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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.


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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


Automotive

Engine

Drivetrain

Rail

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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


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SIMPACK Basics Training 1 SIMPACK Application Areas

Theory

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SIMPACK


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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

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- 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


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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:       

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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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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:


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)

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            

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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



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Sensors Kinematic measurements


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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

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 Describes the motion of the system due to applied forces


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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

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 Large absolute values in MBS body position describing states

2





A


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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


Acceleration





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 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

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 Co-Simulation


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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

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No artificial numerical damping !

Fast, Accurate, Robust, Reliable


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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

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 Example models


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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



Type, Parameter, u-Vectors



...

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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.




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SIMPACK Basics Training 1 Exercises

Exercise

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

One Mass Oscillator

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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

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Pre-Processing


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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

   


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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

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Each Body must have one, and only one, Joint!


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SIMPACK Basics Training 1 Theory

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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

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Your SIMPACK GUI can look like that:


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SIMPACK Basics Training 1 SIMPACK GUI Model Setup – Open an Existing Model

Theory

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Another option is to open an already existing model.


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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


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 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

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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


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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


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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

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 Review position and orientation of BRF!


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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


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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


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 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:

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In the navigation bar:


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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.

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P1

P2


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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.


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 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

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 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).


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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.


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


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


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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


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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


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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.


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.


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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

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 Result Configuration


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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.


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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.


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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

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Measurements


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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.


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Exercise

a Body 1

a Body 2

X

Y

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Z

Both Bodies are identical


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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!


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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


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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

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 Each Output Data Type consists of Output Channels


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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.

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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


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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.

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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.




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


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.


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

Page 63

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.


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

32




Create another page.



Drag the modeling Element engine_mount_fl into the graphics table.


EXERCISE Exercise

Version 2012-05-07

PostProcessor Basics – Multi-Curve Generation (2) All Channels of One Modelling Element

Page 65

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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

Create Page.



Multi-Select the ‘z‘ for all Force Elements under force force.



Drag them into the Graphics Table.


EXERCISE Exercise

Version 2012-05-07

PostProcessor Basics – Multi-Curve Generation (3) With Multi-Select

Page 67

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

Page 69

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


Page 71

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.


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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.


Page 73

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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37

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


Page 75

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


Version 2012-05-07



Page 76

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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.


Page 77

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.


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.


Version 2012-05-07

 Try changing some of the record settings.

Page 79

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.


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SIMPACK Basics Training 1 One Mass Oscillator Overview

Theory

Pre-Processing

Processing

Post-Processing

Body Definition


3D Animation

Joint Definition

Test Call

State Plots

Copy & Paste


PostProcessor

Force Definition

Measurements

Input Functions

Static Equilibrium

Version 2012-05-07

Preload


Page 81

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


Page 82

41

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

Page 83

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

Page 84

42

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!


Page 85

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


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43

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 = ?


Page 87

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)


[m] [N]

Version 2012-05-07

Newton:

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44


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


Page 89

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


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


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.


Page 92

46

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.


Page 93

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)


Page 94

47


Theory

Version 2012-05-07

Input Functions take precedence over other parameters (i.e. stiffness and damping).


Page 95


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


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48


Exercise

 Modify the one mass oscillator concerning a nonlinear spring stiffness

Version 2012-05-07

 Perform a Offline Time Integration and check the results


Page 97

SIMPACK Basics Training 1 Model Setup Two Mass Oscillator Overview

Theory

Pre-Processing

Processing

Post-Processing

Body Definition


3D Animation

Joint Definition

Test Call

State Plots

Copy & Paste


PostProcessor

Force Definition

Measurements

Mode Shapes

Input Function

Static Equilibrium

Excitation

Preload

Version 2012-05-07

Eigenvalues


Page 98

49


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


Page 99


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


Page 100

50

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.


Version 2012-05-07

Switch between 3D and 2D Page at the bottom of the main window of the SIMPACK GUI.

Page 101

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


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51

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


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


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52

SIMPACK Basics Training 1 Exercise

Version 2012-05-07

Two Mass Oscillator – State Plots and PostProcessor I


Page 105

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


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53

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‘


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.


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54

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.


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


Page 110

55

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


Page 111


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

Page 112

56

SIMPACK Basics Training 1 Model Setup Two Mass Oscillator – Example Excitation II

Theory

Body 1

Force Excitation (Type 93)

Body 2


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

Page 114

57


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


Page 115

SIMPACK Basics Training 1 Summary

Exercise

PreProcessing

Processing

PostProcessing

Body Definition


3D Animation

Joint Definition

Test Call

State Plots

Copy & Paste


PostProcessor

Force Definition

Measurements

Mode Shapes

Input Functions

Static Equilibrium

Excitations

Preload

Version 2012-05-07

Eigenvalues


Page 116

58

ff

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