Model and respective geometry can be loaded.
THEORY Theory
A Model contains the animation geometry. The display can be switched off. Body Markers can be displayed. The default is not displayed.
Bodies contained in the Model. The display of the Bodies geometry can be switched on or off for each individual Body.
Version 2012-05-07
Primitives: The display can be switched on or off individually.
The Titles of Session Tree Elements are determined by the model! SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 PostProcessor Basics – Starting
EXERCISE Exercise
Version 2012-05-07
Open the PostProcessor from the Desktop icon
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 PostProcessor Basics – Generating A Simple Plot
EXERCISE Exercise
Create a new Project with the filename and Title 03_generating_curves. Load in the sbr file ENG_V_ANGLE_15.sbr., which is stored in the output folder Version 2012-05-07
Plot force output absolute force value from the Result Tree, Output Channels and by adding a Curve to a Diagram. Enter the value pairs directly. Try pulling in a ‚SubVar‘. SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 PostProcessor Basics – Modifying the View
EXERCISE Exercise
Zoom In – ‘Ctrl‘ + left mouse button – top bottom or right left.
Refit – Refit Icon or ‘Ctrl‘ + middle mouse button.
Zoom Out - ‘Ctrl‘ + left mouse button – bottom top or left right.
View move - ‘Ctrl‘ + right mouse button.
Or with the mouse wheel.
Box-zoom – ‘Shift‘ + draw box with mouse.
F6 turn on/off display of Session and Result Trees.
Version 2012-05-07
Box-zoom
F11 Full screen. SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 PostProcessor Basics – Modifying the Curve Properties
Pick „mount_fr“, the remaining curve in the Graphics Area. The curve will be highlighted in the Session Tree.
Edit the Properties from the format menu or by right clicking: color, style, width. Turn on the Markers and change their color to black.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Create a new Page.
Plot „constr force-torque“ „crank_shaft_rotation“ „Constraint Torque 1“.
Set the X-source to the crankshaft joint velocity. Version 2012-05-07
Select the curve „mount_fl“ in the Session Tree and delete it. Repeat for „mount_rr“.
EXERCISE Exercise
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SIMPACK Basics Training 1 PostProcessor Basics – Plot Pages and Graphics Table
THEORY Theory
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Version 2012-05-07
The Plot Page Consists of Graphics Table containing Cells Title Header Footer Page 61
SIMPACK Basics Training 1 PostProcessor Basics – Page Properties (1) Page Appearance
EXERCISE Exercise
Select the Page with the force-torque crank_shaft_rotation and start the page properties window. Change from portrait to landscape. Change the margins. Change the Title to Crankshaft Torque. Turn off Header and Footer. Set the background color to light grey.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Version 2012-05-07
All modified properties can be applied to either the Selected Page, Parent PageSet or Current Project! Page 62
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SIMPACK Basics Training 1 PostProcessor Basics – Page Properties (2) Graphics Table Cells
EXERCISE Exercise
Create a new Page. Split the Graphics Table into four cells from the ‘Table‘ icon. For mount_fl, plot the 'force force' for x, y and z. Leave the bottom right cell free.
Version 2012-05-07
Split the emtpy cell and plot the absolute force for mount_rr and mount_fr, then delete the diagrams. Try moving and switching Diagrams between cells by dragging with the left mouse buton. Set the Page back to three cells. SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 PostProcessor Basics – Multi-Curve Generation (1) All Channels of One Output Data Type
EXERCISE Exercise
Create a new Project 05_multi_curve_generation.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Version 2012-05-07
Drag the Output Data Type force force into the Graphics Area. All Output Channels of all Force Elements will be plotted. Page 64
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SIMPACK Basics Training 1
Create another page.
Drag the modeling Element engine_mount_fl into the graphics table.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
EXERCISE Exercise
Version 2012-05-07
PostProcessor Basics – Multi-Curve Generation (2) All Channels of One Modelling Element
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SIMPACK Basics Training 1 PostProcessor Basics – Selecting One or More Elements
EXERCISE Exercise
How does one select an Element?
