SIMPACK

Expressions Catalogue
SIMPACK Release 8.6

24th September 2003/SIMDOC v8.607

COPYRIGHT 2003 c

VIIEXPR:2 -2

Kinematic Functions

VIIEXPR:2
Purpose:

Kinematic Functions

DX - Displacement in X
Access function of type kinematic measurement of translational displacements for SIMPACK. Denition: Calculates the translational x-displacement of marker i relative to marker j in the coordinates of marker k.

Usage: res = DX(I, J, K)

Input Parameters: integer integer integer I: ID of I marker J: ID of J marker, if 0 defaults to Isys K: ID of reference marker K, if 0 defaults to Isys

DY - displacement in Y
Purpose: Access function of type kinematic measurement of translational displacements for SIMPACK. Denition: Calculates the translational y-displacement of marker i relative to marker j in the coordinates of marker k.

Usage: res = DY(I, J, K)

Input Parameters: integer integer integer I: J: K: ID of I marker ID of J marker, if 0 defaults to Isys ID of reference marker K, if 0 defaults to Isys

Kinematic Functions

VIIEXPR:2 -3

DZ - Displacement in Z
Purpose: Access function of type kinematic measurement of translational displacements for SIMPACK. Denition: Calculates the translational z-displacement of marker i relative to marker j in the coordinates of marker k.

Usage: res = DZ(I, J, K)

Input Parameters: integer integer integer I: J: K: ID of I marker ID of J marker, if 0 defaults to Isys ID of reference marker K, if 0 defaults to Isys

DM - Magnitude of Displacement
Purpose: Access function of type kinematic measurement of translational displacements for SIMPACK.

Denition: Calculates the positive magnitude of the translational displacement between marker i and marker j. Usage: res = DM(I, J)

Input Parameters: integer integer I: J: ID of I marker ID of J marker, if 0 defaults to Isys

VIIEXPR:2 -4

Kinematic Functions

VX - Velocity in X
Purpose: Access function of type kinematic measurement of translational velocities for SIMPACK. Denition: Calculates the x-component of the dierence of velocities of marker i in reference to marker j in the x-component of marker l. The measurments of the position markers are in the co-ordinates of marker k.

Usage: res = VX(I, J, K, L)

Input Parameters: integer integer integer integer I: J: K: L: ID ID ID ID of of of of I marker whose velocity is measured J marker, if 0 defaults to Isys reference marker K, if 0 defaults to Isys L marker, if 0 defaults to Isys

VY - Velocity in Y
Purpose: Access function of type kinematic measurement of translational velocities for SIMPACK. Denition: Calculates the y-component of the dierence of velocities of marker i in reference to marker j in the y-component of marker l. The measurments of the position markers are in the co-ordinates of marker k.

Usage: res = VY(I, J, K, L)

Input Parameters: integer integer I: J: ID of I marker whose velocity is measured ID of J marker, if 0 defaults to Isys

Kinematic Functions

VIIEXPR:2 -5

integer integer

K: L:

ID of reference marker K, if 0 defaults to Isys ID of L marker, if 0 defaults to Isys

VZ - Velocity in Z
Purpose: Access function of type kinematic measurement of translational velocities for SIMPACK. Denition: Calculates the z-component of the dierence of velocities of marker i in reference to marker j in the z-component of marker l. The measurments of the position markers are in the co-ordinates of marker k.

Usage: res = VZ(I, J, K, L)

Input Parameters: integer integer integer integer I: J: K: L: ID ID ID ID of of of of I marker whose velocity is measured J marker, if 0 defaults to Isys reference marker K, if 0 defaults to Isys L marker, if 0 defaults to Isys

VM - Magnitude of Velocity
Purpose: Access function of type kinematic measurement of translational velocities for SIMPACK. Denition: Calculates the magnitude of the dierence in speed (scalar quantity) of marker i and marker j in co-ordinates of marker l.

Usage: res = VM(I, J, L)

VIIEXPR:2 -6

Kinematic Functions

Input Parameters: integer integer integer I: J: L: ID of I marker ID of J marker, if 0 defaults to Isys ID of reference marker L, if 0 defaults to Isys

VR - Relative Velocity
Purpose: Access function of type kinematic measurement of translational velocities for SIMPACK. Denition: Calculates the relative point to point velocity (vector quantity) of marker i in respect to marker j in co-ordinates of marker l. n.b. VR is negative when the markers are approaching each other.

Usage: res = VR(I, J, L)

Input Parameters: integer integer integer I: J: L: ID of I marker ID of J marker, if 0 defaults to Isys ID of reference marker L, if 0 defaults to Isys

ACCX - Acceleration in X
Purpose: Access function of type kinematic measurement of translational accelerations for SIMPACK. Denition: Calculates the X-component of the acceleration of Marker i wrt Marker j, calculated in marker l, given in the co-ordinates of marker k.

