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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 )

A (a , b , g )

Version 2012-05-07

Large absolute values in


MBS body position
describing states

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)

Small absolute values in


MBS body position
describing states

inertial frame

Position

Velocity

position
Positions

x,1,ya, 2z ),a3)
rr ((a

Orientations
orientation

A (A
a ,(ba,,ga), a )
1 2 3

SIMPACK AG, Friedrichshafener Str. 1, 82205 Gilching, Germany

Acceleration

Version 2012-05-07

Equations of motion with


minimal coordinates

Separation of Joints (= tree


structure defining joints)
and Constraints (= loop
closing Joints) in
SIMPACK.

A
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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)

Version 2012-05-07

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


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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 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 !
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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

Version 2012-05-07

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
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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).

P2 sphere

xcenter

ycenter
z

center

P2

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.
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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!

P2 sphere

P2

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.
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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 <modelname>.sir
(SIMPACK Intermediate
Results) and can be viewed in
the PostProcessor.
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SIMPACK Basics Training 1


Solver Settings: Access from Model Tree

Theory

Version 2012-05-07

Every model has ists 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 models


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 its 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

Version 2012-05-07

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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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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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
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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!
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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.
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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

MainAxis numbering

SubGrid

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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Point to Point Forces (PtP)

Theory

To Marker

From Marker
Y

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

r
From Marker

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

Body 1

Version 2012-05-07

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/s
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

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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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

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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

Body 1

Body 1

0.2m

Theory

04

Body 2
Body 2

0.2m

Version 2012-05-07

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

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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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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

Page 111

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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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

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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

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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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