Selecting in the Session Tree
Single-Select
Multi-Select
Picking in the Graphics Area
Left mouse button
Long left mouse button
Middle mouse button
Version 2012-05-07
All Elements can be Multi-Selected! SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1
Create Page.
Multi-Select the ‘z‘ for all Force Elements under force force.
Drag them into the Graphics Table.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
EXERCISE Exercise
Version 2012-05-07
PostProcessor Basics – Multi-Curve Generation (3) With Multi-Select
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SIMPACK Basics Training 1 PostProcessor Basics – Multi-Curve Generation (4) Channels in Multiple Diagrams
EXERCISE Exercise
Create Page. Split the Graphics Table into four cells.
Version 2012-05-07
Drag the engine_mount_fl under force force into the Graphics Table with the right mouse button. Select from the menu 'One channel per diagram'. SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 PostProcessor Basics – Multi-Curve Generation (5) Elements in Multiple Diagrams
EXERCISE Exercise
Create Page. Split the Graphics Table into 3 cells.
Version 2012-05-07
Drag the Output Data Type 'force force' with the right mouse button into the Graphics Table. Select from the menu 'All selected channels of one element per diagram'. SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 PostProcessor Basics – 3D Diagram Comparing Results
EXERCISE Exercise
Create Page. Open the sbr file, ENG_V_ANGLE_90_VTL.sbr Version 2012-05-07
Add 3D Diagram to a cell. Drag $o_ENG_VEL_Z into the 3D Diagram (first one in the result tree). Try ‚filling‘ the Curves – Curve Property SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 PostProcessor Basics – 3D Diagram Campbell Filter 1000 & Surface Generator 1001
EXERCISE Exercise
Campbell Filter for order analysis Waterfall surface plots
Version 2012-05-07
Examples available from the Documentation
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 PostProcessor Basics – Cut, Copy and Pasting of Elements
EXERCISE Exercise
How does one Cut, Copy and Paste? Select the Element(s). Then Cut or Copy.
Ctrl + X or Ctrl + C,
Right mouse button
Format menu
Edit menu
Paste to where required.
How does one Move an Element?
Version 2012-05-07
Elements can be dragged with the mouse to a location; similar to a cut and paste.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 PostProcessor Basics – Undoing and Redoing of Actions
EXERCISE Exercise
How does one undo an action? All actions in a Project can be undone. Undone actions can be redone.
Each Project has an undo and redo stack (the stack is cleared, however, after a result file reload).
Version 2012-05-07
Scrolling through the Session Tree.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 PostProcessor Basics – Editing of Elements
Edit-in-Place? The Title of a selected Element can be edited directly in the Session Tree with:
EXERCISE Exercise
Multi Edit of Element Properties The properties of more than one Element can be modified in one action.
F2
The properties will be modified for all selected Elements.
Second click
Why are some fields empty?
Single Edit of Element Properties
This is performed in exactly the same way as for a single-edit.
Right clicking
Opening the Format menu
Version 2012-05-07
The properties of a selected Element can be modified by:
All Elements can be Multi-Edited! SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 PostProcessor Basics – Diagram Properties (1) Axis
Type
Logarithmic
Linear
Ticks - Grid
Main–Axis numbering
Sub–Grid
Scaling
Auto Scale
Box Zoom
Version 2012-05-07
EXERCISE Exercise
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 PostProcessor Basics – Diagram Properties (2) Title, Legend and General
Exercise
Title Text
Alignment
Text Attributes
Text Alignment
Legend Position
Appearance
General Layout Appearance
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Version 2012-05-07
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SIMPACK Basics Training 1 PostProcessor Basics – Diagrams with Multitple Axes
EXERCISE Exercise
Adding an Axis to a Diagram
Primary Axis
Assign the new Axis to a Curve
Version 2012-05-07
Alternatively the Curve can be dropped directly on the respective Axis.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 EXERCISE Exercise
Pull in the Animation Geometry from the sbr file into a cell or Animation Page. This can be done at any level in the Animation Geometry from the sbr file. Try pulling in a few selected Bodies. (use the Engine_ForceArrow.sbr)
The Model will be displayed in the Graphics Area and the respective Elements shown in the Session Tree.