Usage: res = ACCX(I, J, K, L)

Kinematic Functions

VIIEXPR:2 -7

Input Parameters: integer integer integer integer I: J: K: L: ID of I marker whose acceleration is measured ID of J marker that acceleration is wrt, if 0 defaults to Isys ID of reference marker K for presentation, if 0 defaults to Isys ID of L marker for co-ordinate system for calculation, if 0 defaults to Isys

ACCY - Acceleration in Y
Purpose: Access function of type kinematic measurement of translational accelerations for SIMPACK. Denition: Calculates the Y-component of the acceleration of Marker i wrt Marker j, calculated in marker l, given in the co-ordinates of marker k.

Usage: res = ACCY(I, J, K, L)

Input Parameters: integer integer integer integer I: ID of I marker whose acceleration is measured J: ID of J marker which acceleration is wrt, if 0 defaults to Isys K: ID of reference marker K for presentation, if 0 defaults to Isys L: ID of L marker which is co-ordinate system for calculation, if 0 defaults to Isys

ACCZ - Acceleration in Z
Purpose: Access function of type kinematic measurement of translational accelerations for SIMPACK.

VIIEXPR:2 -8

Kinematic Functions

Denition: Calculates the Z-component of the acceleration of Marker i wrt Marker j, calculated in marker l, given in the co-ordinates of marker k.

Usage: res = ACCZ(I, J, K, L)

Input Parameters: integer integer integer integer I: J: K: L: ID ID ID ID of of of of I marker whose acceleration is measured J marker, if 0 defaults to Isys reference marker K, if 0 defaults to Isys L marker, if 0 defaults to Isys

ACCM - Magnitude of Acceleration

Purpose: Access function of type kinematic measurement of translational accelerations for SIMPACK expressions. Denition: Calculates the positive magnitude of the acceleration of Marker i wrt Marker j given in the co-ordinates of Marker k

Usage: res = ACCM(I, J, L)

Input Parameters: integer integer integer I: J: L: ID ID if ID if of I marker whose acceleration is measured of J marker that acceleration is wrt, 0 defaults to Isys of L marker for co-ordinate system for calculation 0 defaults to Isys

Restrictions: The determination of the acceleration on line during time integration is only possible as an additional algebraic q-state.

Kinematic Functions

VIIEXPR:2 -9

AX - First Projected Angle

Purpose: Access function of type kinematic measurement of rotational displacements for SIMPACK. Denition: Calculates the angular displacement of marker i about the x-axis of marker j.

Usage: res = AX(I, J)

Input Parameters: integer integer I: J: ID of I marker whose angular displacement is measured ID of reference marker J, if 0 defaults to Isys

Additional Information: The angle is calculated as follows: AX = atan2(yi zj, yi yj). with yi, yj being the y axes of marker I and J respectively and zj being the z axis of marker J.

AY - Second Projected Angle

Purpose: Access function of type kinematic measurement of rotational displacements for SIMPACK. Denition: Calculates the angular displacement of marker i about the y-axis of marker j.

Usage: res = AY(I, J)

Input Parameters: integer I: ID of I marker whose angular displacement

VIIEXPR:2 -10

Kinematic Functions

integer

J:

is measured ID of J marker, if 0 defaults to Isys

Additional Information: The angle is calculated as follows: AY = atan2(zi xj, zi zj). with zi, zj being the z axes of markers I and J respectively and xj being the x axis of marker J.

AZ - Third Projected Angle

Purpose: Access function of type kinematic measurement of rotational displacements for SIMPACK. Denition: Calculates the angular displacement of marker i about the z-axis of marker j.

Usage: res = AZ(I, J)

Input Parameters: integer integer I: J: ID of I marker whose angular displacement is measured ID of J marker, if 0 defaults to Isys

Additional Information: The angle is calculated as follows: AZ = atan2(xi yj, xi xj) with xi, xj being the x axes of marker I and j respectively and yj being the y axis of marker J.

YAW - Yaw angle between two markers

Purpose: Access function of type kinematic measurement of rotational displacements for SIMPACK.

Kinematic Functions

VIIEXPR:2 -11

Denition: Calculates the rst rotation of marker i with respect to marker j in 3-2-1 Euler Angles.

Usage: res = YAW(I, J)

Input Parameters: integer integer I: ID of I marker whose velocity is measured J: ID of J marker, if 0 defaults to Isys

PITCH - Pitch Angle

Purpose: Access function of type kinematic measurement of rotational displacements for SIMPACK. Denition: Calculates the second rotation of marker i with respect to marker j in 3-2-1 Euler Angles.

Usage: res = PITCH(I, J)

Input Parameters: integer I: integer J: ID of I marker whose velocity is measured ID of J marker, if 0 defaults to Isys

ROLL - Third Euler Angle

Purpose: Access function of type kinematic measurement of rotational displacements for SIMPACK.