Modify the view with the mouse. Similar to in the Model Setup window.
Switch on and off some of the Elements. Change some Primitive properties.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Version 2012-05-07
PostProcessor Basics – Generating An Animation
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SIMPACK Basics Training 1 PostProcessor Basics – Animation Player
EXERCISE Exercise
Define an animation and curve in the same Page.
Start the animation from the toolbar of from the Player.
Record the animation and play it back with the standard media player.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Version 2012-05-07
Try changing some of the record settings.
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SIMPACK Basics Training 1 PostProcessor Basics – Force/ Torque Arrows
EXERCISE Exercise
Force and Torque arrows are generated by pulling in the respective Output Channel. force force, force torque, joint force and joint torque can be pulled in. Version 2012-05-07
Generate force and torque arrows. Notice their difference in appearance.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 One Mass Oscillator Overview
Theory
Pre-Processing
Processing
Post-Processing
Body Definition
Online Time Integration
3D Animation
Joint Definition
Test Call
State Plots
Copy & Paste
Offline Time Integration
PostProcessor
Force Definition
Measurements
Input Functions
Static Equilibrium
Version 2012-05-07
Preload
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Forces
Theory
Version 2012-05-07
Forces act between two Markers Force type (PtP or Cmp) Forces are calculated in the coordinate system the ‘From Marker’ 3D Representation
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Point to Point Forces (PtP)
Theory
To Marker
Z
From Marker Y
X
No torsional stiffness Point to Point forces are applied at the ‘From Marker’. The equal and opposite reaction force (top arrow), is applied at the ‘To Marker’. Be careful not to allow the markers to pass through each other during simulations.
Z BRF
Version 2012-05-07
X Y
F = c ·|r| SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Component Forces (Cmp)
Theory
To Marker
Z
r From Marker
X
Y Z BRF
Translational and torsional stiffnesses (all components) Component forces are calculated in the reference frame of the ‘From Marker’, and also applied at this position on this Body. The reaction force is applied at the ‘To Marker’. To compensate the resulting moment a reaction moment (rxF) is applied on the ‘From Body’.
Version 2012-05-07
X Y
Fi = ci · ri SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Program Exercise – One Mass Oscillator
Exercise
Set up the one mass oscillator in SIMPACK Configure and perform a SIMPACK Offline Time Integration with Measurements View 3D animation of the results View and configure 2D plots of the results
Version 2012-05-07
Review position of the one mass oscillator BRF!
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 One Mass Oscillator – Model Data
Excercise
Body One Mass = 23.5kg 0.3m
Body 1
0.2m
Spring/Damper Stiffness = 200N/m Damping = 20Ns/m Nominal Length = 0.3m
04
Z
Body 1
X
Version 2012-05-07
Z
Y
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 One Mass Oscillator – Static Equilibrium and Preload
Theory
Theory: Model - Dynamics Cut free principle m c g lo l 0 , F0 p
v,v•
mg = 640 Kg 5 = 1,6 * 10 N/m = 9,81 m/s² m = 0,4 m
c*(lo - p) - d*v+F0 Elements:
Joint:
Newton: mass * acceleration = force mv• = c*(lo - p) - d*v + F0 - mg
Task:
1 DOF mg Position p Velocity Acceleration c*(lo - p) +Fequ p
Equilibrium 1: pequ = ?
Version 2012-05-07
Bodies mg Prismatic joint Spring/damper Gravitational force Reference frame p pequ c*(lo - pequ) +F0
Equilibrium 2: Fequ = ?