VIIEXPR:2 -12

Kinematic Functions

Denition: Calculates the third rotation of marker i with respect to marker j in 3-2-1 Euler Angles.

Usage: res = ROLL(I, J)

PSI - First Euler Angle

Purpose: Access function of type kinematic measurement of rotational displacements for SIMPACK. Denition: Calculates the rst rotation of marker i with respect to marker j in 3-1-3 Euler Angles.

Usage: res = PSI(I, J)

Input Parameters: integer integer I: ID of I marker whose velocity is measured J: ID of J marker, if 0 defaults to Isys

THETA - Second Euler Angle

Purpose: Access function of type kinematic measurement of rotational displacements for SIMPACK. Denition: Calculates the second rotation of marker i with respect to marker j in 3-1-3 Euler Angles.

Kinematic Functions

VIIEXPR:2 -13

Usage: res = THETA(I, J)

Input Parameters: integer integer I: J: ID of I marker whose velocity is measured ID of J marker, if 0 defaults to Isys

PHI - Third Euler Angle

Purpose: Access function of type kinematic measurement of rotational displacements for SIMPACK. Denition: Calculates the third rotation of marker i with respect to marker j in 3-1-3 Euler Angles.

Usage: res = PHI(I, J)

Input Parameters: integer integer I: J: ID of I marker whose velocity is measured ID of J marker, if 0 defaults to Isys

ALPHA - First Karden Angle

Purpose: Access function of type kinematic measurement of rotational displacements for SIMPACK. Denition: Calculates the rst angle alpha of the Kardan sequence 1-2-3 of marker I wrt marker J.

VIIEXPR:2 -14

Kinematic Functions

Usage: res = ALPHA(I, J)

Input Parameters: integer integer I: J: ID of I marker whose angular displacement is measured ID of refernce marker J, if 0 defaults to Isys

BETA - Second Karden Angle

Purpose: Access function of type kinematic measurement of rotational displacements for SIMPACK. Denition: Calculates the second angle beta of the Kardan sequence 1-2-3 of marker I wrt marker J.

Usage: res = BETA(I, J)

GAMMA - Third Karden Angle

Purpose: Access function of type kinematic measurement of rotational displacements for SIMPACK. Denition: Calculates the third angle gamma of the Kardan sequence 1-2-3 of marker I wrt marker J.

Usage: res = GAMMA(I, J)

Kinematic Functions

VIIEXPR:2 -15

WX - Angular Velocity about X

Purpose: Access function of type kinematic measurement of angular velocities for SIMPACK user routines. Denition: Calculates the rotation about X, , of the dierence in the angular velocity vectors of marker i and marker j calculated in Isys, expressed in marker k.

Usage: res = WX(I, J, K)

Input Parameters: integer integer integer I: J: K: ID of I marker whose velocity is measured ID of J marker, if 0 defaults to Isys ID of reference marker K, if 0 defaults to Isys

WY - Angular Velocity about Y

Purpose: Access function of type kinematic measurement of angular velocities for SIMPACK. Denition: Calculates the y-component of the dierence of the angular velocity vectors of marker i and marker j calculated in the global reference frame, expressed in marker k.

Usage: res = WY(I, J, K)

Input Parameters: integer integer integer I: J: K: ID of I marker whose velocity is measured ID of J marker, if 0 defaults to Isys ID of reference marker K, if 0 defaults to Isys

VIIEXPR:2 -16

Kinematic Functions

WZ - Angular Velocity about Z

Purpose: Access function of type kinematic measurement of angular velocities for SIMPACK. Denition: Calculates the z-component of the dierence of the angular velocity vectors of marker i and marker j calculated in the global reference frame, expressed in marker k.

Usage: res = WZ(I, J, K)

Input Parameters: integer integer integer I: ID of I marker whose velocity is measured J: ID of J marker, if 0 defaults to Isys K: ID of reference marker K, if 0 defaults to Isys

WM - Magnitude of Angular Velocity

Purpose: Access function of type kinematic measurement of angular velocities for SIMPACK user routines. Denition: Calculates the positive magnitude of the dierence of the angular velocity vectors of marker i and marker j calculated in the global reference frame.

Usage: res = WM(I, J)

Input Parameters: integer integer I: J: ID of I marker whose velocity is measured ID of J marker, if 0 defaults to Isys

Kinematic Functions

VIIEXPR:2 -17

WDX - Angular Acceleration about X

Purpose: Access function of type kinematic measurement of angular accelerations for SIMPACK. Denition: Calculates the x co-ordinate given with respect to marker l, of the angular acceleration of marker i in reference to marker j given in marker k co-ordinate system.

Usage: res = WDX(I, J, K, L)

Input Parameters: integer integer integer integer I: J: K: L: ID ID ID ID of of of of I marker whose acceleration is measured J marker, if 0 defaults to Isys reference marker K, if 0 defaults to Isys L marker, if 0 defaults to Isys

Additional Information: The angular accelerations are calculated as derivatives of the angular velocities . While the system in which the derivatives for the accelerations are calculated can be specied through marker l, the angular velocity x is always taken in the global reference frame.

WDY - Angular Acceleration about Y

Purpose: Access function of type kinematic measurement of angular accelerations for SIMPACK. Denition: Calculates the y co-ordinate given with respect to marker l, of the angular acceleration of marker i in reference to marker j given in marker k co-ordinate system.

VIIEXPR:2 -18

Kinematic Functions

Usage: res = WDY(I, J, K, L)

Input Parameters: integer integer integer integer I: ID of I marker whose acceleration is measured J: ID of J marker, if 0 defaults to Isys K: ID of reference marker K, if 0 defaults to Isys L: ID of L marker, if 0 defaults to Isys

Additional Information: The angular accelerations are calculated as derivatives of the angular velocities . While the system in which the derivatives for the accelerations are calculated can be specied through marker L, the angular velocity y is always taken in the global reference frame.

WDZ - Angular acceleration about X

Purpose: Access function of type kinematic measurement of angular accelerations for SIMPACK. Denition: Calculates the z co-ordinate given with respect to marker l, of the angular acceleration of marker i in reference to marker j given in marker k co-ordinate system.

Usage: res = WDZ(I, J, K, L)

Input Parameters: integer integer integer integer I: J: K: L: ID of I marker whose acceleration is measured ID of J marker, if 0 defaults to Isys ID of reference marker K, if 0 defaults to Isys ID of L marker, if 0 defaults to Isys

Maths Functions

VIIEXPR:1 -19

Additional Information: The angular accelerations are calculated as derivatives of the angular velocities . While the system in which the derivatives for the accelerations are calculated can be specied through marker l, the angular velocity z is always taken in the global reference frame.

WDM - Magnitude of Angular acceleration

Purpose: Access function of type kinematic measurement of angular accelerations for SIMPACK. Denition: Calculates the magnitude of the angular acceleration of marker i in reference to marker j in co-ordinates of marker l.

Usage: res = WDM(I, J, L)

Input Parameters: integer integer integer I: J: L: ID of I marker whose acceleration is measured ID of J marker, if 0 defaults to Isys ID of L marker, if 0 defaults to Isys

Additional Information: The angular accelerations are calculated as derivatives of the angular velocities . While the system in which the derivatives for the accelerations are calculated can be specied through marker l, the angular velocity is always taken in the global reference frame.

VIIEXPR:1
SIN - Sine
Denition:

Maths Functions

Calculates the sine of the formula or value entered in the brackets. Usage: res = SIN(inp)

VIIEXPR:1 -20

Maths Functions

inp is the string or value (radians)

ASIN - Inverse Sine

Denition: Calculates the arcus sine of the formula or value entered in the brackets. Angle is expressed in radians. Usage: res = ASIN(inp) inp is the string or value

SINH - Hyperbolic Sine

Denition: Calculates the hyperbolic sine of the formula or value entered in the brackets. Usage: res = SINH(inp) inp is the string or value

ASINH - Inverse Hyperbolic Sine

Denition: Calculates the inverse hyperbolic sine of the formula or value entered in the brackets. Usage: res = ASINH(inp) inp is the string or value

COS - Cosine
Denition: Calculates the cosine of the formula or value entered in the brackets. Usage: res = COS(inp) inp is the string or value (radians)

ACOS - Inverse Cosine

Denition: Calculates the arcus cosine of the formula or value entered in the brackets. Angle is expressed in radians.

Maths Functions

VIIEXPR:1 -21

Usage: res = ACOS(inp) inp is the string or value

COSH - Hyperbolic Cosine

Denition: Calculates the hyperbolic cosine of the formula or value entered in the brackets. Usage: res = COSH(inp) inp is the string or value

ACOSH - Inverse Hyperbolic Cosine

Denition: Calculates the inverse hyperbolic cosine of the formula or value entered in the brackets. Usage: res = ACOSH(inp) inp is the string or value

TAN - Tangent
Denition: Calculates the tangent of the formula or value entered in the brackets. Usage: res = TAN(inp) inp is the string or value (radians)

ATAN - Inverse Tangent

Denition: Calculates the arcus tangent of the formula or value entered in the brackets. Angle is expressed in radians. Usage: res = ATAN(inp) inp is the string or value

VIIEXPR:1 -22

Maths Functions

TANH - Hyperbolic Tangent

Denition: Calculates the hyperbolic tangent of the formula or value entered in the brackets. Usage: res = TANH(inp) inp is the string or value

ATANH - Inverse Hyperbolic Tangent

Denition: Calculates the inverse hyperbolic tangent of the formula or value entered in the brackets. Usage: res = ATANH(inp) inp is the string or value