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 One Mass Oscillator – Static Equilibrium and Preload
Theory
v,v•
mg
cut free principle
m
l 0 , F0
p c*(lo - p) - d*v +F0
mass * acceleration = force • mv = c*(lo - p) - d*v + F0 - mg
Task:
• v,v = 0
mg = c•(l0 -p) + F0
Equilibrium 1: pequ = ? l0 - (mg - F0)/c Equilibrium 2: Fequ = ? mg - c*(l0 - p)
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
[m] [N]
Version 2012-05-07
Newton:
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SIMPACK Basics Training 1 SIMPACK Program Exercise
Exercise
Calculate a Static Equilibrium position of the one mass oscillator Reset joint state and calculate the Preload of the one mass oscillator Check results with Test Call
Version 2012-05-07
Check results with Online Time Integration
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Static Equilibrium I
Exercise
Before you start calculating your Static Equilibrium, you must configure the Static Equilibrium Solver Settings
You can choose between the Newton Method and the Time Integration Method
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Version 2012-05-07
Generally you should try out both, as one might lead you to unrealistic results
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SIMPACK Basics Training 1 Static Equilibrium II
Exercise
Version 2012-05-07
Create an equilibrium state using the Online Static Equilibrium online Icon
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Page 91
SIMPACK Basics Training 1 Static Equilibrium III
Exercise
Version 2012-05-07
In order to reset the Static Equilibrium State select “Actions Reset States to Zero” and overwrite the selected States to Zero.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Preload
Exercise
The solver task Preload finds the right preload on every chosen force element to bring the system to equilibrium without modifying its position.
Version 2012-05-07
This feature will be available from SIMPACK 9.1.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Input Functions
Theory
Version 2012-05-07
Data is entered as paired values and step, linear or cubic spline interpolation is used to calculate curve definition. Input Functions are mainly used for non-linear forces and for inputting measurement data. Import Data from *.afs files ( See Documentation)
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Input Functions
Theory
Version 2012-05-07
Input Functions take precedence over other parameters (i.e. stiffness and damping).
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Input Functions
Theory
Getting a closer look at an Input Function: Coordinate information by sliding with mouse over curve
Version 2012-05-07
Coordinate information by showing Value Slider
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK Program Exercise
Exercise
Modify the one mass oscillator concerning a nonlinear spring stiffness
Version 2012-05-07
Perform a Offline Time Integration and check the results
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Page 97
SIMPACK Basics Training 1 Model Setup Two Mass Oscillator Overview
Theory
Pre-Processing
Processing
Post-Processing
Body Definition
Online Time Integration
3D Animation
Joint Definition
Test Call
State Plots
Copy & Paste
Offline Time Integration
PostProcessor
Force Definition
Measurements
Mode Shapes
Input Function
Static Equilibrium
Excitation
Preload
Version 2012-05-07
Eigenvalues
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK Program Exercise
Exercise
Set up the two mass oscillator
Version 2012-05-07
Review MBS Info, Test Call, Online Time Integration, 2D Plot, Static Equilibrium and Preload
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK Program Exercise – Model Data
0.3m
Body Two Mass = 12.5 kg
Spring/Damper Stiffness = 100N/m Damping = 20Ns/m Nominal Length = 0.4m
0.4m
04
Z
Body 1
Body 1
0.2m
Theory
04
Z
Body 2 Body 2
0.2m
X
Version 2012-05-07
Z
Y
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Model Information – 2D Page
Theory
The topology of the 2D Page corresponds to the built up model. It can give you a clearer overview about elements and connections.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Version 2012-05-07
Switch between 3D and 2D Page at the bottom of the main window of the SIMPACK GUI.