EXP - Exponential Function

Denition: This function calculates the exponential function. The value entered is the power to which e is raised. Usage: res = EXP(inp) inp is the value entered

ATAN2 - Inverse Tangent (2 arguments)

Denition: Calculates the arcus tangent of the two variables. The result is returned in radians between and . Usage: res = ATAN2(inp1,inp2) inp1 is the y variable inp2 is the x variable

LOG - Natural Logarithm

Denition: Calculates the natural logarithm of the variable entered

Maths Functions

VIIEXPR:1 -23

Usage: res = LOG(inp) inp is the variable, which must be 0 or greater

LOG10 - Logarithm to base 10

Denition: Calculates the logarithm to base 10 of the variable entered Usage: res = LOG10(inp) inp is the variable, which must be 0 or greater

POW - Power Function

Denition: This function raises the rst input to the power dened by the second input. Usage: res = pow(inp1, inp2) inp1 is the rst input inp2 is the second input to which the rst input is raised

SQRT - Square Root Function

Denition: The function calculates the square root of the function Usage: res = SQRT(inp) inp is the variable

MAX - Maximum Value

Denition: Returns the greater value of the two variables. Usage: res = MAX(inp1,inp2) inp1 is the rst variable inp2 is the second variable

VIIEXPR:1 -24

Maths Functions

MIN - Minimum Value

Denition: Returns the smaller value of the two variables. Usage: res = MIN(inp1,inp2) inp1 is the rst variable inp2 is the second variable

AINT - Nearest Integer

Denition: This function returns the nearest integer, whose magnitude is no greater than the value entered. If the value 2.99 is entered then the function will return the value 2. Usage: res = AINT(inp) inp is the value entered

ANINT - Next Integer

Denition: The function returns the nearest whole number to the value entered. Usage: res = ANINT(inp) inp is the value entered

DIM - Positive dierence

Denition: This function calculates the positive dierence between the two variables. Usage: res = DIM(inp1,inp2) inp1 is the rst variable inp2 is the second variable The function equals zero if inp2 is greater than or equal to inp 1

MOD - Modulo Function

Denition: The function divides the rst input by the second input and returns the remainder.

Maths Functions

VIIEXPR:1 -25

An example of the output for various dierent inputs to the function is shown: MOD(7.0, 5.0) returns 2.0 MOD(21, 2) returns 1 MOD(-13, 5) returns -3 Usage: res = MOD(inp1,inp2) inp1 is the rst variable inp2 is the second variable

% - Modulo Function
Denition: This is the same function as the Modulo function, however the input in the expression is slightly dierent. An example of the output for various dierent inputs to the function is shown: MOD(7.0, 5.0) returns 2.0 MOD(21, 2) returns 1 MOD(-13, 5) returns -3 Usage: res = inp1%inp2 inp1 is the rst variable inp2 is the second variable

ABS - Absolute Value

Denition: Returns the absolute value of the string or value entered in the brackets. Usage: res = ABS(inp) Where, inp is the string or value

SIGN - Signum Function

Denition: The signum function returns the absolute value of the rst argument multiplied by the sign of the second argument Usage: res = SIGN(inp1, inp2) inp1 is the rst argument inp2 is the second argument

VIIEXPR:3 -26

Access Functions

IF - Arithmetic IF
Denition: The expression returns either the rst second or third input dependent upon whether the dening function is greater than, less than or equal to zero. Usage: res = IF(deunc:inp1,inp2,inp3) deunc is the dening function inp1 is the rst output variable inp2 is the second output variable inp3 is the third output variable If the dening function is: < 0 inp1 is returned = 0 inp2 is returned > 0 inp3 is returned

VIIEXPR:3
Purpose:

Access Functions

FORCEAF - Force by Applied Force

Access function of type force element force access for SIMPACK. Denition: Returns the component COMP of the force ID in the coordinates of the Marker REFSYS, which defaults to the global reference frame if set to zero.

Usage: res = FORCEAF( id, mag, comp, refsys ) Input Parameters: integer integer integer id: mflag: comp: ID of the force element to be investigated Flags if force value in I (=0) or J (=1) marker should be returned Component of the force to be returned 1 = Magnitude of the force 2 = x component of the force 3 = y component of the force 4 = z component of the force 5 = Magnitude of the torque 6 = x component of the torque 7 = y component of the torque 8 = z component of the torque ID of reference marker in which the force should

integer

refsys:

Access Functions

VIIEXPR:3 -27

be expressed, if 0 defaults to Isys

FORCEST - Force States

Purpose: Access function of type force element force access for SIMPACK expressions. Denition: Returns the force state of the component COMP and the force ID.

Usage: res = FORCEST( id, comp, iord ) Input Parameters: integer integer integer id: comp: iord: ID of the force element to be investigated. Range = {1,2,...,Mbs.Force.nmax}. Component of the force state. Range = {1,2,...,number_of_joint_states}. The order of the derivative to be returned, if zero, the value itself is returned. Range = {0,1}.

FORCEOV - Force Output Values

Purpose: Access function of type force element force access for SIMPACK expressions. Denition: Returns the force output value of the component COMP and the force ID. Usage: res = FORCEOV( id, comp ) Input Parameters: integer id: ID of the force element to be investigated. Range = {1,2,...,Mbs.Force.nmax}.

VIIEXPR:3 -28

Access Functions

integer

comp:

Component of the force state. Range = {1,2,...,Mbs.Force.Ov.nmax}.

JOINTCF - Joint Constraining forces

Purpose: Access function of type constrained forces of joints access for SIMPACK. Denition: Returns the component COMP of constrained force of the joint ID in the coordinates of the Marker REFSYS, which defaults to the global reference frame if set to zero. k T jointcf = Tk (cf j)In Tk = Gk GM k Usage: res = JOINTCF( id, mag, comp, refsys ) Input Parameters: integer integer integer id: mflag: comp: ID of the joint to be investigated Flags if force value in I (=0) or J (=1) marker should be returned Component of the force to be returned 1 = Magnitude of the force 2 = x component of the force 3 = y component of the force 4 = z component of the force 5 = Magnitude of the torque 6 = x component of the torque 7 = y component of the torque 8 = z component of the torque ID of reference marker in which the force should be expressed, if 0 defaults to Isys

integer

refsys:

JOINTST - Joint States

Purpose: Access function of type joint element of joints access for SIMPACK.

Access Functions

VIIEXPR:3 -29

Denition: Returns the joint state of the component COMP and the joint ID. Usage: res = JOINTST( id, comp, iord ) Input Parameters: integer integer integer id: comp: iord: ID of the joint element to be investigated. Range = {1,2,...,Mbs.Joint.nmax}. Component of the joint state. Range = {1,2,...,number_of_joint_states}. The order of the derivative to be returned, if zero, the value itself is returned. Range = {0,1,2}.

CONSTRCF - Constraint Constraining Forces

Purpose: Access function of type constrained forces of constraints access for SIMPACK. Denition: Returns the component COMP of constrained force of the constraint ID in the coordinates of the Marker REFSYS, which defaults to the global reference frame if set to zero.
k T constrcf = Tk (constrcf )In Tk = Gk GM k

Usage: res = CONSTRCF( id, mag, comp, refsys ) Input Parameters: integer integer integer id: mflag: comp: ID of the constraint to be investigated Flags if force value in I (=0) or J (=1) marker should be returned Component of the force to be returned 1 = Magnitude of the force 2 = x component of the force 3 = y component of the force 4 = z component of the force 5 = Magnitude of the torque 6 = x component of the torque 7 = y component of the torque

VIIEXPR:4 -30

Functions

integer

refsys:

8 = z component of the torque ID of reference marker in which the force should be expressed, if 0 defaults to Isys

CONSTRST - Constraint State

Purpose: Access function of type constraint element of constraints access for SIMPACK. Denition: Returns the constraint state of the component COMP and the constraint ID.

Usage: res = CONST( id, comp, iord ) Input Parameters: integer integer integer id: comp: iord: ID of the constraint element to be investigated. Range = {1,2,...,Mbs.Constr.nmax}. Component of the constraint state. Range = {1,2,...,number\_of\_constr\_states}. The order of the derivative to be returned, if zero, the value itself is returned. Range = {0}.

VIIEXPR:4
Purpose:

Functions

IFCTN - Input Function

Access function of type function evaluation of one dimensional input function. Denition: Evaluates the function value of an input function or its , 1. - 3.derivative The function value may be a: step interpolation (kind spl = 0), cubic spline evaluation (kind spl = 1),

Functions

VIIEXPR:4 -31

linear interpolation (kind spl = 2), Akima spline (kind spl = 3). In case of spline evaluation the derivatives until 3. order are determined for the parameter xinp. Beyond the dened value range for 1. parameter xinp the function evaluation in case of splines may be further spline evaluation or linear interpolation with a smooth transition from spline interpolation to linear interpolation ( the 2. and 3. derivative become 0 after a transition range) When in case of spline evaluation the input value xinp exceeds the dened range, a warning is printed the rst time in Default mode (WPAR(45) = 0). WPAR(45) = 1 prevents the warning.