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SIMPACK Basics Training 1 Model Information – Referencing/ Referenced Elements
Theory
This is a useful function to find out which elements are connected to a specific modeling element:
Right-click on the respective element Under ‚Referencing Elements‘ you find the elements which are defined upon this Body Under ‚Referenced Elements‘ you find the elements your selected Version 2012-05-07
Body references
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Model Information – Mass Properties
Theory
Information on mass, center of gravity and inertia… … of a single body … of a number of bodies or an entire model (by activating the flg for ‚combined mass calculation‘
•
Information is given Version 2012-05-07
- visually - printed in the Message Log
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Page 103
SIMPACK Basics Training 1 Two Mass Oscillator – Time Integration I
You perform either an Online or an Offline (with/ without measurement) Time Integration
Exercise
Offline
Online
Version 2012-05-07
The result is a 3D animation
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Exercise
Version 2012-05-07
Two Mass Oscillator – State Plots and PostProcessor I
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Two Mass Oscillator –PostProcessor II
Exercise
Version 2012-05-07
The .sir file only contains the Joint States of the Model and some solver statistics
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Two Mass Oscillator – Eigenvalues
Theory
Before calculating Eigenvalues, the model must be in an equilibrium state! Perform the Eigenvalue Calculation by selecting the corresponding icon
Hit ‚Perform eigenvalue calculation‘
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Version 2012-05-07
Visualize the eigenmodes by selecting them and hitting the ‚Play-button‘ in the Mode Animation Page 107
SIMPACK Basics Training 1 Model Setup Two Mass Oscillator – Mode Shapes
Exercise
Have a look at the Mode Shape Animation.
Version 2012-05-07
Play around with 3D Animation module.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Model Setup Two Mass Oscillator – Excitation I
Theory
Excitations are signal generators. The signals can be used to excite joints, moved markers and force/torque actuators or to generate SIMPACK Control input values.
Version 2012-05-07
The defined curves, possibly from a library, are exported as position, velocity and acceleration vectors for use in modelling.
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Page 109
SIMPACK Basics Training 1 Model Setup Two Mass Oscillator – Excitation II
Steps to define Moved Markers, Rheonomic Joints and time depending Forces/Torques by SIMPACK Time Excitations SIM PACK M odel:
Theory
Quart er Car
Time Excitation
Parameters
Force ForceElement Element
Rheonomic RheonomicJoint Joint
s0 = 0;
A = 0.2 m;
u_1 u_2 u_3 .. .. u_10 u_11 .. .. u_N
s(t)
sp(t)
Time Excitation Generator
Input Functions (Tables)
spp(t)
Polynomials Version 2012-05-07
Moved Marker Marker Move
= 5 rad/s
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Model Setup Two Mass Oscillator – Example Excitation I
Theory
Moved Marker (Type 95) Sinusoidal Excitation (Type 01) Amplitude = 0.1 m Frequency = 3.14 rad/s
Body 1
Version 2012-05-07
Body 2
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK Program Exercise
Exercise
Define two mass oscillator excitation scenario No. I Perform a Time Integration Check results (3D Animation, 2D Plot)
Moved Marker (Type 95)
Version 2012-05-07
Sinusoidal Time Excitation (Type 01) Amplitude = 0.1 m Frequency = 3.14 rad/s
Note: Moved Markers cannot be used as FROM or TO with Joints! SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 Model Setup Two Mass Oscillator – Example Excitation II
Theory
Body 1
Force Excitation (Type 93)
Body 2
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Version 2012-05-07
Sinusoidal Excitation (Type 01) Amplitude = 20 N Frequency = 3.14 rad/s
Page 113
SIMPACK Basics Training 1 Model Setup Two Mass Oscillator – Example Excitation III
Theory
Joint Excitation (Type 40)
Body 1
Sinusoidal Excitation (Type 01) Amplitude = 0.1 m Frequency = 3.14 rad/s
Version 2012-05-07
Body 2
Note: Moved Markers cannot be used as FROM or TO with Joints! SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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SIMPACK Basics Training 1 SIMPACK Program Exercise
Exercise
Define two mass oscillator excitation scenarios No. II and III Perform a Time Integration Check results (3D Animation, 2D Plot)
Joint Excitation (Type 40)
Version 2012-05-07
Sinusoidal Excitation (Type 01) Amplitude = 0.1 m Frequency = 3.14 rad/s
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
Page 115
SIMPACK Basics Training 1 Summary
Exercise
PreProcessing
Processing
PostProcessing
Body Definition
Online Time Integration
3D Animation
Joint Definition
Test Call
State Plots
Copy & Paste
Offline Time Integration
PostProcessor
Force Definition
Measurements
Mode Shapes
Input Functions
Static Equilibrium
Excitations
Preload
Version 2012-05-07
Eigenvalues
SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany
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