Usage: res = IFCTN( xinp, id ifctn, kind deriv , kind spl, kind extr , range extr ) Input Parameters: double integer integer Input value of first parameter ID-number of input function Index of derivative (0 - 3) = 0 : evaluation of function = 1 : 1st derivative of function evaluation = 2 : 2nd derivative of function evaluation = 3 : 3rd derivative of function evaluation kind_spl: kind of interpolation: = -1 : use interpolation defined by GUI = 0 : step interpolation = 1 : cubic spline evaluation = 2 : linear interpolation = 3 : Akima spline kind_extr: kind of extrapolation beyond the defined range incase of splines = -1 : use option defined by GUI = 0 : spline evaluation beyond the table values = 1 : transition from spline evaluation to linear evaluation range_extr: range of extrapolation beyond the defined set of table values ( kind_extr = 1 (transition to linear ) ) xinp: id_ifctn: kind_deriv:

integer

integer

double

VIIEXPR:4 -32

Functions

IFARRAY - Input Function Array

Purpose: Access function of type function evaluation of a 2D-array. Denition: Evaluates the function value of a 2D-array: The function value may be a: step interpolation (kind spl = 0), cubic spline evaluation (kind spl = 1), linear interpolation (kind spl = 2), Akima spline evaluation (kind spl = 3). In case of spline evaluation the derivatives (until 3rd order) are determined for the parameter xinp, while for the second parameter yinp only the 1st derivative is evaluated. Beyond the dened value range for 1st parameter xinp the function is evaluated in case of splines may be further spline evaluation or linear interpolated with a smooth transition from spline interpolation to linear interpolation (the 2nd and 3rd derivative become 0 after the transition range) Usage: res = IFARRAY( xinp, yinp, ID ifarray, kind deriv , kind spl, kind extr, range extr ) Input Parameters: double double integer integer xinp: yinp: id_ifarray: kind_deriv: input value of first parameter. input value of second parameter. ID-number of 2D-array. kind of interpolation: = -3 : Third Derivative of Y = -2 : Second Derivative of Y = -1 : First Derivative of Y = 0 : The Actual Value is returned = 1 : First Derivative of X = 2 : Second Derivative of X = 3 : Third Derivative of X kind of interpolation: = -1 : use interpolation defined by GUI = 0 : step interpolation = 1 : cubic spline evaluation = 2 : linear interpolation = 3 : Akima spline kind of extrapolation beyond the defined range in case of splines = -1 : use option defined by GUI = 0 : spline evaluation beyond the table values

integer

kind_spl:

integer

kind_extr:

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VIIEXPR:4 -33

= double range_extr:

1 : transition from spline evaluation to linear evaluation range of extrapolation beyond the defined set of table values. ( kind_extr = 1 (transition to linear ) )

HAVSIN - Haversine function

Purpose: Access function of type Haversine Step access for SIMPACK. Denition: Returns the value calculated due to Haversin Step function evaluation with the given parameters.

Usage: res = HAVSIN(x, x0, h0, x1, h1, iord) Let x0 < x1 . f :=SPCK UF HAVSIN is dened as: h0 x x 0 xx0 1 + h0 x0 < x < x1 f (x) := (h1 h0 ) 1 cos x1 x0 2 h1 x1 x Input Parameters: double double double double double integer x: x0: h0: x1: h1: iord: The independent varible for the Haversine Step function. The x-value specifying the begin of the step. The value of the function before the step (x < x0 ) The x-value specifying the end of the step. The value of the function after the step (x > x1 ) The order of the derative to be returned, if zero, the value itself is returned. Range 0 <= iord <= 2.

=0: no error

STEP - Heaviside Step Function

Purpose: Access function of type Step access for SIMPACK.

VIIEXPR:4 -34

Functions

Denition: Returns the cubic approximation of the Heaviside step function with the given parameters. Usage: res = STEP(x, x0, x1, h0, h1) Let x0 < x1 . Within the range x0 < x < x1 solve f :=SPCK UF STEP the cubic approximation:
3

f (x) :=
n=0

an x n

with:

f (x0 ) = h0 , f (x0 ) = 0, f (x1 ) = h1 , f (x1 ) = 0.

2

h0 x x0
xx 3 2 x1 x00 + h0 x0 < x < x1 h1 x1 x

f (x) =

(h1 h0 )

xx0 x1 x0

Input Parameters: double double double double double integer x: x0: h0: x1: h1: iord: The independent varible for the Heaviside Step function The x-value specifying the begin of the step. The value of the function before the step (x < x0 ) The x-value specifying the end of the step. The value of the function after the step (x > x1 ) The order of the derivative to be returned, if zero, the value itself is returned. Range 0 <= iord <= 2.

STEP5 - Heaviside STEP5 Function

Purpose: Access function of type Step access for SIMPACK. Denition: Returns the approximation of the Heaviside step function through a polynomial of fth order with the given parameters. Usage: res = STEP5(x, x0, x1, h0, h1) Let x0 < x1 . Within the range x0 < x < x1 solve f :=SPCK UF Step5 the polynom approximation of fth order:
5

f (x) :=
n=0

an x n

with:

f (x0 ) = h0 , f (x0 ) = 0, f (x0 ) = 0, f (x1 ) = h1 , f (x1 ) = 0, f (x1 ) = 0.

Functions

VIIEXPR:4 -35

f (x) =

(h1 h0 )

xx0 x1 x0

xx 10 15 x1 x00 + 6

xx0 x1 x0

h0 x x 0 + h0 x0 < x < x1 h1 x1 x

Input Parameters: double double double double double integer x: x0: h0: x1: h1: iord: The independent variable for the Haversine Step function. The x-value specifying the begin of the step. The value of the function before the step (x < x0 ) The x-value specifying the end of the step. The value of the function after the step (x > x1 ) The order of the derative to be returned, if zero, the value itself is returned. Range 0 <= iord <= 2.

FORSIN - Fourier Sine

Purpose: Access function of type Fourier access for SIMPACK. Denition: Returns the value calculated due to Fourier Sine evaluation with the given parameters. Usage: res = FORSIN(x, x_0, omega, b_0, ..., b_N) SIMPACK provides the Fourier sine series form shown below
N

FORSIN(x, x0 , , a) := b0 +
n=1

bn sin (n(x x0 ))

where x, x0 , R with > 0 and b := (b0 , . . . , bN ) with N {0, . . . , 31} . Input Parameters: double double double double x: x_0: omega: b_0, ..., b_31: The independent varibale for the Fourier Sine. Specifies an offset in the Fourier Sine. The fundamental frequence in the The arguments used by the function. From 0 up to 31 different arguments can be defined.

VIIEXPR:4 -36

Functions

FORCOS - Fourier Cosine

Purpose: Access function of type Fourier access for SIMPACK. Denition: Returns the value calculated due to Fourier Cosine evaluation with the given parameters. Usage: res = FORCOS(x, x_0, omega, a_0, ..., a_N) SIMPACK provides the Fourier cosine series form shown below
N

FORCOS(x, x0 , , a) := a0 +
n=1

an cos (n(x x0 ))

where x, x0 , R with > 0 and a := (a0 , . . . , aN ) with N {0, . . . , 31} . Input Parameters: double double double double x: x_0: omega: a_0, ..., a_31: The independent variable for the Fourier Cosine. Specifies an offset in the Fourier Cosine. The fundamental frequence in the The arguments used by the function. From 0 up to 31 different arguments can be defined.

POLY - Polynomial evaluation

Purpose: Access function of type polynomial access for SIMPACK. Denition: Returns the value calculated for the polynomial with the given parameters. Usage: res = POLY(x, x_0, p_0, ..., p_N)

Functions

VIIEXPR:4 -37

SIMPACK provides the polynomial function form shown below

N

POLY(x, x0 , p) := p0 +
n=1

pn (x x0 )n

where x, x0 R and p := (p0 , . . . , pN ) with N {0, . . . , 31} . Input Parameters: double double double x: x_0: p_0, ..., p_31: The independent varible for the polynomial. Specifies an offset in the polynomial The arguments used by the function. From 0 up to 31 different arguments can be defined.

CHEBY - Chebyshev polynomial evaluation

Purpose: Access function of type Chebyshev access for SIMPACK. Denition: Returns the value calculated for the Chebyshev polynomial with the given parameters. Usage: res = CHEBY(x, x_0, p_0, ..., p_N) SIMPACK provides the Chebyshev polynomial function form shown below
N

CHEBY(x, x0 , p) := p0 +
n=1

pn Tn (x x0 )

where x, x0 R, p := (p0 , . . . , pN ) with N {0, . . . , 31} and the n-th Chebyshev polynomial Tn (). Input Parameters: double double double x: x_0: p_0, ..., p_31: The independent varibale for the polynomial. Specifies an offset in the Chebyshev polynomial. The arguments used by the function. From 0 up to 31 different arguments can be defined.

VIIEXPR:4 -38

Functions

SHF - Simple Harmonic Function

Purpose: Access function of type simple harmonic function for SIMPACK. Denition: Returns the value calculated for simple harmonic function with the given parameters. x = a sin((x x0 ) ) + b Usage: res = SHF(x, x0, a, w, phi, b, iord) Input Parameters: double double double double double double integer x: x0: a: w: phi: b: iord: The independent variable for the shf Specifies an offset in x of the shf The amplitude of the sine function The frequency of the shf A phase shift in the shf The mean value of the shf The order of the derivative to be returned, if zero, the value itself is returned. Range 0 <= iord <= 2.

TIME - Current solver time

Purpose: Access function of type time access for SIMPACK. Denition: Returns the current simulation time. Usage: res = TIME Remarks: This function has no arguments

Functions

VIIEXPR:4 -39

MODE - Solver mode

Purpose: Access function of type solver access Denition: Returns the simulation mode the solver is currently running. Usage: res = MODE Remarks: This function has no arguments